+ python -m lidar_slam --no-model /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 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 0.02587156 Adjusted end_distance from 9.223372036854776e+18 to 310.00587156 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02587156 meters 0.8267165984786506 Centerline is valid? [0, False] SLAMing on 0.05587156 meters 0.8594535441386938 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999973e-01 2.16420493e-04 -7.86240943e-05 6.79322344e-04] [-2.16392945e-04 9.99999915e-01 3.50225900e-04 -1.89566177e-03] [ 7.86998837e-05 -3.50208877e-04 9.99999936e-01 -5.47604519e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08587156 meters 0.8733095895355256 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999871e-01 4.86460124e-04 -1.43283833e-04 1.37808215e-03] [-4.86346313e-04 9.99999567e-01 7.93269670e-04 -4.31680760e-03] [ 1.43669665e-04 -7.93199883e-04 9.99999675e-01 -1.21681479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11587156000000001 meters 0.8661555229088431 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999702e-01 7.19793374e-04 -2.79176389e-04 2.67014922e-03] [-7.19453863e-04 9.99999004e-01 1.21431319e-03 -6.50984631e-03] [ 2.80050166e-04 -1.21411197e-03 9.99999224e-01 -2.49149363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14587156 meters 0.8273511078072888 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999592e-01 8.24646859e-04 -3.68713723e-04 3.34343086e-03] [-8.24138344e-04 9.99998712e-01 1.37719266e-03 -7.36749561e-03] [ 3.69848946e-04 -1.37688823e-03 9.99998984e-01 -2.99326921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17587156 meters 0.8869559521299731 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998862e-01 -9.78720216e-04 -1.14835917e-03 1.05348878e-02] [ 9.78716087e-04 9.99999521e-01 -4.15789966e-06 -5.95206330e-03] [ 1.14836269e-03 3.03397733e-06 9.99999341e-01 -8.54322402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20587156 meters 0.8502214899514345 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999066e-01 -5.53058796e-04 -1.24983748e-03 1.14919286e-02] [ 5.53998403e-04 9.99999564e-01 7.51562612e-04 -1.00637305e-02] [ 1.24942128e-03 -7.52254318e-04 9.99998937e-01 -9.42770044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23587156 meters 0.8980284014148732 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999030e-01 -4.47053404e-04 -1.31883753e-03 1.20360951e-02] [ 4.48257362e-04 9.99999483e-01 9.12738669e-04 -1.09283523e-02] [ 1.31842881e-03 -9.13328963e-04 9.99998714e-01 -9.82316941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26587156 meters 0.8931459361025791 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998994e-01 -1.75273237e-04 -1.40787904e-03 1.27620856e-02] [ 1.77174079e-04 9.99999073e-01 1.35013470e-03 -1.33751446e-02] [ 1.40764109e-03 -1.35038278e-03 9.99998098e-01 -1.03425489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29587156000000003 meters 0.8681127196819395 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99998869e-01 2.98093799e-04 -1.47414991e-03 1.33955002e-02] [-2.94950392e-04 9.99997684e-01 2.13211015e-03 -1.78226213e-02] [ 1.47478207e-03 -2.13167293e-03 9.99996640e-01 -1.08691352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32587156000000006 meters 0.8731442870319972 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99998306e-01 8.38441079e-04 -1.63889997e-03 1.51121014e-02] [-8.33464614e-04 9.99995048e-01 3.03479492e-03 -2.29031794e-02] [ 1.64143635e-03 -3.03342381e-03 9.99994052e-01 -1.24622792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35587156000000003 meters 0.9305674048331127 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99998131e-01 8.12762199e-04 -1.75415030e-03 1.59913296e-02] [-8.07538551e-04 9.99995244e-01 2.97653613e-03 -2.24861815e-02] [ 1.75656117e-03 -2.97511402e-03 9.99994032e-01 -1.30815810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38587156000000006 meters 0.9025992179342941 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99997979e-01 8.37355936e-04 -1.82801656e-03 1.65183578e-02] [-8.31857735e-04 9.99995135e-01 3.00643243e-03 -2.26131875e-02] [ 1.83052512e-03 -3.00490570e-03 9.99993810e-01 -1.34199470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41587156000000003 meters 0.9094922718401001 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99997635e-01 9.87176195e-04 -1.93809601e-03 1.72049759e-02] [-9.80894301e-04 9.99994272e-01 3.23954980e-03 -2.39209312e-02] [ 1.94128291e-03 -3.23764107e-03 9.99992875e-01 -1.37288043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44587156000000006 meters 0.9291616519321028 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.02 [[ 0.99999677 0.00121608 -0.00223239 0.01935686] [-0.00120826 0.99999314 0.00350034 -0.02530761] [ 0.00223663 -0.00349763 0.99999138 -0.01514977] [ 0. 0. 0. 1. ]] SLAMing on 0.47587156 meters 0.8322199944761021 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.99999646 0.00118438 -0.00238075 0.02033727] [-0.00117621 0.99999343 0.00342877 -0.02481914] [ 0.0023848 -0.00342596 0.99999129 -0.01573843] [ 0. 0. 0. 1. ]] SLAMing on 0.50587156 meters 0.9161270295866896 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.99999611 0.00117619 -0.00252778 0.02127837] [-0.0011676 0.99999354 0.0033985 -0.02457806] [ 0.00253176 -0.00339554 0.99999103 -0.01624049] [ 0. 0. 0. 1. ]] SLAMing on 0.53587156 meters 0.9282036494220427 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.99999475 0.00134824 -0.00294497 0.02378367] [-0.00133821 0.99999331 0.0034038 -0.02435542] [ 0.00294954 -0.00339984 0.99998987 -0.01758932] [ 0. 0. 0. 1. ]] SLAMing on 0.56587156 meters 0.8755479431643228 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.99999457 0.0011919 -0.00307289 0.02462706] [-0.00118233 0.99999445 0.00311459 -0.02259862] [ 0.00307658 -0.00311094 0.99999043 -0.01811828] [ 0. 0. 0. 1. ]] SLAMing on 0.5958715600000001 meters 0.877733955197743 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99999432 0.00102024 -0.00321388 0.02567981] [-0.00101124 0.99999556 0.0028014 -0.02068056] [ 0.00321672 -0.00279813 0.99999091 -0.01889333] [ 0. 0. 0. 1. ]] SLAMing on 0.6258715600000001 meters 0.9147790357619723 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99994030e-01 9.10623276e-04 -3.33326788e-03 2.65185246e-02] [-9.01970056e-04 9.99996222e-01 2.59660040e-03 -1.94005794e-02] [ 3.33561981e-03 -2.59357840e-03 9.99991073e-01 -1.94155959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.65587156 meters 0.862656265484338 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99993244e-01 8.86096058e-04 -3.56744413e-03 2.79965953e-02] [-8.77470126e-04 9.99996690e-01 2.41879811e-03 -1.83077920e-02] [ 3.56957561e-03 -2.41565144e-03 9.99990711e-01 -2.02922064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.68587156 meters 0.9342111364244875 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99992764e-01 8.20630983e-04 -3.71464712e-03 2.90639157e-02] [-8.12130387e-04 9.99997050e-01 2.28932977e-03 -1.74719365e-02] [ 3.71651485e-03 -2.28629643e-03 9.99990480e-01 -2.09923070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7158715600000001 meters 0.9037739042176319 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99992387e-01 6.80339345e-04 -3.84234611e-03 2.99096499e-02] [-6.72522393e-04 9.99997703e-01 2.03534727e-03 -1.58981132e-02] [ 3.84372201e-03 -2.03274771e-03 9.99990547e-01 -2.14876474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7458715600000001 meters 0.9397539395280474 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99992163e-01 4.85399841e-04 -3.92922039e-03 3.05969680e-02] [-4.78806350e-04 9.99998476e-01 1.67883281e-03 -1.36891554e-02] [ 3.93002931e-03 -1.67693831e-03 9.99990871e-01 -2.20427448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7758715600000001 meters 0.850984142639198 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 0.99999352 0.00162048 -0.00321393 0.02464381] [-0.00161491 0.99999719 0.00173786 -0.00863125] [ 0.00321674 -0.00173266 0.99999333 -0.01774308] [ 0. 0. 0. 1. ]] SLAMing on 0.80587156 meters 0.8517424977449775 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99999377 0.00129725 -0.00328246 0.02506813] [-0.00129337 0.99999846 0.00118414 -0.00524988] [ 0.00328399 -0.00117989 0.99999391 -0.0179666 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8358715600000001 meters 0.8633948578035694 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99993713e-01 1.13481390e-03 -3.35937260e-03 2.55356565e-02] [-1.13179033e-03 9.99998953e-01 9.01804950e-04 -3.50001173e-03] [ 3.36039246e-03 -8.97997176e-04 9.99993951e-01 -1.81646740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8658715600000001 meters 0.8742251891877563 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99993631e-01 9.88584676e-04 -3.42951588e-03 2.59990364e-02] [-9.86353240e-04 9.99999301e-01 6.52286829e-04 -1.94650717e-03] [ 3.43015833e-03 -6.48899960e-04 9.99993906e-01 -1.84361335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8958715600000001 meters 0.9336710026401275 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99993496e-01 8.56610373e-04 -3.50336734e-03 2.65791063e-02] [-8.55134921e-04 9.99999545e-01 4.22628764e-04 -4.94666583e-04] [ 3.50372778e-03 -4.19630164e-04 9.99993774e-01 -1.88708060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.92587156 meters 0.9336710026401275 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99993496e-01 8.56610373e-04 -3.50336734e-03 2.65791063e-02] [-8.55134921e-04 9.99999545e-01 4.22628764e-04 -4.94666583e-04] [ 3.50372778e-03 -4.19630164e-04 9.99993774e-01 -1.88708060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9558715600000001 meters 0.9208347795232279 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99993241e-01 5.49862324e-04 -3.63522806e-03 2.75069198e-02] [-5.50271995e-04 9.99999842e-01 -1.11695603e-04 2.84090126e-03] [ 3.63516607e-03 1.13695212e-04 9.99993386e-01 -1.94009960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9858715600000001 meters 0.9157003997015739 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99993021e-01 3.90737634e-04 -3.71552596e-03 2.80613808e-02] [-3.92175112e-04 9.99999849e-01 -3.86163409e-04 4.56471826e-03] [ 3.71537450e-03 3.87617850e-04 9.99993023e-01 -1.97462414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0158715600000001 meters 0.8914369214727725 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99992752e-01 1.14951819e-04 -3.80550054e-03 2.86618483e-02] [-1.18201080e-04 9.99999629e-01 -8.53618920e-04 7.48388745e-03] [ 3.80540100e-03 8.54062547e-04 9.99992395e-01 -2.00759441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04587156 meters 0.9038661080246937 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99991930e-01 -7.36025736e-04 -3.94938404e-03 2.97318148e-02] [ 7.26994728e-04 9.99997119e-01 -2.28763632e-03 1.67570106e-02] [ 3.95105643e-03 2.28474668e-03 9.99989584e-01 -2.05431963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.07587156 meters 0.8339123627649129 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99999138 -0.00105219 -0.00401561 0.03001755] [ 0.00104089 0.99999549 -0.00281662 0.02006052] [ 0.00401856 0.00281242 0.99998797 -0.02049854] [ 0. 0. 0. 1. ]] SLAMing on 1.10587156 meters 0.9687513496343522 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99999087 -0.00121426 -0.00409673 0.03045521] [ 0.00120157 0.99999447 -0.00310041 0.02185384] [ 0.00410048 0.00309545 0.9999868 -0.02058621] [ 0. 0. 0. 1. ]] SLAMing on 1.13587156 meters 0.8502683038878828 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99999049 -0.00126347 -0.00417449 0.0309078 ] [ 0.00125014 0.99999411 -0.00319623 0.02249139] [ 0.0041785 0.00319098 0.99998618 -0.02070775] [ 0. 0. 0. 1. ]] SLAMing on 1.16587156 meters 0.8533230539757877 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99999012 -0.00127622 -0.00425786 0.03145067] [ 0.00126245 0.99999397 -0.00323514 0.0227886 ] [ 0.00426197 0.00322973 0.9999857 -0.02093722] [ 0. 0. 0. 1. ]] SLAMing on 1.19587156 meters 0.8469658496333592 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99998917 -0.00144572 -0.00442442 0.03232815] [ 0.0014303 0.9999929 -0.00348691 0.02453535] [ 0.00442943 0.00348054 0.99998413 -0.02106378] [ 0. 0. 0. 1. ]] SLAMing on 1.22587156 meters Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99998831 -0.0014695 -0.0046074 0.03335425] [ 0.00145317 0.99999266 -0.00354534 0.02498295] [ 0.00461258 0.0035386 0.9999831 -0.02130643] [ 0. 0. 0. 1. ]] SLAMing on 1.25587156 meters 0.858913122162913 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 0.99998621 -0.00170969 -0.0049646 0.03558477] [ 0.00169224 0.99999238 -0.00351714 0.02524742] [ 0.00497058 0.00350869 0.99998149 -0.02233369] [ 0. 0. 0. 1. ]] SLAMing on 1.28587156 meters 0.7910386833690477 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99998541 -0.001573 -0.00516758 0.03679505] [ 0.0015561 0.99999344 -0.0032723 0.02387534] [ 0.0051727 0.00326421 0.99998129 -0.02271002] [ 0. 0. 0. 1. ]] SLAMing on 1.31587156 meters 0.804025153712775 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 0.99997838 -0.00245895 -0.00609826 0.04637212] [ 0.00243802 0.99999112 -0.00343631 0.02178836] [ 0.00610665 0.00342137 0.9999755 -0.03023334] [ 0. 0. 0. 1. ]] SLAMing on 1.34587156 meters 0.8245721070067079 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.04 [[ 0.99996953 -0.00337238 -0.00703981 0.05613347] [ 0.00334824 0.99998849 -0.00343754 0.01778503] [ 0.00705132 0.00341386 0.99996931 -0.03791467] [ 0. 0. 0. 1. ]] SLAMing on 1.37587156 meters 0.7996023395066635 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.04 [[ 0.99996893 -0.00365291 -0.00698599 0.0558225 ] [ 0.00363627 0.99999053 -0.0023931 0.00867957] [ 0.00699466 0.00236763 0.99997273 -0.03817497] [ 0. 0. 0. 1. ]] SLAMing on 1.40587156 meters 0.8302560916561611 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.04 [[ 0.99996934 -0.00331364 -0.00709486 0.05654642] [ 0.00330093 0.99999293 -0.00180283 0.0050694 ] [ 0.00710078 0.00177936 0.99997321 -0.03852946] [ 0. 0. 0. 1. ]] SLAMing on 1.43587156 meters 0.8252703529490135 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.04 [[ 0.99996971 -0.0029948 -0.00718393 0.05715511] [ 0.00298572 0.99999473 -0.00127393 0.00181053] [ 0.00718771 0.00125244 0.99997338 -0.03879812] [ 0. 0. 0. 1. ]] SLAMing on 1.46587156 meters 0.8114105962660655 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.04 [[ 9.99969882e-01 -2.70717580e-03 -7.27363054e-03 5.76987286e-02] [ 2.70146607e-03 9.99996035e-01 -7.94701378e-04 -1.18037436e-03] [ 7.27575309e-03 7.75027977e-04 9.99973231e-01 -3.89657454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.49587156 meters 0.8101938139368028 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99970327e-01 -2.23534948e-03 -7.37210207e-03 5.83680692e-02] [ 2.23532673e-03 9.99997502e-01 -1.13252739e-05 -6.08200309e-03] [ 7.37210897e-03 -5.15411898e-06 9.99972826e-01 -3.93178437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5258715600000001 meters 0.8165075286148583 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99970564e-01 -1.82662163e-03 -7.45217209e-03 5.89602798e-02] [ 1.83143543e-03 9.99998119e-01 6.39186020e-04 -1.01538584e-02] [ 7.45099052e-03 -6.52815377e-04 9.99972028e-01 -3.96278910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.55587156 meters 0.8091692859815105 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.04 [[ 0.99997094 -0.00133154 -0.0075066 0.05934392] [ 0.00134232 0.99999807 0.00143116 -0.01516135] [ 0.00750468 -0.00144119 0.9999708 -0.03979057] [ 0. 0. 0. 1. ]] SLAMing on 1.58587156 meters 0.8245815637547951 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.04 [[ 9.99970496e-01 -4.57748792e-04 -7.66798792e-03 6.07682244e-02] [ 4.79396999e-04 9.99995904e-01 2.82159257e-03 -2.41168209e-02] [ 7.66666493e-03 -2.82518533e-03 9.99966620e-01 -4.07731637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.61587156 meters 0.8187522912634362 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 9.99969588e-01 -1.98812991e-04 -7.79641888e-03 6.15926641e-02] [ 2.24035486e-04 9.99994744e-01 3.23439859e-03 -2.66906237e-02] [ 7.79573486e-03 -3.23604690e-03 9.99964377e-01 -4.10570664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.64587156 meters 0.814668042221532 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 9.99968686e-01 1.64864379e-04 -7.91197066e-03 6.22880052e-02] [-1.34683106e-04 9.99992714e-01 3.81501528e-03 -3.03390682e-02] [ 7.91254197e-03 -3.81383021e-03 9.99961422e-01 -4.12306071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.67587156 meters 0.8108751850306799 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.04 [[ 9.99967552e-01 6.02155464e-04 -8.03323764e-03 6.30878924e-02] [-5.65940891e-04 9.99989672e-01 4.50960372e-03 -3.47222596e-02] [ 8.03587015e-03 -4.50491105e-03 9.99957564e-01 -4.15033169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.70587156 meters 0.8146811547132397 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.04 [[ 0.99996942 -0.00175725 -0.00762055 0.05869411] [ 0.00176725 0.99999759 0.00130541 -0.03586127] [ 0.00761824 -0.00131884 0.99997011 -0.0376747 ] [ 0. 0. 0. 1. ]] SLAMing on 1.73587156 meters 0.8217857323924035 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.04 [[ 0.99996844 -0.00167825 -0.00776578 0.05963263] [ 0.00168932 0.99999757 0.00141907 -0.03656389] [ 0.00776338 -0.00143214 0.99996884 -0.03789258] [ 0. 0. 0. 1. ]] SLAMing on 1.7658715600000001 meters 0.8250586766459779 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.04 [[ 0.99996748 -0.001468 -0.00792994 0.06067119] [ 0.00148196 0.99999736 0.00175566 -0.0386857 ] [ 0.00792734 -0.00176736 0.99996702 -0.03812229] [ 0. 0. 0. 1. ]] SLAMing on 1.7958715600000001 meters 0.8217483081038471 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.04 [[ 9.99966244e-01 -9.36343371e-04 -8.16291655e-03 6.21948466e-02] [ 9.57677701e-04 9.99996135e-01 2.61005021e-03 -4.46082694e-02] [ 8.16044110e-03 -2.61777954e-03 9.99963277e-01 -3.86480788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.82587156 meters 0.8138382735552679 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-0.04 [[ 9.99964900e-01 -8.65149398e-04 -8.33372329e-03 6.33537499e-02] [ 8.87805529e-04 9.99995919e-01 2.71529281e-03 -4.52587284e-02] [ 8.33134015e-03 -2.72259623e-03 9.99961587e-01 -3.90512934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.85587156 meters 0.827978614143395 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-0.04 [[ 9.99963708e-01 -8.59481609e-04 -8.47607372e-03 6.43861694e-02] [ 8.82414507e-04 9.99995960e-01 2.70223542e-03 -4.51624527e-02] [ 8.47371695e-03 -2.70961676e-03 9.99960426e-01 -3.93884903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.88587156 meters 0.8231519655169677 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.04 [[ 9.99962554e-01 -7.60436370e-04 -8.62049515e-03 6.53440730e-02] [ 7.85074726e-04 9.99995616e-01 2.85509027e-03 -4.61499628e-02] [ 8.61828624e-03 -2.86175109e-03 9.99958767e-01 -3.96319740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.91587156 meters 0.8106485065667659 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.04 [[ 9.99961662e-01 -4.10150753e-04 -8.74677041e-03 6.58718779e-02] [ 4.39978577e-04 9.99994094e-01 3.40850126e-03 -4.98739183e-02] [ 8.74532075e-03 -3.41221898e-03 9.99955937e-01 -3.94049515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.94587156 meters 0.8046657281198014 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.04 [[ 9.99960757e-01 -2.41833590e-04 -8.85584179e-03 6.65373072e-02] [ 2.74400901e-04 9.99993204e-01 3.67646435e-03 -5.15739587e-02] [ 8.85489251e-03 -3.67875012e-03 9.99954028e-01 -3.94606918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.97587156 meters 0.8213228820903418 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.04 [[ 9.99960129e-01 7.72401783e-06 -8.92979020e-03 6.70179255e-02] [ 2.86669762e-05 9.99991696e-01 4.07509987e-03 -5.41335866e-02] [ 8.92974753e-03 -4.07519338e-03 9.99951825e-01 -3.94604952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00587156 meters 0.8169828322373897 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.04 [[ 9.99949452e-01 -4.37636274e-03 -9.05212950e-03 6.76123745e-02] [ 4.37254423e-03 9.99990343e-01 -4.41583884e-04 -5.26552292e-02] [ 9.05397461e-03 4.01980726e-04 9.99958931e-01 -3.91511207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0358715600000004 meters 0.8035715192343074 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 9.99949445e-01 -4.12210777e-03 -9.17140578e-03 6.85645251e-02] [ 4.12202501e-03 9.99991504e-01 -2.79263659e-05 -5.52980174e-02] [ 9.17144298e-03 -9.87980988e-06 9.99957941e-01 -3.95964637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06587156 meters 0.47511353183634564 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 9.99949091e-01 -3.93297901e-03 -9.29236459e-03 6.93657423e-02] [ 3.93571220e-03 9.99992217e-01 2.75864993e-04 -5.72174331e-02] [ 9.29120730e-03 -3.12423021e-04 9.99956787e-01 -3.98295441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0958715600000004 meters 0.4825193051999647 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 9.99949000e-01 -3.72823764e-03 -9.38606026e-03 7.00721189e-02] [ 3.73410618e-03 9.99992843e-01 6.07793292e-04 -5.93455326e-02] [ 9.38372709e-03 -6.42810840e-04 9.99955765e-01 -4.00905111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.12587156 meters 0.4729122940465825 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 0.99994913 -0.00327236 -0.0095409 0.07106725] [ 0.00328535 0.9999937 0.00134618 -0.06424814] [ 0.00953643 -0.00137745 0.99995358 -0.04035603] [ 0. 0. 0. 1. ]] SLAMing on 2.1558715600000005 meters 0.49016414206855524 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 0.99994821 -0.00320834 -0.00965842 0.07198245] [ 0.00322248 0.99999376 0.00144959 -0.06490846] [ 0.00965371 -0.00148064 0.99995231 -0.04072645] [ 0. 0. 0. 1. ]] SLAMing on 2.1858715600000003 meters 0.4853012520675493 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 0.99994701 -0.00325486 -0.00976654 0.07267841] [ 0.00326841 0.99999372 0.00137181 -0.06441218] [ 0.00976201 -0.00140365 0.99995137 -0.04085009] [ 0. 0. 0. 1. ]] SLAMing on 2.2158715600000005 meters 0.4779688454386288 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.04 [[ 0.99994648 -0.0031623 -0.00985068 0.07315125] [ 0.00317742 0.9999938 0.00151955 -0.06536361] [ 0.00984581 -0.00155077 0.99995033 -0.04083017] [ 0. 0. 0. 1. ]] SLAMing on 2.2458715600000003 meters 0.5049611869002527 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.04 [[ 0.99992087 -0.00757042 -0.01004662 0.07483878] [ 0.00754109 0.9999672 -0.00295467 -0.06434596] [ 0.01006866 0.00287867 0.99994517 -0.04164602] [ 0. 0. 0. 1. ]] SLAMing on 2.27587156 meters 0.4842845014471347 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.04 [[ 0.99992107 -0.00738883 -0.01016197 0.07554191] [ 0.00736228 0.99996939 -0.00264736 -0.06632206] [ 0.01018122 0.00257233 0.99994486 -0.04173072] [ 0. 0. 0. 1. ]] SLAMing on 2.3058715600000004 meters 0.7684144941185846 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.04 [[ 0.99992078 -0.00725136 -0.01028847 0.07627093] [ 0.00722724 0.99997105 -0.00237958 -0.06804025] [ 0.01030543 0.00230504 0.99994424 -0.04175475] [ 0. 0. 0. 1. ]] SLAMing on 2.33587156 meters 0.7554965479628221 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.04 [[ 0.99992061 -0.0071518 -0.0103742 0.0766715 ] [ 0.00712922 0.99997214 -0.002211 -0.06913998] [ 0.01038972 0.00213687 0.99994374 -0.04158601] [ 0. 0. 0. 1. ]] SLAMing on 2.3658715600000004 meters 0.7600226820982259 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.04 [[ 0.99992066 -0.00700049 -0.01047253 0.07739698] [ 0.00698041 0.99997373 -0.00195273 -0.07080624] [ 0.01048593 0.00187947 0.99994325 -0.04180269] [ 0. 0. 0. 1. ]] SLAMing on 2.3958715600000002 meters 0.8732276020364689 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.04 [[ 0.99992067 -0.00682904 -0.01058425 0.0780107 ] [ 0.00681175 0.99997541 -0.00166823 -0.07264023] [ 0.01059538 0.001596 0.99994259 -0.04177077] [ 0. 0. 0. 1. ]] SLAMing on 2.4258715600000005 meters 0.7418339497131301 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.04 [[ 0.99992092 -0.00662947 -0.01068673 0.07851685] [ 0.00661559 0.99997723 -0.0013334 -0.07478769] [ 0.01069533 0.0012626 0.99994201 -0.04167196] [ 0. 0. 0. 1. ]] SLAMing on 2.4558715600000003 meters 0.7596091927306851 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.08, Z:-0.04 [[ 0.9999586 -0.00839501 -0.00351007 0.11298043] [ 0.0083852 0.99996093 -0.00279919 -0.07702853] [ 0.00353344 0.00276964 0.99998992 -0.03887916] [ 0. 0. 0. 1. ]] SLAMing on 2.4858715600000005 meters 0.7559996355311693 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.08, Z:-0.04 [[ 0.99995973 -0.00822416 -0.00359097 0.11329446] [ 0.00821517 0.9999631 -0.00251181 -0.07889331] [ 0.00361149 0.00248221 0.9999904 -0.03862435] [ 0. 0. 0. 1. ]] SLAMing on 2.5158715600000003 meters 0.753766161360308 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.05 [[ 0.99997849 -0.00472499 -0.00454852 0.12297882] [ 0.00473461 0.99998657 0.00210644 -0.08452345] [ 0.00453851 -0.00212793 0.99998744 -0.04595063] [ 0. 0. 0. 1. ]] SLAMing on 2.54587156 meters 0.7344969407614413 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.05 [[ 0.9999759 -0.00451673 -0.00527184 0.13229592] [ 0.00452734 0.99998775 0.00200202 -0.08201344] [ 0.00526273 -0.00202584 0.9999841 -0.05307631] [ 0. 0. 0. 1. ]] SLAMing on 2.5758715600000004 meters 0.8267643920587538 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.05 [[ 0.99997488 -0.00458572 -0.00540449 0.13309546] [ 0.00459597 0.99998766 0.00188568 -0.08126119] [ 0.00539577 -0.00191047 0.99998362 -0.05317797] [ 0. 0. 0. 1. ]] SLAMing on 2.60587156 meters 0.9573440575275125 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.05 [[ 0.99997483 -0.00444062 -0.00553361 0.13378922] [ 0.00445246 0.99998782 0.0021284 -0.0828232 ] [ 0.00552409 -0.00215298 0.99998242 -0.05315874] [ 0. 0. 0. 1. ]] SLAMing on 2.6358715600000004 meters 0.9194238522392943 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:-0.05 [[ 0.99997494 -0.00420879 -0.00569313 0.13496591] [ 0.00422322 0.99998789 0.0025258 -0.08547082] [ 0.00568243 -0.00254978 0.9999806 -0.05364601] [ 0. 0. 0. 1. ]] SLAMing on 2.6658715600000003 meters 0.8725258731919542 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99997379 -0.00433966 -0.00579566 0.13576617] [ 0.00435304 0.99998788 0.00229955 -0.08400762] [ 0.00578561 -0.00232472 0.99998056 -0.05395683] [ 0. 0. 0. 1. ]] SLAMing on 2.6958715600000005 meters 0.6388730125974592 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99997263 -0.00446292 -0.00590148 0.13642475] [ 0.00447531 0.99998781 0.00208758 -0.08262606] [ 0.00589209 -0.00211394 0.99998041 -0.05399253] [ 0. 0. 0. 1. ]] SLAMing on 2.7258715600000003 meters 0.8520602957601636 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99997226 -0.00443882 -0.00598158 0.13662338] [ 0.00445162 0.99998783 0.00212788 -0.0828769 ] [ 0.00597206 -0.00215445 0.99997985 -0.05358253] [ 0. 0. 0. 1. ]] SLAMing on 2.7558715600000006 meters 0.8458364862665615 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99997188 -0.00439901 -0.00607383 0.13709892] [ 0.00441241 0.99998786 0.00219404 -0.08331636] [ 0.0060641 -0.00222077 0.99997915 -0.05347864] [ 0. 0. 0. 1. ]] SLAMing on 2.7858715600000004 meters 0.8117723844886542 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99997106 -0.00445996 -0.00616324 0.13749295] [ 0.00447289 0.99998782 0.00208523 -0.08258183] [ 0.00615387 -0.00211274 0.99997883 -0.05326659] [ 0. 0. 0. 1. ]] SLAMing on 2.81587156 meters 0.8117723844886542 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.99997106 -0.00445996 -0.00616324 0.13749295] [ 0.00447289 0.99998782 0.00208523 -0.08258183] [ 0.00615387 -0.00211274 0.99997883 -0.05326659] [ 0. 0. 0. 1. ]] SLAMing on 2.8458715600000004 meters 0.48206574945138536 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.05 [[ 0.999971 -0.00436492 -0.00623993 0.13768601] [ 0.00437902 0.99998789 0.00224772 -0.08362981] [ 0.00623004 -0.00227498 0.99997801 -0.052893 ] [ 0. 0. 0. 1. ]] SLAMing on 2.87587156 meters 0.5319149673264079 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99997172 -0.0040274 -0.00635137 0.1382612 ] [ 0.00404569 0.9999877 0.00286898 -0.08777923] [ 0.00633974 -0.00289459 0.99997571 -0.05277812] [ 0. 0. 0. 1. ]] SLAMing on 2.9058715600000005 meters 0.5339727970045176 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99997132 -0.00398283 -0.00644214 0.13869108] [ 0.00400187 0.99998766 0.00294504 -0.08826912] [ 0.00643033 -0.00297074 0.99997491 -0.05266925] [ 0. 0. 0. 1. ]] SLAMing on 2.9358715600000003 meters 0.5410723540974267 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.9999709 -0.00396538 -0.00651744 0.13910703] [ 0.00398484 0.99998763 0.00297663 -0.08848042] [ 0.00650556 -0.00300251 0.99997433 -0.05263151] [ 0. 0. 0. 1. ]] SLAMing on 2.9658715600000005 meters 0.5411188213936372 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99997073 -0.00385719 -0.00660808 0.13950484] [ 0.00387815 0.99998748 0.00316217 -0.08967058] [ 0.0065958 -0.00318771 0.99997317 -0.05247645] [ 0. 0. 0. 1. ]] SLAMing on 2.9958715600000003 meters 0.5714594035143122 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99997078 -0.00359065 -0.00674931 0.14055256] [ 0.00361536 0.99998679 0.00365366 -0.09292617] [ 0.0067361 -0.00367796 0.99997055 -0.05294344] [ 0. 0. 0. 1. ]] SLAMing on 3.0258715600000006 meters 0.5549067207065713 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99997034 -0.00356169 -0.00682896 0.14096644] [ 0.00358703 0.99998671 0.00370276 -0.0932373 ] [ 0.00681568 -0.00372715 0.99996983 -0.05293067] [ 0. 0. 0. 1. ]] SLAMing on 3.0558715600000004 meters 0.5445585320048058 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99996978 -0.00354834 -0.00691668 0.14138428] [ 0.00357418 0.99998666 0.00372787 -0.09339542] [ 0.00690336 -0.00375248 0.99996913 -0.0528308 ] [ 0. 0. 0. 1. ]] SLAMing on 3.08587156 meters 0.5578040965928147 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.05 [[ 0.99996938 -0.00349658 -0.00700086 0.14183819] [ 0.00352337 0.9999865 0.00381786 -0.09399053] [ 0.00698742 -0.00384241 0.99996821 -0.05280866] [ 0. 0. 0. 1. ]] SLAMing on 3.1158715600000004 meters 0.5596370378451507 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.05 [[ 0.99996962 -0.00326397 -0.00707863 0.14206384] [ 0.00329399 0.99998561 0.00423339 -0.09668652] [ 0.00706471 -0.00425658 0.99996599 -0.05242794] [ 0. 0. 0. 1. ]] SLAMing on 3.1458715600000002 meters 0.5654867121616973 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.05 [[ 0.99996975 -0.00306293 -0.00714919 0.14233442] [ 0.0030958 0.99998467 0.00459081 -0.09898477] [ 0.00713502 -0.0046128 0.99996391 -0.05220692] [ 0. 0. 0. 1. ]] SLAMing on 3.1758715600000005 meters 0.592111051879854 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.05 [[ 0.9999699 -0.00284693 -0.00721771 0.14268461] [ 0.00288288 0.99998347 0.00497546 -0.10148126] [ 0.00720342 -0.00499612 0.99996157 -0.05210664] [ 0. 0. 0. 1. ]] SLAMing on 3.2058715600000003 meters 0.6094064295333588 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.10, Z:-0.05 [[ 0.99996994 -0.00260293 -0.00730389 0.14324369] [ 0.00264252 0.99998184 0.00541635 -0.10435137] [ 0.00728966 -0.00543549 0.99995866 -0.05220883] [ 0. 0. 0. 1. ]] SLAMing on 3.2358715600000005 meters 0.5706842208391306 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:-0.05 [[ 9.99995195e-01 -1.65890421e-03 -2.61868804e-03 1.15196188e-01] [ 1.65682822e-03 9.99998312e-01 -7.94728068e-04 -1.02094659e-01] [ 2.62000200e-03 7.90385533e-04 9.99996255e-01 -5.18814891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2658715600000003 meters 0.5852637179292428 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:-0.05 [[ 9.99995253e-01 -1.50275553e-03 -2.69006309e-03 1.15509632e-01] [ 1.50139409e-03 9.99998744e-01 -5.08047596e-04 -1.03911772e-01] [ 2.69082318e-03 5.04006339e-04 9.99996253e-01 -5.17697683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2958715600000006 meters 0.5817786451754298 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 9.99995245e-01 -1.38780426e-03 -2.75408168e-03 1.15808586e-01] [ 1.38699620e-03 9.99998995e-01 -2.95291213e-04 -1.05267286e-01] [ 2.75448872e-03 2.91469908e-04 9.99996164e-01 -5.17201184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3258715600000004 meters 0.6048347166651846 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:-0.05 [[ 9.99994824e-01 -1.41843002e-03 -2.88787659e-03 1.16596066e-01] [ 1.41740687e-03 9.99998932e-01 -3.56305420e-04 -1.04894995e-01] [ 2.88837890e-03 3.52210280e-04 9.99995767e-01 -5.18571053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.35587156 meters 0.5950205229668103 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 9.99994663e-01 -1.37082101e-03 -2.96548525e-03 1.16966239e-01] [ 1.37002962e-03 9.99999025e-01 -2.68879526e-04 -1.05453962e-01] [ 2.96585094e-03 2.64815288e-04 9.99995567e-01 -5.18278117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3858715600000004 meters 0.6208087825926835 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 9.99994642e-01 -1.17561117e-03 -3.05527931e-03 1.17597026e-01] [ 1.17594765e-03 9.99999303e-01 1.08336054e-04 -1.07851533e-01] [ 3.05514982e-03 -1.11928322e-04 9.99995327e-01 -5.20842791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4158715600000003 meters 0.62768568931867 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 9.99994479e-01 -1.13846313e-03 -3.12199018e-03 1.17919541e-01] [ 1.13903521e-03 9.99999335e-01 1.81470004e-04 -1.08306534e-01] [ 3.12178151e-03 -1.85025059e-04 9.99995110e-01 -5.20623131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4458715600000005 meters 0.6299441242847214 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 9.99994279e-01 -1.19366592e-03 -3.16510997e-03 1.18140164e-01] [ 1.19390737e-03 9.99999285e-01 7.43980730e-05 -1.07622220e-01] [ 3.16501889e-03 -7.81764954e-05 9.99994988e-01 -5.20675657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4758715600000003 meters 0.6187586592852042 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993678e-01 3.43283596e-03 9.26762774e-04 9.22069219e-02] [-3.43134955e-03 9.99992832e-01 -1.60072859e-03 -1.08305766e-01] [-9.32251170e-04 1.59753842e-03 9.99998289e-01 -5.20293192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5058715600000006 meters 0.6339838794270543 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993870e-01 3.39176171e-03 8.68941047e-04 9.25697974e-02] [-3.39029763e-03 9.99992840e-01 -1.68087054e-03 -1.07821361e-01] [-8.74635938e-04 1.67791426e-03 9.99998210e-01 -5.21718804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5358715600000004 meters 0.6527386112000927 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993899e-01 3.40188784e-03 7.93188326e-04 9.29087195e-02] [-3.40057112e-03 9.99992848e-01 -1.65551650e-03 -1.07972412e-01] [-7.98814535e-04 1.65280911e-03 9.99998315e-01 -5.21124801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5658715600000006 meters 0.6583651992836159 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993987e-01 3.39759251e-03 6.94188364e-04 9.32758636e-02] [-3.39643356e-03 9.99992848e-01 -1.66391158e-03 -1.07924389e-01] [-6.99836693e-04 1.66154381e-03 9.99998375e-01 -5.18493035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5958715600000004 meters 0.6759165788914716 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99994212e-01 3.34260819e-03 6.35337919e-04 9.34825986e-02] [-3.34147565e-03 9.99992841e-01 -1.77535900e-03 -1.07231807e-01] [-6.41267701e-04 1.77322576e-03 9.99998222e-01 -5.16937290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62587156 meters 0.6756509083788561 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99994420e-01 3.29176814e-03 5.69482682e-04 9.36526925e-02] [-3.29069396e-03 9.99992824e-01 -1.87699851e-03 -1.06592964e-01] [-5.75657240e-04 1.87511404e-03 9.99998076e-01 -5.14120617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6558715600000005 meters 0.5907129976257492 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99994509e-01 3.27599164e-03 4.99550432e-04 9.38295536e-02] [-3.27503171e-03 9.99992812e-01 -1.91044190e-03 -1.06384831e-01] [-5.05805433e-04 1.90879537e-03 9.99998050e-01 -5.11095692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6858715600000003 meters 0.5985474780144034 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99994427e-01 3.30954645e-03 4.39918461e-04 9.40148179e-02] [-3.30873487e-03 9.99992846e-01 -1.83294099e-03 -1.06848191e-01] [-4.45981518e-04 1.83147520e-03 9.99998223e-01 -5.09059333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7158715600000005 meters 0.6048849100410284 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99994267e-01 3.36544862e-03 3.74658569e-04 9.42591689e-02] [-3.36480381e-03 9.99992879e-01 -1.70858680e-03 -1.07606312e-01] [-3.80406062e-04 1.70731635e-03 9.99998470e-01 -5.08091475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7458715600000003 meters 0.609931807622698 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993988e-01 3.45276334e-03 3.19616987e-04 9.44448669e-02] [-3.45227628e-03 9.99992898e-01 -1.51208595e-03 -1.08791809e-01] [-3.24835592e-04 1.51097345e-03 9.99998806e-01 -5.06914409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7758715600000006 meters 0.6267855637411979 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993745e-01 3.52727840e-03 2.60301708e-04 9.46020406e-02] [-3.52692738e-03 9.99992887e-01 -1.33685817e-03 -1.09848393e-01] [-2.65015327e-04 1.33593174e-03 9.99999073e-01 -5.04621427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8058715600000004 meters 0.6295913151560729 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.11, Z:-0.05 [[ 9.99993754e-01 3.52965081e-03 1.83988771e-04 9.47738631e-02] [-3.52940324e-03 9.99992889e-01 -1.32899170e-03 -1.09883286e-01] [-1.88678340e-04 1.32833403e-03 9.99999100e-01 -5.01088325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8358715600000006 meters 0.6490735872691127 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 0.99999478 -0.00207983 -0.00247284 0.1208125 ] [ 0.00208348 0.99999674 0.00147458 -0.10926386] [ 0.00246977 -0.00147972 0.99999586 -0.04969848] [ 0. 0. 0. 1. ]] SLAMing on 3.8658715600000004 meters 0.6522267229442306 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 0.99999466 -0.00206755 -0.00253201 0.12100238] [ 0.00207136 0.99999673 0.00150163 -0.10942292] [ 0.0025289 -0.00150687 0.99999567 -0.04955518] [ 0. 0. 0. 1. ]] SLAMing on 3.8958715600000002 meters 0.6600604911465976 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 0.99999433 -0.00214937 -0.00259413 0.12122023] [ 0.00215279 0.99999682 0.0013162 -0.10833054] [ 0.00259129 -0.00132177 0.99999577 -0.0494628 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9258715600000005 meters 0.6738023719689251 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 0.99999403 -0.00222186 -0.00264565 0.12144739] [ 0.0022249 0.99999686 0.00114887 -0.10736161] [ 0.00264309 -0.00115475 0.99999584 -0.04948023] [ 0. 0. 0. 1. ]] SLAMing on 3.9558715600000003 meters 0.6748397969023832 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.11, Z:-0.05 [[ 9.99993546e-01 -2.34678693e-03 -2.72027255e-03 1.21669924e-01] [ 2.34910849e-03 9.99996879e-01 8.50546905e-04 -1.05633636e-01] [ 2.71826801e-03 -8.56931632e-04 9.99995938e-01 -4.92754760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9858715600000005 meters 0.68446270631162 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:-0.05 [[ 9.99992977e-01 -2.50974998e-03 -2.78335707e-03 1.21860519e-01] [ 2.51099380e-03 9.99996749e-01 4.43473912e-04 -1.03294687e-01] [ 2.78223502e-03 -4.50459790e-04 9.99996028e-01 -4.91395057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.01587156 meters 0.6994578768583176 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:-0.05 [[ 9.99992601e-01 -9.13544986e-04 -3.73663607e-03 1.28430484e-01] [ 9.16803039e-04 9.99999201e-01 8.70301402e-04 -9.88699894e-02] [ 3.73583802e-03 -8.73720722e-04 9.99992640e-01 -5.37576498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04587156 meters 0.7041765119366572 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.10, Z:-0.05 [[ 9.99995097e-01 4.28424567e-04 -3.10207951e-03 1.22948884e-01] [-4.22699163e-04 9.99998207e-01 1.84608684e-03 -9.84701825e-02] [ 3.10286486e-03 -1.84476654e-03 9.99993485e-01 -4.93752847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.07587156 meters 0.7183848596180985 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.09, Z:-0.05 [[ 9.99994914e-01 1.83539444e-04 -3.18394068e-03 1.23347503e-01] [-1.80017131e-04 9.99999372e-01 1.10652598e-03 -9.42186060e-02] [ 3.18414177e-03 -1.10594719e-03 9.99994319e-01 -4.95604407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10587156 meters 0.7250803218792499 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.09, Z:-0.05 [[ 9.99994816e-01 1.51177559e-05 -3.22005079e-03 1.23508799e-01] [-1.29217253e-05 9.99999767e-01 6.82006030e-04 -9.18485634e-02] [ 3.22006035e-03 -6.81960886e-04 9.99994583e-01 -4.96085682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.13587156 meters 0.751294625318847 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.09, Z:-0.05 [[ 9.99994685e-01 -1.98257390e-04 -3.25434438e-03 1.23692382e-01] [ 1.98695770e-04 9.99999971e-01 1.34383272e-04 -8.88099796e-02] [ 3.25431764e-03 -1.35029182e-04 9.99994696e-01 -4.97341460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16587156 meters 0.7578638162977817 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.09, Z:-0.05 [[ 9.99994492e-01 -4.32445371e-04 -3.29071509e-03 1.23809730e-01] [ 4.30883878e-04 9.99999794e-01 -4.75208761e-04 -8.54454607e-02] [ 3.29091991e-03 4.73788228e-04 9.99994473e-01 -4.96882094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19587156 meters 0.7613426993014574 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.05 [[ 9.99994287e-01 -6.75210474e-04 -3.31216824e-03 1.23851569e-01] [ 6.71579601e-04 9.99999173e-01 -1.09721239e-03 -8.20159847e-02] [ 3.31290635e-03 1.09498173e-03 9.99993913e-01 -4.96180530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22587156 meters 0.7713939819489212 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.05 [[ 0.9999939 -0.00102049 -0.00333994 0.12377448] [ 0.00101408 0.99999765 -0.00191805 -0.07739931] [ 0.00334189 0.00191465 0.99999258 -0.04924452] [ 0. 0. 0. 1. ]] SLAMing on 4.25587156 meters 0.7690259732034159 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.05 [[ 0.99999362 -0.0011265 -0.00338903 0.12393148] [ 0.00111911 0.99999699 -0.00218127 -0.07596701] [ 0.00339147 0.00217747 0.99999188 -0.04917069] [ 0. 0. 0. 1. ]] SLAMing on 4.28587156 meters 0.776071231264787 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.99999331 -0.00120661 -0.00345341 0.1240999 ] [ 0.0011984 0.99999645 -0.00238109 -0.07488098] [ 0.00345627 0.00237694 0.9999912 -0.04899321] [ 0. 0. 0. 1. ]] SLAMing on 4.31587156 meters 0.7759030009475613 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.9999929 -0.0013151 -0.00353006 0.12420762] [ 0.00130574 0.99999563 -0.00265139 -0.07340125] [ 0.00353354 0.00264676 0.99999025 -0.04856543] [ 0. 0. 0. 1. ]] SLAMing on 4.34587156 meters 0.789991321545452 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.99999262 -0.00138854 -0.0035833 0.12442114] [ 0.00137837 0.99999502 -0.00283928 -0.07240292] [ 0.00358722 0.00283432 0.99998955 -0.04860159] [ 0. 0. 0. 1. ]] SLAMing on 4.37587156 meters 0.7708491699665283 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.99999223 -0.00151761 -0.00363772 0.12456407] [ 0.00150609 0.99999385 -0.00316883 -0.07065593] [ 0.0036425 0.00316333 0.99998836 -0.04847473] [ 0. 0. 0. 1. ]] SLAMing on 4.4058715600000005 meters 0.780271356107108 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.99999159 -0.00172903 -0.00371782 0.12481348] [ 0.00171531 0.99999171 -0.00369207 -0.06787546] [ 0.00372417 0.00368566 0.99998627 -0.04835908] [ 0. 0. 0. 1. ]] SLAMing on 4.43587156 meters 0.7716129094302636 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.05 [[ 0.99999128 -0.00177495 -0.00377982 0.12496913] [ 0.00176053 0.99999118 -0.00381263 -0.06724628] [ 0.00378656 0.00380595 0.99998559 -0.04819367] [ 0. 0. 0. 1. ]] SLAMing on 4.46587156 meters 0.7792106999104732 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.05 [[ 0.99999073 -0.00195305 -0.00383624 0.1250991 ] [ 0.00193669 0.99998903 -0.00426486 -0.06487636] [ 0.00384452 0.00425739 0.99998355 -0.04800824] [ 0. 0. 0. 1. ]] SLAMing on 4.49587156 meters 0.7743993252974763 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.04 [[ 9.99995921e-01 -5.33514519e-06 -2.85612942e-03 1.18939688e-01] [-6.04360018e-07 9.99997838e-01 -2.07955955e-03 -6.56194935e-02] [ 2.85613434e-03 2.07955280e-03 9.99993759e-01 -4.31752623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52587156 meters 0.7798750106241007 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.04 [[ 9.99995744e-01 -5.84556826e-05 -2.91711532e-03 1.19102267e-01] [ 5.19896967e-05 9.99997542e-01 -2.21659510e-03 -6.49112975e-02] [ 2.91723773e-03 2.21643400e-03 9.99993289e-01 -4.30448038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55587156 meters 0.7775617352063093 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.04 [[ 9.99996139e-01 1.81420288e-03 -2.10505877e-03 1.13544056e-01] [-1.81428813e-03 9.99998353e-01 -3.85885505e-05 -6.70780611e-02] [ 2.10498530e-03 4.24075846e-05 9.99997784e-01 -3.83315159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58587156 meters 0.7783851459491617 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.04 [[ 9.99996113e-01 1.79827421e-03 -2.13055664e-03 1.13587529e-01] [-1.79845477e-03 9.99998379e-01 -8.28359943e-05 -6.68535290e-02] [ 2.13040423e-03 8.66673821e-05 9.99997727e-01 -3.82164196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61587156 meters 0.7615975804607537 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.04 [[ 9.99996223e-01 1.61518536e-03 -2.22380883e-03 1.13719330e-01] [-1.61639209e-03 9.99998547e-01 -5.40950371e-04 -6.44826751e-02] [ 2.22293186e-03 5.44542874e-04 9.99997381e-01 -3.77808046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64587156 meters 0.7587106200098528 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.04 [[ 9.99996295e-01 1.49772410e-03 -2.27303423e-03 1.13851451e-01] [-1.49967695e-03 9.99998508e-01 -8.57674575e-04 -6.28914283e-02] [ 2.27174628e-03 8.61080214e-04 9.99997049e-01 -3.77139548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.67587156 meters 0.7763250518248495 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.05 [[ 0.99999533 0.00141936 -0.00270527 0.12215727] [-0.00142223 0.99999843 -0.00105671 -0.06154113] [ 0.00270377 0.00106055 0.99999578 -0.04553954] [ 0. 0. 0. 1. ]] SLAMing on 4.70587156 meters 0.7712093667156285 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.04 [[ 9.99997709e-01 -2.48587659e-05 -2.14049726e-03 1.17616469e-01] [ 1.91499930e-05 9.99996443e-01 -2.66701037e-03 -5.91506571e-02] [ 2.14055595e-03 2.66696327e-03 9.99994153e-01 -4.16322139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73587156 meters 0.7712093667156285 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.04 [[ 9.99997709e-01 -2.48587659e-05 -2.14049726e-03 1.17616469e-01] [ 1.91499930e-05 9.99996443e-01 -2.66701037e-03 -5.91506571e-02] [ 2.14055595e-03 2.66696327e-03 9.99994153e-01 -4.16322139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76587156 meters 0.7783841538148769 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.05 [[ 0.99999184 -0.00224965 -0.00335497 0.12449738] [ 0.00223253 0.99998452 -0.00509683 -0.05724248] [ 0.00336639 0.0050893 0.99998138 -0.0463034 ] [ 0. 0. 0. 1. ]] SLAMing on 4.79587156 meters 0.7610554480891093 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.04 [[ 9.99997315e-01 -2.06149412e-04 -2.30821996e-03 1.18377212e-01] [ 1.99801918e-04 9.99996199e-01 -2.74984507e-03 -5.93809303e-02] [ 2.30877807e-03 2.74937650e-03 9.99993555e-01 -4.16865790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82587156 meters 0.7572873938497587 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.04 [[ 9.99997598e-01 1.77246623e-03 -1.28942002e-03 1.12416189e-01] [-1.77317407e-03 9.99998278e-01 -5.48024635e-04 -6.13462023e-02] [ 1.28844645e-03 5.50309685e-04 9.99999019e-01 -3.71492174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85587156 meters 0.7573260488154997 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.04 [[ 9.99997637e-01 1.67502099e-03 -1.38558916e-03 1.12612126e-01] [-1.67613707e-03 9.99998271e-01 -8.04725133e-04 -6.00582898e-02] [ 1.38423884e-03 8.07045669e-04 9.99998716e-01 -3.68598957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.88587156 meters 0.7205513577666608 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.03 [[ 9.99990990e-01 -5.91302369e-04 -4.20370449e-03 9.16700209e-02] [ 6.22525566e-04 9.99972203e-01 7.43011910e-03 -6.27304979e-02] [ 4.19919419e-03 -7.43266906e-03 9.99963560e-01 -3.47029951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.91587156 meters 0.7303431913664878 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.03 [[ 9.99995158e-01 2.83123990e-03 -1.29177374e-03 1.08552880e-01] [-2.83109340e-03 9.99995986e-01 1.15223834e-04 -6.01420353e-02] [ 1.29209478e-03 -1.11566144e-04 9.99999159e-01 -3.28044317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9458715600000005 meters 0.7200163439429852 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.03 [[ 9.99999588e-01 8.67255600e-04 -2.69617922e-04 1.02610755e-01] [-8.67822106e-04 9.99997401e-01 -2.10817578e-03 -5.76657100e-02] [ 2.67788894e-04 2.10840889e-03 9.99997741e-01 -2.81611164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.97587156 meters 0.715696380065993 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.03 [[ 9.99999643e-01 7.71879479e-04 -3.44789944e-04 1.02740994e-01] [-7.72703304e-04 9.99996832e-01 -2.39564468e-03 -5.63028226e-02] [ 3.42939703e-04 2.39591024e-03 9.99997071e-01 -2.79122769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00587156 meters 0.729764883939536 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.03 [[ 9.99994804e-01 2.86889572e-03 -1.46996635e-03 1.09541933e-01] [-2.86944076e-03 9.99995815e-01 -3.68807466e-04 -5.58218687e-02] [ 1.46890213e-03 3.73023531e-04 9.99998852e-01 -3.27709356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.03587156 meters 0.7284089966894394 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.03 [[ 0.9999958 0.00247019 -0.00151563 0.10957834] [-0.00247281 0.99999545 -0.00172889 -0.04951596] [ 0.00151136 0.00173264 0.99999736 -0.03245776] [ 0. 0. 0. 1. ]] SLAMing on 5.06587156 meters 0.700332052805528 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.03 [[ 0.99999256 0.00124678 -0.00364978 0.08853852] [-0.00122027 0.99997293 0.00725668 -0.0494459 ] [ 0.00365872 -0.00725218 0.99996701 -0.0313422 ] [ 0. 0. 0. 1. ]] SLAMing on 5.09587156 meters 0.6908137999960876 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.03 [[ 9.99996371e-01 -8.88070110e-04 -2.54333515e-03 8.27246813e-02] [ 8.99351822e-04 9.99989747e-01 4.43809151e-03 -4.35055165e-02] [ 2.53936774e-03 -4.44036276e-03 9.99986917e-01 -2.70403212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12587156 meters 0.6777674075165768 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.02 [[ 0.99999433 -0.00306423 -0.00139356 0.0764652 ] [ 0.00306661 0.99999384 0.00171045 -0.03887216] [ 0.00138831 -0.00171472 0.99999757 -0.02237071] [ 0. 0. 0. 1. ]] SLAMing on 5.1558715600000005 meters 0.6746878207613207 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.02 [[ 0.99999357 -0.00329265 -0.00142009 0.07644072] [ 0.00329423 0.99999396 0.00110612 -0.03600055] [ 0.00141644 -0.00111079 0.99999838 -0.02212761] [ 0. 0. 0. 1. ]] SLAMing on 5.18587156 meters 0.6637302350095878 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.02 [[ 9.99998020e-01 -1.91295036e-03 -5.48344225e-04 7.18192340e-02] [ 1.91425661e-03 9.99995308e-01 2.39162700e-03 -3.69977696e-02] [ 5.43766588e-04 -2.39267193e-03 9.99996990e-01 -1.89368707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.21587156 meters 0.6783602124764984 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.02 [[ 0.99999047 0.00117314 -0.00420524 0.05154751] [-0.00119537 0.9999853 -0.00528782 -0.03239401] [ 0.00419898 0.00529279 0.99997718 -0.01625823] [ 0. 0. 0. 1. ]] SLAMing on 5.24587156 meters 0.7105932212391384 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.02 [[ 0.9999968 -0.00196287 -0.00159752 0.07358714] [ 0.00196574 0.99999645 0.00180044 -0.0318818 ] [ 0.00159398 -0.00180358 0.9999971 -0.01917498] [ 0. 0. 0. 1. ]] SLAMing on 5.27587156 meters 0.6854852449112314 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.02 [[ 0.99999639 -0.00214536 -0.00161864 0.07366511] [ 0.00214751 0.99999682 0.00132251 -0.02965298] [ 0.00161579 -0.00132599 0.99999782 -0.01922738] [ 0. 0. 0. 1. ]] SLAMing on 5.30587156 meters 0.6821315759059594 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 9.99995378e-01 -2.56040178e-03 -1.63950119e-03 7.37193128e-02] [ 2.56081946e-03 9.99996689e-01 2.52711945e-04 -2.46271117e-02] [ 1.63884872e-03 -2.56909243e-04 9.99998624e-01 -1.92674955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33587156 meters 0.4959317994964807 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 9.99999646e-01 -5.30372709e-04 -6.52577735e-04 6.73834977e-02] [ 5.31873529e-04 9.99997209e-01 2.30181329e-03 -2.44932534e-02] [ 6.51355095e-04 -2.30215957e-03 9.99997138e-01 -1.42212693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36587156 meters 0.6403459500034944 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 9.99999557e-01 -6.47740121e-04 -6.82401079e-04 6.74156568e-02] [ 6.49092846e-04 9.99997821e-01 1.98394938e-03 -2.30204536e-02] [ 6.81114508e-04 -1.98439145e-03 9.99997799e-01 -1.40925183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39587156 meters 0.3669811501618307 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 9.99999458e-01 -7.17891485e-04 -7.53843197e-04 6.74345714e-02] [ 7.19236641e-04 9.99998147e-01 1.78564490e-03 -2.21152655e-02] [ 7.52559901e-04 -1.78618612e-03 9.99998122e-01 -1.36108814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.42587156 meters 0.3391451580163939 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 9.99999331e-01 -8.24321947e-04 -8.10909626e-04 6.74622048e-02] [ 8.25534218e-04 9.99998541e-01 1.49575529e-03 -2.07777071e-02] [ 8.09675459e-04 -1.49642372e-03 9.99998553e-01 -1.32643760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.45587156 meters 0.33570767806579505 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 9.99999158e-01 -9.59251761e-04 -8.73419032e-04 6.75212483e-02] [ 9.60234226e-04 9.99998906e-01 1.12512638e-03 -1.90748417e-02] [ 8.72338797e-04 -1.12596412e-03 9.99998986e-01 -1.29613436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4858715600000005 meters 0.6380322406585028 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.02 [[ 9.99992702e-01 -8.16818988e-04 3.73212322e-03 8.73890786e-02] [ 8.50790399e-04 9.99958142e-01 -9.10993292e-03 -1.20928799e-02] [-3.72452584e-03 9.11304169e-03 9.99951539e-01 -1.56967947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51587156 meters 0.3534200962937213 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.02 [[ 0.99998653 0.00368844 0.00365115 0.08766889] [-0.00367341 0.99998479 -0.00411349 -0.01496064] [-0.00366626 0.00410002 0.99998487 -0.0158783 ] [ 0. 0. 0. 1. ]] SLAMing on 5.54587156 meters 0.2565004553412355 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 9.99998204e-01 -7.18697811e-04 1.75391324e-03 7.03239902e-02] [ 7.15314271e-04 9.99997884e-01 1.92900295e-03 -1.61460722e-02] [-1.75529590e-03 -1.92774489e-03 9.99996601e-01 -1.85413720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57587156 meters 0.26239013179710824 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 9.99998186e-01 -7.17479767e-04 1.76421781e-03 7.03820977e-02] [ 7.14074350e-04 9.99997882e-01 1.93014307e-03 -1.61497636e-02] [-1.76559891e-03 -1.92887979e-03 9.99996581e-01 -1.87825638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60587156 meters 0.2376541998844147 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99999601e-01 2.61137088e-04 -8.54680731e-04 5.30091867e-02] [-2.68262640e-04 9.99965122e-01 -8.34762328e-03 -1.12225715e-02] [ 8.52471048e-04 8.34784923e-03 9.99964793e-01 -2.03707298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63587156 meters 0.2502687305162241 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.02 [[ 9.99995590e-01 -2.24056510e-03 1.94914014e-03 7.30320050e-02] [ 2.24037788e-03 9.99997486e-01 9.82346282e-05 -1.42585600e-02] [-1.94935534e-03 -9.38673846e-05 9.99998096e-01 -2.15636982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66587156 meters 0.23012290090565182 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.02 [[ 9.99995530e-01 -2.28278988e-03 1.93097555e-03 7.31077856e-02] [ 2.28282505e-03 9.99997394e-01 -1.60078613e-05 -1.37370131e-02] [-1.93093397e-03 2.04158691e-05 9.99998136e-01 -2.16275267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6958715600000005 meters 0.24932572613830456 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.02 [[ 9.99995497e-01 -2.32454349e-03 1.89813459e-03 7.31707433e-02] [ 2.32479508e-03 9.99997289e-01 -1.30350869e-04 -1.32179339e-02] [-1.89782643e-03 1.34763056e-04 9.99998190e-01 -2.15489460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72587156 meters 0.05057395831628021 Centerline is valid? [False, True] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 9.99998812e-01 -1.43249424e-03 5.68832321e-04 3.52433180e-02] [ 1.43238005e-03 9.99998954e-01 2.01106137e-04 -1.24928137e-02] [-5.69119809e-04 -2.00291114e-04 9.99999818e-01 -2.57244937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.75587156 meters 0.05399228437116047 Centerline is valid? [True, True] Translation: X:0.07, Y:0.01, Z:-0.00 [[ 0.99997289 -0.0059464 0.00434192 0.06811725] [ 0.00615434 0.99875201 -0.04956355 0.01263573] [-0.00404177 0.04958893 0.99876153 -0.00307866] [ 0. 0. 0. 1. ]] SLAMing on 5.78587156 meters 0.05219624367746413 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.02, Z:-0.01 [[ 9.99943420e-01 -9.29440181e-03 5.17412273e-03 9.81077489e-02] [ 9.29500894e-03 9.99956796e-01 -9.33030427e-05 -2.38053460e-02] [-5.17303199e-03 1.41391281e-04 9.99986610e-01 -5.65395424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81587156 meters 0.05452291066103443 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.03, Z:-0.01 [[ 9.99939858e-01 -9.91616853e-03 4.68503169e-03 1.29735165e-01] [ 9.91667079e-03 9.99950825e-01 -8.39858364e-05 -2.81543437e-02] [-4.68396848e-03 1.30440702e-04 9.99989022e-01 -8.48375831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84587156 meters 0.05459843936664948 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.03, Z:-0.01 [[ 9.99924502e-01 -1.09807084e-02 5.51499325e-03 1.62018949e-01] [ 1.09814210e-02 9.99939697e-01 -9.89455835e-05 -3.26494973e-02] [-5.51357419e-03 1.59500576e-04 9.99984787e-01 -8.96735935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.87587156 meters 0.056094577697893784 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.04, Z:-0.01 [[ 9.99917872e-01 -1.13703794e-02 5.91306290e-03 1.94193851e-01] [ 1.13712074e-02 9.99935340e-01 -1.06423361e-04 -3.71594606e-02] [-5.91147049e-03 1.73653285e-04 9.99982512e-01 -9.63250376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9058715600000005 meters 0.05713448289891535 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.04, Z:-0.01 [[ 9.99904704e-01 -1.20835603e-02 6.67606801e-03 2.26618009e-01] [ 1.20846346e-02 9.99926971e-01 -1.20586422e-04 -4.32672576e-02] [-6.67412334e-03 2.01252773e-04 9.99977708e-01 -9.26913187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93587156 meters 0.05713598177216543 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.05, Z:-0.01 [[ 9.99902172e-01 -1.21451157e-02 6.93854512e-03 2.58357959e-01] [ 1.21462799e-02 9.99926223e-01 -1.25663922e-04 -4.64298438e-02] [-6.93650701e-03 2.09929140e-04 9.99975920e-01 -9.98890329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96587156 meters 0.05684796690944379 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.05, Z:-0.01 [[ 9.99901729e-01 -1.20739276e-02 7.12412663e-03 2.90319387e-01] [ 1.20751554e-02 9.99927084e-01 -1.29352441e-04 -4.97667048e-02] [-7.12204537e-03 2.15364665e-04 9.99974615e-01 -1.17634705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.99587156 meters 0.05477902785143444 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.05, Z:-0.01 [[ 9.99922957e-01 -1.01828877e-02 7.09855185e-03 3.21279395e-01] [ 1.01840644e-02 9.99948133e-01 -1.29641563e-04 -5.21591208e-02] [-7.09686354e-03 2.01923684e-04 9.99974797e-01 -1.33455736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025871560000001 meters 0.053392785778154005 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.05, Z:-0.01 [[ 9.99926598e-01 -9.38940233e-03 7.65749154e-03 3.53261769e-01] [ 9.39074651e-03 9.99955896e-01 -1.39599869e-04 -5.41792469e-02] [-7.65584305e-03 2.11499184e-04 9.99970671e-01 -1.43354978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.05587156 meters 0.05046334705581511 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.09, Z:-0.03 [[ 0.99977883 -0.00647731 0.02000816 0.38110488] [ 0.00536881 0.99847371 0.05496751 -0.08979909] [-0.02033366 -0.05484793 0.99828766 -0.02688094] [ 0. 0. 0. 1. ]] SLAMing on 6.08587156 meters 0.04929972975735195 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.03, Z:-0.02 [[ 0.99996164 -0.00478521 0.00733652 0.41904207] [ 0.00517815 0.99849973 -0.05451116 -0.02504163] [-0.00706466 0.05454706 0.99848621 -0.01806016] [ 0. 0. 0. 1. ]] SLAMing on 6.11587156 meters 0.047343137860264374 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.06, Z:-0.02 [[ 9.99949556e-01 -5.10409559e-03 8.65069604e-03 4.50225536e-01] [ 5.10566632e-03 9.99986953e-01 -1.59497587e-04 -5.82053473e-02] [-8.64976908e-03 2.03657109e-04 9.99962569e-01 -1.86473251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14587156 meters 0.04442171656516567 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.06, Z:-0.02 [[ 9.99950502e-01 -3.05033372e-03 9.47042241e-03 4.82064542e-01] [ 3.05212780e-03 9.99995327e-01 -1.74993893e-04 -5.69282215e-02] [-9.46984436e-03 2.03890171e-04 9.99955139e-01 -1.85614335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17587156 meters 0.041369237531940994 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.06, Z:-0.02 [[ 9.99952900e-01 -5.72633972e-04 9.68869506e-03 5.13223868e-01] [ 5.74400665e-04 9.99999819e-01 -1.79564143e-04 -5.51112385e-02] [-9.68859048e-03 1.85120879e-04 9.99953047e-01 -1.95536804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20587156 meters 0.038208547005688154 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.06, Z:-0.04 [[ 0.99981098 0.0062718 0.01840307 0.54146834] [-0.00645323 0.999931 0.00981577 -0.05885163] [-0.01834024 -0.00993267 0.99978247 -0.04086416] [ 0. 0. 0. 1. ]] SLAMing on 6.2358715600000005 meters 0.03256945377374717 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.04, Z:-0.02 [[ 0.99993703 0.00644033 0.00919012 0.57548965] [-0.00634607 0.99992734 -0.01024857 -0.04088095] [-0.00925546 0.0101896 0.99990525 -0.02291024] [ 0. 0. 0. 1. ]] SLAMing on 6.26587156 meters 0.029396344652220054 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.04, Z:-0.02 [[ 9.99911269e-01 9.19617536e-03 9.63768003e-03 6.08201223e-01] [-9.19487559e-03 9.99957710e-01 -1.79165800e-04 -4.27990281e-02] [-9.63892010e-03 9.05326340e-05 9.99953540e-01 -2.37081644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29587156 meters 0.03929075918765523 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.05, Z:-0.06 [[ 0.99921589 0.01298763 0.03740223 0.63757942] [-0.01371727 0.99971929 0.01931778 -0.04875721] [-0.03714084 -0.01981569 0.99911356 -0.05972046] [ 0. 0. 0. 1. ]] SLAMing on 6.32587156 meters 0.04192938922929629 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.03, Z:-0.04 [[ 0.99982393 0.01798377 -0.0053565 0.66868433] [-0.0180088 0.99982697 -0.0046605 -0.0277465 ] [ 0.00527176 0.00475614 0.99997479 -0.03818313] [ 0. 0. 0. 1. ]] SLAMing on 6.35587156 meters 0.022456800593113307 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:-0.02 [[ 0.99972485 0.02007969 0.01212528 0.70100789] [-0.0199313 0.99972646 -0.01223677 -0.01829283] [-0.01236767 0.01199173 0.99985161 -0.0243482 ] [ 0. 0. 0. 1. ]] SLAMing on 6.38587156 meters 0.019394013166593678 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.02, Z:-0.01 [[ 9.99653598e-01 2.18108644e-02 1.47299154e-02 7.33342730e-01] [-2.18090938e-02 9.99762114e-01 -2.80848125e-04 -2.31102697e-02] [-1.47325369e-02 -4.04952678e-05 9.99891469e-01 -8.81476305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41587156 meters 0.03604972560053738 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.03, Z:-0.04 [[ 0.99971689 0.02312214 -0.00561385 0.76092282] [-0.02307421 0.99969798 0.00845714 -0.02593803] [ 0.00580771 -0.00832521 0.99994848 -0.04107698] [ 0. 0. 0. 1. ]] SLAMing on 6.4458715600000005 meters 0.017367133057681818 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.02, Z:-0.01 [[ 0.99964827 0.02187584 0.01499306 0.79271331] [-0.02175313 0.99972893 -0.00829916 -0.02098773] [-0.01517055 0.00797009 0.99985316 -0.0091978 ] [ 0. 0. 0. 1. ]] SLAMing on 6.47587156 meters 0.016877645996862017 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.03, Z:-0.01 [[ 9.99653491e-01 2.10741459e-02 1.57727221e-02 8.24740852e-01] [-2.10719719e-02 9.99777915e-01 -3.04033884e-04 -2.86725746e-02] [-1.57756265e-02 -2.84338232e-05 9.99875557e-01 -8.67734510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50587156 meters 0.016952160865081053 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.08, Z:-0.01 [[ 0.99923747 0.01310436 0.03677973 0.85915866] [-0.01635054 0.995862 0.08939538 -0.082939 ] [-0.03545606 -0.08992858 0.99531689 -0.01499462] [ 0. 0. 0. 1. ]] SLAMing on 6.53587156 meters 0.01601615170597383 Centerline is valid? [True, True] Translation: X:0.89, Y:0.02, Z:-0.00 [[ 0.99964882 0.02180721 0.01505589 0.89441871] [-0.02034953 0.9956444 -0.09098423 0.02136759] [-0.01697442 0.0906459 0.99573852 -0.0026624 ] [ 0. 0. 0. 1. ]] SLAMing on 6.565871560000001 meters 0.022471694618220798 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.03, Z:-0.01 [[ 9.99636538e-01 1.85222024e-02 1.95887550e-02 9.23945593e-01] [-1.85182047e-02 9.99828449e-01 -3.85471232e-04 -3.41911450e-02] [-1.95925343e-02 2.25825544e-05 9.99808048e-01 -7.40761151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59587156 meters 0.016102794400626456 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.04, Z:-0.01 [[ 9.99707600e-01 1.70995779e-02 1.70973430e-02 9.55468486e-01] [-1.70963452e-02 9.99853791e-01 -3.35227719e-04 -3.93488728e-02] [-1.71005754e-02 4.28276212e-05 9.99853774e-01 -1.12666796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62587156 meters 0.01676076133437931 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.04, Z:-0.01 [[ 9.99732618e-01 1.65594524e-02 1.61393123e-02 9.86434553e-01] [-1.65564652e-02 9.99862882e-01 -3.18698079e-04 -4.11573469e-02] [-1.61423768e-02 5.14029028e-05 9.99869702e-01 -1.43605049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6558715600000005 meters 0.01676076133437931 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.04, Z:-0.02 [[ 9.99729498e-01 1.67467622e-02 1.61392724e-02 1.01893517e+00] [-1.67437670e-02 9.99859762e-01 -3.20700820e-04 -4.20021331e-02] [-1.61423798e-02 5.03818523e-05 9.99869702e-01 -1.53740975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68587156 meters 0.01740100111198184 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.04, Z:-0.02 [[ 9.99750924e-01 1.60753657e-02 1.54813566e-02 1.05001353e+00] [-1.60724642e-02 9.99870781e-01 -3.11829959e-04 -4.46729662e-02] [-1.54843689e-02 6.29287412e-05 9.99880108e-01 -1.89715542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71587156 meters 0.017809387634552858 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.05, Z:-0.02 [[ 9.99767281e-01 1.53735944e-02 1.51339427e-02 1.08235969e+00] [-1.53707391e-02 9.99881817e-01 -3.04977862e-04 -4.81674361e-02] [-1.51368427e-02 7.22870029e-05 9.99885429e-01 -2.09315997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74587156 meters 0.018321600887091064 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.05, Z:-0.02 [[ 9.99773237e-01 1.46254937e-02 1.54780453e-02 1.11376731e+00] [-1.46223797e-02 9.99893038e-01 -3.14342727e-04 -5.29825089e-02] [-1.54809871e-02 8.79455899e-05 9.99880158e-01 -2.25030436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775871560000001 meters 0.019605638806891774 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.06, Z:-0.02 [[ 9.99807804e-01 1.25903334e-02 1.50279506e-02 1.14476225e+00] [-1.25871109e-02 9.99920731e-01 -3.09007848e-04 -6.11005581e-02] [-1.50306499e-02 1.19789977e-04 9.99887026e-01 -2.40166180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.80587156 meters 0.019696876851424475 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.06, Z:-0.02 [[ 9.99823096e-01 1.17720977e-02 1.46695292e-02 1.17658059e+00] [-1.17689402e-02 9.99930698e-01 -3.01555518e-04 -6.42716892e-02] [-1.46720626e-02 1.28857359e-04 9.99892351e-01 -2.38598577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83587156 meters 0.019004877669755883 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.07, Z:-0.02 [[ 9.99824182e-01 1.13456972e-02 1.49291594e-02 1.20984668e+00] [-1.13423496e-02 9.99935626e-01 -3.08887197e-04 -6.67546954e-02] [-1.49317029e-02 1.39501144e-04 9.99888506e-01 -2.23752202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86587156 meters 0.030921894244418997 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.07, Z:-0.02 [[ 9.99765942e-01 1.11764545e-02 1.85242810e-02 1.24173361e+00] [-1.11711714e-02 9.99937525e-01 -3.88656750e-04 -7.20998037e-02] [-1.85274675e-02 1.81627863e-04 9.99828335e-01 -1.80575137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89587156 meters 0.018976781714867 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.07, Z:-0.02 [[ 9.99799408e-01 1.13243606e-02 1.65197709e-02 1.27317869e+00] [-1.13201388e-02 9.99935864e-01 -3.49050219e-04 -7.49471724e-02] [-1.65226642e-02 1.61974103e-04 9.99863478e-01 -2.07614024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92587156 meters 0.028125741099427223 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.08, Z:-0.02 [[ 9.99740307e-01 1.17991979e-02 1.94961037e-02 1.30562480e+00] [-1.17933330e-02 9.99930370e-01 -4.15770064e-04 -7.62733812e-02] [-1.94996519e-02 1.85738048e-04 9.99809846e-01 -1.79123845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95587156 meters 0.017281604121912007 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.08, Z:-0.02 [[ 9.99727728e-01 1.30534562e-02 1.93410548e-02 1.33784589e+00] [-1.30478559e-02 9.99914787e-01 -4.15723423e-04 -7.97744998e-02] [-1.93448333e-02 1.63250937e-04 9.99812858e-01 -1.78363412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9858715600000005 meters 0.016997630643984435 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.08, Z:-0.02 [[ 9.99704551e-01 1.39304130e-02 1.99186890e-02 1.36933983e+00] [-1.39245598e-02 9.99902955e-01 -4.32528883e-04 -8.20480873e-02] [-1.99227813e-02 1.55042118e-04 9.99801510e-01 -1.82256773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.01587156 meters 0.016296217394440538 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.08, Z:-0.02 [[ 9.99683689e-01 1.51254627e-02 2.00933302e-02 1.40179621e+00] [-1.51197241e-02 9.99885595e-01 -4.37493885e-04 -8.29071208e-02] [-2.00976487e-02 1.33549892e-04 9.99798013e-01 -1.83975303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04587156 meters 0.01593981751305787 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.08, Z:-0.02 [[ 9.99661806e-01 1.61756266e-02 2.03623081e-02 1.43302667e+00] [-1.61698771e-02 9.99869159e-01 -4.46983221e-04 -8.41362095e-02] [-2.03668741e-02 1.17576033e-04 9.99792567e-01 -2.00219459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07587156 meters 0.015555740538424293 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.09, Z:-0.02 [[ 9.99643091e-01 1.70018727e-02 2.06065008e-02 1.46517954e+00] [-1.69960951e-02 9.99855452e-01 -4.55489700e-04 -8.58867706e-02] [-2.06112664e-02 1.05097083e-04 9.99787560e-01 -2.09482257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105871560000001 meters 0.020272727954961534 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.07, Z:-0.02 [[ 0.99984615 0.01702661 0.00421603 1.49797443] [-0.01691394 0.99953291 -0.0254536 -0.07471453] [-0.00464745 0.02537838 0.99966711 -0.02188182] [ 0. 0. 0. 1. ]] SLAMing on 7.13587156 meters 0.020168118740378375 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.10, Z:-0.02 [[ 0.99985813 0.01581381 0.00579949 1.52948516] [-0.01583601 0.99986737 0.00380341 -0.09578336] [-0.00573858 -0.00389471 0.99997595 -0.02472386] [ 0. 0. 0. 1. ]] SLAMing on 7.16587156 meters 0.016573038136680415 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.12, Z:-0.03 [[ 0.99970303 0.01550747 0.01879802 1.55913501] [-0.01591916 0.99963227 0.02195257 -0.11676255] [-0.01845068 -0.0222453 0.99958227 -0.02890128] [ 0. 0. 0. 1. ]] SLAMing on 7.1958715600000005 meters 0.017241583437543652 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.11, Z:-0.03 [[ 9.99715649e-01 1.57282699e-02 1.79232188e-02 1.59022845e+00] [-1.57235838e-02 9.99876296e-01 -4.02353152e-04 -1.09204635e-01] [-1.79273299e-02 1.20421510e-04 9.99839285e-01 -3.16551438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.22587156 meters 0.01734034465016817 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.11, Z:-0.03 [[ 9.99712853e-01 1.55558561e-02 1.82270989e-02 1.62288825e+00] [-1.55509369e-02 9.99878992e-01 -4.11597214e-04 -1.13609382e-01] [-1.82312960e-02 1.28030560e-04 9.99833788e-01 -3.24397661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25587156 meters 0.0216454047739692 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.11, Z:-0.04 [[ 0.99987232 0.01449986 0.00671519 1.65428979] [-0.01440995 0.99980839 -0.01324902 -0.10915657] [-0.00690602 0.01315056 0.99988968 -0.03504414] [ 0. 0. 0. 1. ]] SLAMing on 7.28587156 meters 0.01575281727448913 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.13, Z:-0.03 [[ 0.99970731 0.01677986 0.01742762 1.68579507] [-0.01698474 0.99978758 0.01167523 -0.1268317 ] [-0.01722801 -0.01196782 0.99977996 -0.03227147] [ 0. 0. 0. 1. ]] SLAMing on 7.315871560000001 meters 0.0157685802152357 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.12, Z:-0.04 [[ 9.99678044e-01 1.89875349e-02 1.68310066e-02 1.71791142e+00] [-1.89837632e-02 9.99819718e-01 -3.83849542e-04 -1.21032025e-01] [-1.68352606e-02 6.42101155e-05 9.99858275e-01 -3.62990967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34587156 meters 0.018340822748152977 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.11, Z:-0.04 [[ 0.9997725 0.02057613 0.00561893 1.75081068] [-0.02046153 0.99959569 -0.01974293 -0.10769553] [-0.0060229 0.01962347 0.9997893 -0.0354567 ] [ 0. 0. 0. 1. ]] SLAMing on 7.37587156 meters 0.014187903623629821 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.13, Z:-0.04 [[ 0.99955233 0.02391821 0.01797397 1.78029994] [-0.02426368 0.99952014 0.01925509 -0.12903877] [-0.0175048 -0.01968258 0.99965303 -0.0360371 ] [ 0. 0. 0. 1. ]] SLAMing on 7.4058715600000005 meters 0.018816981553247295 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.11, Z:-0.04 [[ 9.99357778e-01 3.13992981e-02 1.72660143e-02 1.81202284e+00] [-3.13970758e-02 9.99506910e-01 -3.99832835e-04 -1.10231743e-01] [-1.72700551e-02 -1.42526307e-04 9.99850851e-01 -3.78429149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43587156 meters 0.020302059318717723 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.11, Z:-0.04 [[ 9.99260175e-01 3.50612538e-02 1.58053840e-02 1.84343403e+00] [-3.50598165e-02 9.99385148e-01 -3.68098194e-04 -1.05024833e-01] [-1.58085720e-02 -1.86307995e-04 9.99875019e-01 -4.13295637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46587156 meters 0.02097940799694382 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.10, Z:-0.04 [[ 9.99114941e-01 3.84408393e-02 1.70773496e-02 1.87604734e+00] [-3.84396074e-02 9.99260845e-01 -4.00503301e-04 -1.02955870e-01] [-1.70801225e-02 -2.56297783e-04 9.99854091e-01 -3.89940888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49587156 meters 0.02359571548097676 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.10, Z:-0.04 [[ 9.98851002e-01 4.38658777e-02 1.92992514e-02 1.90804752e+00] [-4.38652377e-02 9.99037353e-01 -4.56691810e-04 -9.86511964e-02] [-1.93007062e-02 -3.90399178e-04 9.99813648e-01 -3.65763044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525871560000001 meters 0.033368695969640934 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.10, Z:-0.03 [[ 9.98706155e-01 4.63258259e-02 2.09746030e-02 1.94033709e+00] [-4.63255334e-02 9.98926271e-01 -5.00090208e-04 -9.63481726e-02] [-2.09752490e-02 -4.72216502e-04 9.99779884e-01 -3.41520236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.55587156 meters 0.028003312532186093 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.09, Z:-0.04 [[ 9.98650413e-01 4.77438382e-02 2.04420659e-02 1.97195100e+00] [-4.77437830e-02 9.98859495e-01 -4.91020380e-04 -9.20678741e-02] [-2.04421948e-02 -4.85623854e-04 9.99790919e-01 -3.67036900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58587156 meters 0.028011666493538465 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.09, Z:-0.04 [[ 9.98634728e-01 4.78116985e-02 2.10409389e-02 2.00402025e+00] [-4.78115810e-02 9.98856243e-01 -5.08930535e-04 -9.15561339e-02] [-2.10412060e-02 -4.97764847e-04 9.99778485e-01 -3.63960846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61587156 meters 0.024158347973626284 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.10, Z:-0.03 [[ 9.98628899e-01 4.64202044e-02 2.41968130e-02 2.03628958e+00] [-4.64195237e-02 9.98921859e-01 -5.90121121e-04 -9.66802027e-02] [-2.41981189e-02 -5.33892527e-04 9.99707040e-01 -3.36817823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645871560000001 meters 0.02318043762747391 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.10, Z:-0.04 [[ 9.98720166e-01 4.45355208e-02 2.39711803e-02 2.06729585e+00] [-4.45342066e-02 9.99007686e-01 -5.88928942e-04 -9.92197334e-02] [-2.39736216e-02 -4.79362286e-04 9.99712477e-01 -3.51016255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67587156 meters 0.019712010880521293 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.11, Z:-0.04 [[ 9.98975968e-01 3.93335604e-02 2.23581455e-02 2.09748352e+00] [-3.93310120e-02 9.99226083e-01 -5.53876398e-04 -1.07040498e-01] [-2.23626281e-02 -3.26059280e-04 9.99749872e-01 -3.82904997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70587156 meters 0.017218537127967757 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.11, Z:-0.04 [[ 9.99064657e-01 3.65253496e-02 2.31454299e-02 2.12912552e+00] [-3.65218850e-02 9.99332689e-01 -5.72525834e-04 -1.12165861e-01] [-2.31508965e-02 -2.73324405e-04 9.99731945e-01 -3.92800796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7358715600000005 meters 0.013295590084254428 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.12, Z:-0.04 [[ 9.99292682e-01 3.06463705e-02 2.17930002e-02 2.16094271e+00] [-3.06418266e-02 9.99530282e-01 -5.42481330e-04 -1.22187117e-01] [-2.17993888e-02 -1.25679711e-04 9.99762357e-01 -4.34054855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.76587156 meters 0.011727975310903218 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.13, Z:-0.04 [[ 9.99373390e-01 2.79244449e-02 2.17497941e-02 2.19312295e+00] [-2.79191953e-02 9.99610035e-01 -5.45040590e-04 -1.27878518e-01] [-2.17565324e-02 -6.25376876e-05 9.99763297e-01 -4.48134586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79587156 meters 0.01156284096357457 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.13, Z:-0.05 [[ 9.99461507e-01 2.53051458e-02 2.08888650e-02 2.22623234e+00] [-2.52996626e-02 9.99679774e-01 -5.26767163e-04 -1.33259798e-01] [-2.08955057e-02 -1.99773308e-06 9.99781665e-01 -4.74228720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82587156 meters 0.012660529656623521 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.14, Z:-0.05 [[ 9.99541743e-01 2.28638350e-02 1.98380916e-02 2.25740233e+00] [-2.28583259e-02 9.99738587e-01 -5.04440618e-04 -1.39285624e-01] [-1.98444391e-02 5.07438902e-05 9.99803078e-01 -5.14146363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855871560000001 meters 0.01375745590278963 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.15, Z:-0.05 [[ 9.99623349e-01 1.90780769e-02 1.97278016e-02 2.28970925e+00] [-1.90718304e-02 9.99817989e-01 -5.04740625e-04 -1.48275113e-01] [-1.97338404e-02 1.28305227e-04 9.99805261e-01 -5.18500231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88587156 meters 0.015518407836020844 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.15, Z:-0.05 [[ 9.99655913e-01 1.74221418e-02 1.96093039e-02 2.32114920e+00] [-1.74155809e-02 9.99848210e-01 -5.05312668e-04 -1.53732670e-01] [-1.96151310e-02 1.63631377e-04 9.99807591e-01 -5.34751429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91587156 meters 0.01623554685098569 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.16, Z:-0.05 [[ 9.99671989e-01 1.60077752e-02 1.99916139e-02 2.35304654e+00] [-1.60006076e-02 9.99871848e-01 -5.18443276e-04 -1.57699804e-01] [-1.99973511e-02 1.98395252e-04 9.99800013e-01 -5.33241198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9458715600000005 meters 0.017135527108821318 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.16, Z:-0.05 [[ 9.99678831e-01 1.48611837e-02 2.05275671e-02 2.38543620e+00] [-1.48533094e-02 9.99889540e-01 -5.36020180e-04 -1.62395844e-01] [-2.05332655e-02 2.30945722e-04 9.99789144e-01 -5.34944538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975871560000001 meters 0.018813264738796374 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.17, Z:-0.05 [[ 9.99707995e-01 1.34152891e-02 2.00986170e-02 2.41675008e+00] [-1.34073646e-02 9.99909977e-01 -5.28983108e-04 -1.70921330e-01] [-2.01039041e-02 2.59359156e-04 9.99797862e-01 -5.47718699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005871560000001 meters 0.01879046200674144 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.17, Z:-0.06 [[ 9.99707534e-01 1.32209517e-02 2.02497389e-02 2.44986739e+00] [-1.32128509e-02 9.99912564e-01 -5.33793087e-04 -1.74418132e-01] [-2.02550256e-02 2.66080191e-04 9.99794811e-01 -5.51086886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.03587156 meters 0.019519312426483706 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.18, Z:-0.06 [[ 9.99714633e-01 1.37676662e-02 1.95218894e-02 2.48190070e+00] [-1.37601682e-02 9.99905190e-01 -5.18358541e-04 -1.81317096e-01] [-1.95271751e-02 2.49586137e-04 9.99809295e-01 -5.76845251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065871560000001 meters 0.02751811356078141 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.18, Z:-0.06 [[ 9.99709058e-01 1.49524118e-02 1.89268410e-02 2.51377884e+00] [-1.49455113e-02 9.99888182e-01 -5.05991803e-04 -1.82802483e-01] [-1.89322904e-02 2.22973273e-04 9.99820743e-01 -5.73403605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09587156 meters 0.017171437125043394 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.18, Z:-0.06 [[ 9.99668201e-01 1.63906001e-02 1.98704776e-02 2.54475646e+00] [-1.63832037e-02 9.99865643e-01 -5.34968819e-04 -1.84100686e-01] [-1.98765764e-02 2.09249234e-04 9.99802419e-01 -5.85778270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125871560000002 meters 0.015641600065051463 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.18, Z:-0.06 [[ 9.99631870e-01 1.86670344e-02 1.96892237e-02 2.57564782e+00] [-1.86601413e-02 9.99825742e-01 -5.33772174e-04 -1.83670293e-01] [-1.96957566e-02 1.66171980e-04 9.99806006e-01 -5.94738158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155871560000001 meters 0.01363205001517053 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.18, Z:-0.06 [[ 9.99569923e-01 2.15851255e-02 1.98507199e-02 2.60807548e+00] [-2.15786711e-02 9.99767008e-01 -5.39309902e-04 -1.82189673e-01] [-1.98577359e-02 1.10725801e-04 9.99802810e-01 -5.96019827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18587156 meters 0.012020759658056499 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.18, Z:-0.06 [[ 9.99404816e-01 2.80587798e-02 2.00678743e-02 2.63954610e+00] [-2.80534165e-02 9.99606275e-01 -5.48777524e-04 -1.77339629e-01] [-2.00753711e-02 -1.45215353e-05 9.99798469e-01 -6.04750357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215871560000002 meters 0.012700023054048167 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.17, Z:-0.06 [[ 9.99298863e-01 3.18663014e-02 1.96550580e-02 2.67221899e+00] [-3.18618378e-02 9.99492137e-01 -5.40288571e-04 -1.74736442e-01] [-1.96622930e-02 -8.63365155e-05 9.99806675e-01 -6.07217390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245871560000001 meters 0.014996898284001685 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.17, Z:-0.06 [[ 9.99171195e-01 3.58237711e-02 1.93282197e-02 2.70314437e+00] [-3.58201307e-02 9.99358110e-01 -5.34628554e-04 -1.70706402e-01] [-1.93349655e-02 -1.58153903e-04 9.99813050e-01 -6.20206752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27587156 meters 0.02032516382529253 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.16, Z:-0.06 [[ 9.98904210e-01 4.30841404e-02 1.82793902e-02 2.73399383e+00] [-4.30820203e-02 9.99071409e-01 -5.09936580e-04 -1.62411364e-01] [-1.82843863e-02 -2.78135264e-04 9.99832788e-01 -6.39007209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305871560000002 meters 0.02467994017701805 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.16, Z:-0.07 [[ 9.98739841e-01 4.65085655e-02 1.88595607e-02 2.76546449e+00] [-4.65069305e-02 9.98917829e-01 -5.25510639e-04 -1.57368052e-01] [-1.88635922e-02 -3.52251868e-04 9.99822005e-01 -6.57168916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335871560000001 meters 0.02854309881069984 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.15, Z:-0.07 [[ 9.98586099e-01 4.96579584e-02 1.89707892e-02 2.79700719e+00] [-4.96568550e-02 9.98766197e-01 -5.29504841e-04 -1.52682308e-01] [-1.89736771e-02 -4.13273557e-04 9.99819898e-01 -6.67246727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36587156 meters 0.0340181725248958 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.14, Z:-0.07 [[ 9.98314778e-01 5.47844185e-02 1.91382405e-02 2.82783524e+00] [-5.47841507e-02 9.98498075e-01 -5.38671554e-04 -1.43309449e-01] [-1.91390071e-02 -5.10708476e-04 9.99816702e-01 -6.73322679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395871560000002 meters 0.036421203239630266 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.14, Z:-0.07 [[ 9.98195715e-01 5.68487569e-02 1.93270021e-02 2.85942205e+00] [-5.68488953e-02 9.98382646e-01 -5.42694676e-04 -1.39365767e-01] [-1.93265950e-02 -5.57003217e-04 9.99813069e-01 -6.81853544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425871560000001 meters 0.041021669221321555 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.14, Z:-0.07 [[ 9.98125613e-01 5.83759205e-02 1.83714900e-02 2.89134954e+00] [-5.83762356e-02 9.98294518e-01 -5.19581189e-04 -1.37739539e-01] [-1.83704888e-02 -5.53851134e-04 9.99831095e-01 -6.85749895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455871560000002 meters 0.039079227220054205 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.14, Z:-0.07 [[ 9.98030402e-01 5.94319073e-02 2.00789745e-02 2.92287085e+00] [-5.94324850e-02 9.98232166e-01 -5.68485798e-04 -1.35590686e-01] [-2.00772644e-02 -6.25977240e-04 9.99798235e-01 -6.91618131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485871560000001 meters 0.04023498364411987 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.13, Z:-0.07 [[ 9.97992784e-01 6.01657315e-02 1.97607516e-02 2.95399978e+00] [-6.01664140e-02 9.98188203e-01 -5.60528022e-04 -1.33796042e-01] [-1.97586738e-02 -6.29530642e-04 9.99804580e-01 -7.07627299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51587156 meters 0.03974576638776055 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.13, Z:-0.07 [[ 9.97972705e-01 6.05079493e-02 1.97298571e-02 2.98663401e+00] [-6.05086468e-02 9.98167515e-01 -5.62162857e-04 -1.32091228e-01] [-1.97277178e-02 -6.32803768e-04 9.99805189e-01 -7.18781915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545871560000002 meters 0.03974576638776055 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.13, Z:-0.07 [[ 9.97961720e-01 6.06888929e-02 1.97297541e-02 3.01913506e+00] [-6.06895549e-02 9.98156530e-01 -5.65748084e-04 -1.33217331e-01] [-1.97277175e-02 -6.32795065e-04 9.99805189e-01 -7.28696307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575871560000001 meters 0.039476868229987076 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.14, Z:-0.07 [[ 9.97984910e-01 6.06015268e-02 1.88035525e-02 3.05196946e+00] [-6.06020560e-02 9.98161859e-01 -5.42198598e-04 -1.39142957e-01] [-1.88018470e-02 -5.98427925e-04 9.99823051e-01 -7.13901388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60587156 meters 0.03734939464707239 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.14, Z:-0.07 [[ 9.98008875e-01 5.99070535e-02 1.97339686e-02 3.08325800e+00] [-5.99074118e-02 9.98203773e-01 -5.73538084e-04 -1.35591409e-01] [-1.97328809e-02 -6.09814885e-04 9.99805102e-01 -7.39308844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635871560000002 meters 0.032852041317183514 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.14, Z:-0.08 [[ 9.98126386e-01 5.87458674e-02 1.71067450e-02 3.11543780e+00] [-5.87459341e-02 9.98272842e-01 -4.99046019e-04 -1.39320694e-01] [-1.71065158e-02 -5.06840715e-04 9.99853544e-01 -7.60951231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665871560000001 meters 0.03274369041414766 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.14, Z:-0.08 [[ 9.98160632e-01 5.82012617e-02 1.69695304e-02 3.14702717e+00] [-5.82011975e-02 9.98304749e-01 -4.98062351e-04 -1.39103178e-01] [-1.69697507e-02 -4.90500761e-04 9.99855883e-01 -7.80481081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69587156 meters 0.030398436821455852 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.14, Z:-0.08 [[ 9.98238278e-01 5.66211493e-02 1.77309404e-02 3.17909646e+00] [-5.66207800e-02 9.98395620e-01 -5.23238191e-04 -1.40389837e-01] [-1.77321196e-02 -4.81623285e-04 9.99842658e-01 -7.70625326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725871560000002 meters 0.029685186917124087 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.14, Z:-0.08 [[ 9.98272577e-01 5.58693916e-02 1.81789040e-02 3.21130466e+00] [-5.58688197e-02 9.98437972e-01 -5.39716044e-04 -1.40182954e-01] [-1.81806617e-02 -4.76850184e-04 9.99834604e-01 -7.72069523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755871560000001 meters 0.029338125427350058 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.14, Z:-0.08 [[ 9.98296270e-01 5.53745940e-02 1.83905410e-02 3.24217456e+00] [-5.53738629e-02 9.98465539e-01 -5.49366889e-04 -1.39104643e-01] [-1.83927424e-02 -4.69924376e-04 9.99830729e-01 -7.72207258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785871560000002 meters 0.030773253380137876 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.13, Z:-0.08 [[ 9.98339415e-01 5.41631567e-02 1.96154225e-02 3.27338512e+00] [-5.41620239e-02 9.98531986e-01 -5.89391286e-04 -1.33454613e-01] [-1.96185501e-02 -4.73998430e-04 9.99807425e-01 -7.81069312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815871560000001 meters 0.027658481901970473 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.14, Z:-0.08 [[ 9.98359501e-01 5.39320185e-02 1.92261539e-02 3.30637050e+00] [-5.39308395e-02 9.98544505e-01 -5.80185368e-04 -1.36319937e-01] [-1.92294609e-02 -4.57649046e-04 9.99814992e-01 -7.74748807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84587156 meters 0.027028365466827603 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.14, Z:-0.08 [[ 9.98364552e-01 5.38648168e-02 1.91521059e-02 3.33894898e+00] [-5.38635638e-02 9.98548135e-01 -5.81639354e-04 -1.35858508e-01] [-1.91556295e-02 -4.50912564e-04 9.99816412e-01 -7.82762048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875871560000002 meters 0.02711019461100837 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.13, Z:-0.08 [[ 9.98343395e-01 5.43118251e-02 1.89918627e-02 3.37237982e+00] [-5.43106039e-02 9.98523921e-01 -5.80455102e-04 -1.32950369e-01] [-1.89953548e-02 -4.51966017e-04 9.99819470e-01 -7.96144871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905871560000001 meters 0.029678374197121053 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.13, Z:-0.08 [[ 9.98351591e-01 5.44024891e-02 1.82885107e-02 3.40453008e+00] [-5.44013069e-02 9.98518994e-01 -5.62505871e-04 -1.29081191e-01] [-1.82920271e-02 -4.33340255e-04 9.99832593e-01 -8.38350244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93587156 meters 0.029904820721769882 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.13, Z:-0.09 [[ 9.98353138e-01 5.46871562e-02 1.73299679e-02 3.43618163e+00] [-5.46860665e-02 9.98503453e-01 -5.37119729e-04 -1.28563710e-01] [-1.73334063e-02 -4.11472608e-04 9.99849681e-01 -8.60663035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965871560000002 meters 0.029666142607681377 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.13, Z:-0.09 [[ 9.98353254e-01 5.46531408e-02 1.74302746e-02 3.46879248e+00] [-5.46520228e-02 9.98505315e-01 -5.40822759e-04 -1.28078023e-01] [-1.74337794e-02 -4.12667601e-04 9.99847935e-01 -8.76044176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995871560000001 meters 0.027227448724613797 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.13, Z:-0.09 [[ 9.98376976e-01 5.47393406e-02 1.57167980e-02 3.50072633e+00] [-5.47384114e-02 9.98500609e-01 -4.89617925e-04 -1.28200625e-01] [-1.57200338e-02 -3.71489292e-04 9.99876364e-01 -8.82550654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02587156 meters 0.03221310048754654 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.12, Z:-0.09 [[ 9.98362586e-01 5.47647857e-02 1.65216600e-02 3.53218249e+00] [-5.47637077e-02 9.98499208e-01 -5.18004696e-04 -1.20484608e-01] [-1.65252328e-02 -3.87630852e-04 9.99863374e-01 -9.31646043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055871560000002 meters 0.0270521620332199 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.13, Z:-0.09 [[ 9.98375099e-01 5.48519864e-02 1.54408872e-02 3.56458729e+00] [-5.48510250e-02 9.98494431e-01 -4.86073049e-04 -1.26457670e-01] [-1.54443019e-02 -3.61665259e-04 9.99880664e-01 -9.04954433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085871560000001 meters 0.028067809102790612 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.12, Z:-0.09 [[ 9.98351574e-01 5.51145202e-02 1.60163833e-02 3.59595228e+00] [-5.51134544e-02 9.98479969e-01 -5.08262581e-04 -1.23094765e-01] [-1.60200506e-02 -3.75293463e-04 9.99871600e-01 -9.17436727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11587156 meters 0.028085736537241158 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.12, Z:-0.09 [[ 9.98312969e-01 5.57139346e-02 1.63454123e-02 3.62929381e+00] [-5.57129007e-02 9.98446695e-01 -5.18956742e-04 -1.22428509e-01] [-1.63489360e-02 -3.92569085e-04 9.99866270e-01 -9.18190413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145871560000002 meters 0.02922858794359291 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.12, Z:-0.09 [[ 9.98250640e-01 5.66554940e-02 1.69060479e-02 3.66103790e+00] [-5.66544547e-02 9.98393700e-01 -5.40788162e-04 -1.19469188e-01] [-1.69095304e-02 -4.17960799e-04 9.99856936e-01 -9.22092757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175871560000001 meters 0.03157764224134438 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.11, Z:-0.09 [[ 9.98083813e-01 5.94220574e-02 1.72545953e-02 3.69381687e+00] [-5.94213142e-02 9.98232838e-01 -5.56210850e-04 -1.11093290e-01] [-1.72571548e-02 -4.70145682e-04 9.99850974e-01 -9.21360219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205871560000002 meters 0.03348701086747615 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.11, Z:-0.09 [[ 9.97951435e-01 6.15311643e-02 1.75171164e-02 3.72595807e+00] [-6.15307075e-02 9.98105031e-01 -5.65547563e-04 -1.06942596e-01] [-1.75187208e-02 -5.13451564e-04 9.99846404e-01 -9.33720013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235871560000001 meters 0.04115952039653766 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.09, Z:-0.10 [[ 9.97718749e-01 6.55874348e-02 1.59870896e-02 3.75584480e+00] [-6.55875527e-02 9.97846684e-01 -5.17503456e-04 -9.24906820e-02] [-1.59866061e-02 -5.32231183e-04 9.99872064e-01 -9.83652454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26587156 meters 0.039636817725441004 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.09, Z:-0.10 [[ 9.97612018e-01 6.73912011e-02 1.51224010e-02 3.78771780e+00] [-6.73915500e-02 9.97726486e-01 -4.87097023e-04 -9.21925645e-02] [-1.51208460e-02 -5.33188197e-04 9.99885531e-01 -9.87816019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295871560000002 meters 0.03891985768536307 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.09, Z:-0.10 [[ 9.97516468e-01 6.87930019e-02 1.51135391e-02 3.81946233e+00] [-6.87934762e-02 9.97630803e-01 -4.89120515e-04 -9.13412127e-02] [-1.51113802e-02 -5.51807123e-04 9.99885664e-01 -9.93382878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325871560000001 meters 0.04459468897554531 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.08, Z:-0.10 [[ 9.97428203e-01 6.98571068e-02 1.60300889e-02 3.85108594e+00] [-6.98577310e-02 9.97556828e-01 -5.21691393e-04 -7.92975700e-02] [-1.60273685e-02 -5.99475928e-04 9.99871374e-01 -1.01538433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35587156 meters 0.04002607613854119 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.08, Z:-0.10 [[ 9.97439981e-01 6.96303109e-02 1.62820311e-02 3.88357057e+00] [-6.96308833e-02 9.97572682e-01 -5.32439304e-04 -8.23267973e-02] [-1.62795833e-02 -6.02655955e-04 9.99867297e-01 -9.98658112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385871560000002 meters 0.04052183345869594 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.08, Z:-0.10 [[ 9.97484246e-01 6.89323598e-02 1.65380760e-02 3.91449539e+00] [-6.89328029e-02 9.97621157e-01 -5.43928410e-04 -7.89041756e-02] [-1.65362288e-02 -5.97455914e-04 9.99863089e-01 -1.01278562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415871560000001 meters 0.03916735884364862 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.08, Z:-0.10 [[ 9.97556803e-01 6.78339064e-02 1.67028690e-02 3.94675384e+00] [-6.78341622e-02 9.97696458e-01 -5.51893672e-04 -7.88046286e-02] [-1.67018303e-02 -5.82479835e-04 9.99860345e-01 -1.02210827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44587156 meters 0.03869692249092875 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.08, Z:-0.10 [[ 9.97798092e-01 6.40727768e-02 1.71361453e-02 3.97640416e+00] [-6.40724007e-02 9.97945089e-01 -5.71523564e-04 -7.65649542e-02] [-1.71375511e-02 -5.27688847e-04 9.99853002e-01 -1.04902411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475871560000002 meters 0.03315654225977214 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.08, Z:-0.10 [[ 9.97948648e-01 6.16571199e-02 1.72306627e-02 4.00790888e+00] [-6.16563883e-02 9.98097270e-01 -5.74192685e-04 -8.25861304e-02] [-1.72332805e-02 -4.89365619e-04 9.99851376e-01 -1.03545007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505871560000001 meters 0.030536214373309372 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.08, Z:-0.10 [[ 9.98101191e-01 5.90506419e-02 1.75224095e-02 4.03981489e+00] [-5.90494724e-02 9.98254886e-01 -5.84572177e-04 -8.43148470e-02] [-1.75263503e-02 -4.51226853e-04 9.99846300e-01 -1.03878589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535871560000002 meters 0.028148054457049657 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.09, Z:-0.11 [[ 9.98249197e-01 5.65193000e-02 1.74387235e-02 4.07088513e+00] [-5.65177417e-02 9.98401425e-01 -5.82573596e-04 -8.60854166e-02] [-1.74437730e-02 -4.04043646e-04 9.99847764e-01 -1.05315945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565871560000001 meters 0.023257455543326127 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.09, Z:-0.11 [[ 9.98555219e-01 5.09540842e-02 1.70633042e-02 4.10113845e+00] [-5.09517729e-02 9.98700952e-01 -5.70441872e-04 -9.16456104e-02] [-1.70702045e-02 -2.99787895e-04 9.99854249e-01 -1.08030066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59587156 meters 0.02097474914787489 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.10, Z:-0.11 [[ 9.98685478e-01 4.82523098e-02 1.72925241e-02 4.13228804e+00] [-4.82495541e-02 9.98835145e-01 -5.76774241e-04 -9.58604302e-02] [-1.73002115e-02 -2.58340519e-04 9.99850307e-01 -1.09297572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625871560000002 meters 0.01857168662644919 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.10, Z:-0.11 [[ 9.98802796e-01 4.56795600e-02 1.75029403e-02 4.16388903e+00] [-4.56762954e-02 9.98956121e-01 -5.86450127e-04 -9.96291638e-02] [-1.75114581e-02 -2.13721444e-04 9.99846640e-01 -1.09915549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655871560000001 meters 0.015249939860814481 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.10, Z:-0.11 [[ 9.99004883e-01 4.12001901e-02 1.70818146e-02 4.19547717e+00] [-4.11963782e-02 9.99150903e-01 -5.75130279e-04 -1.02821671e-01] [-1.70910060e-02 -1.29150937e-04 9.99853930e-01 -1.11124369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68587156 meters 0.025554306089976327 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.11, Z:-0.11 [[ 9.99081388e-01 3.92241044e-02 1.72583097e-02 4.22814017e+00] [-3.92198434e-02 9.99230434e-01 -5.85419289e-04 -1.05482854e-01] [-1.72679909e-02 -9.19866875e-05 9.99850893e-01 -1.10038717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715871560000002 meters 0.013033896231499724 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.11, Z:-0.11 [[ 9.99117511e-01 3.78143764e-02 1.82830841e-02 4.25919935e+00] [-3.78093574e-02 9.99284778e-01 -6.20225709e-04 -1.07997408e-01] [-1.82934611e-02 -7.15932944e-05 9.99832658e-01 -1.11061450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745871560000001 meters 0.016876206619857614 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.11, Z:-0.11 [[ 9.99164652e-01 3.65744235e-02 1.82293839e-02 4.29134841e+00] [-3.65691818e-02 9.99330931e-01 -6.20916038e-04 -1.10464258e-01] [-1.82398968e-02 -4.62362947e-05 9.99833638e-01 -1.10477292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77587156 meters 0.012218338907245703 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.11, Z:-0.11 [[ 9.99150413e-01 3.65351072e-02 1.90693015e-02 4.32388374e+00] [-3.65292923e-02 9.99332369e-01 -6.53290280e-04 -1.09988151e-01] [-1.90804382e-02 -4.38528338e-05 9.99817951e-01 -1.11119689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805871560000002 meters 0.012000398578658892 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.11, Z:-0.11 [[ 9.99115113e-01 3.69274063e-02 2.01335098e-02 4.35467095e+00] [-3.69209292e-02 9.99317949e-01 -6.93452415e-04 -1.09868976e-01] [-2.01453851e-02 -5.05091005e-05 9.99797060e-01 -1.10359360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835871560000001 meters 0.011357069928384731 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.11, Z:-0.11 [[ 9.99060180e-01 3.74665072e-02 2.17948808e-02 4.38672637e+00] [-3.74589690e-02 9.99297882e-01 -7.54169680e-04 -1.10436281e-01] [-2.18078344e-02 -6.29528679e-05 9.99762179e-01 -1.07376461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865871560000002 meters 0.011644730063511048 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.11, Z:-0.11 [[ 9.99043394e-01 3.77456225e-02 2.20808693e-02 4.41907815e+00] [-3.77378702e-02 9.99287378e-01 -7.67823637e-04 -1.09863097e-01] [-2.20941160e-02 -6.61958453e-05 9.99755893e-01 -1.09435526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895871560000002 meters 0.016258230752685083 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.11, Z:-0.11 [[ 9.99012387e-01 3.83701416e-02 2.24049680e-02 4.45179269e+00] [-3.83622248e-02 9.99263592e-01 -7.83209543e-04 -1.09543585e-01] [-2.24185206e-02 -7.70683824e-05 9.99748670e-01 -1.08257650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925871560000001 meters 0.011912029553614043 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.11, Z:-0.11 [[ 9.99018045e-01 3.85764343e-02 2.17899873e-02 4.48388419e+00] [-3.85689057e-02 9.99255649e-01 -7.65816993e-04 -1.09612992e-01] [-2.18033104e-02 -7.53509711e-05 9.99762277e-01 -1.13404228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955871560000002 meters 0.011732620136397266 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.11, Z:-0.11 [[ 9.99031939e-01 3.86509853e-02 2.10068049e-02 4.51727470e+00] [-3.86439333e-02 9.99252769e-01 -7.41687118e-04 -1.12427161e-01] [-2.10197749e-02 -7.08164495e-05 9.99779058e-01 -1.14369261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985871560000001 meters 0.012251967810980082 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.11, Z:-0.12 [[ 9.99035048e-01 3.87502187e-02 2.06734887e-02 4.54948594e+00] [-3.87433264e-02 9.99248926e-01 -7.33955151e-04 -1.13209653e-01] [-2.06864023e-02 -6.77128009e-05 9.99786011e-01 -1.18026163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01587156 meters 0.012512687659713013 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.11, Z:-0.12 [[ 9.99059922e-01 3.85990183e-02 1.97329220e-02 4.58050911e+00] [-3.85926367e-02 9.99254779e-01 -7.04247206e-04 -1.14803519e-01] [-1.97453998e-02 -5.79603302e-05 9.99805039e-01 -1.20849047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045871560000002 meters 0.01200711333330887 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.12, Z:-0.12 [[ 9.99069488e-01 3.85052168e-02 1.94295435e-02 4.61349215e+00] [-3.84989674e-02 9.99258398e-01 -6.95724461e-04 -1.17684432e-01] [-1.94419235e-02 -5.29402794e-05 9.99810987e-01 -1.20769790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075871560000001 meters 0.011685005291995376 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.12, Z:-0.12 [[ 9.99080490e-01 3.82455924e-02 1.93765237e-02 4.64666147e+00] [-3.82392594e-02 9.99268369e-01 -6.97374611e-04 -1.20287886e-01] [-1.93890187e-02 -4.42105479e-05 9.99812014e-01 -1.20834039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10587156 meters 0.011618114767686179 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.12, Z:-0.12 [[ 9.99087460e-01 3.79929797e-02 1.95136132e-02 4.67853930e+00] [-3.79864161e-02 9.99278006e-01 -7.07043146e-04 -1.21944303e-01] [-1.95263871e-02 -3.48542896e-05 9.99809341e-01 -1.22478743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135871560000002 meters 0.011576303259733462 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.12, Z:-0.12 [[ 9.99096066e-01 3.77036086e-02 1.96338688e-02 4.71126517e+00] [-3.76968754e-02 9.99288966e-01 -7.13061960e-04 -1.24768843e-01] [-1.96467935e-02 -2.77181058e-05 9.99806983e-01 -1.23454986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165871560000001 meters 0.01160155515300752 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.13, Z:-0.12 [[ 9.99077597e-01 3.80272492e-02 1.99470303e-02 4.74344091e+00] [-3.80202686e-02 9.99276702e-01 -7.29212734e-04 -1.27264401e-01] [-1.99603326e-02 -2.98513415e-05 9.99800772e-01 -1.24242889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19587156 meters 0.012025693732377215 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.13, Z:-0.13 [[ 9.99040015e-01 3.93641825e-02 1.92226533e-02 4.77433916e+00] [-3.93579121e-02 9.99224929e-01 -7.04549954e-04 -1.28395634e-01] [-1.92354884e-02 -5.26899026e-05 9.99814979e-01 -1.26376304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225871560000002 meters 0.019005778341066152 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.13, Z:-0.13 [[ 9.99002739e-01 4.05570113e-02 1.86723143e-02 4.80572763e+00] [-4.05512507e-02 9.99177223e-01 -6.87186350e-04 -1.28687341e-01] [-1.86848214e-02 -7.06846540e-05 9.99825421e-01 -1.27421492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255871560000001 meters 0.013287849211661958 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.13, Z:-0.13 [[ 9.98940678e-01 4.21466084e-02 1.84712219e-02 4.83797596e+00] [-4.21411929e-02 9.99111432e-01 -6.82494771e-04 -1.28504865e-01] [-1.84835738e-02 -9.66275376e-05 9.99829159e-01 -1.30363381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285871560000002 meters 0.026586791481893756 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.12, Z:-0.13 [[ 9.98764870e-01 4.60732775e-02 1.86007268e-02 4.86948430e+00] [-4.60684051e-02 9.98938049e-01 -6.90577180e-04 -1.24338403e-01] [-1.86127909e-02 -1.67181591e-04 9.99826753e-01 -1.29542378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315871560000001 meters 0.016424086217618494 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.12, Z:-0.13 [[ 9.98646614e-01 4.83685505e-02 1.91160499e-02 4.90139128e+00] [-4.83637699e-02 9.98829534e-01 -7.12581335e-04 -1.23016736e-01] [-1.91281418e-02 -2.12907304e-04 9.99817018e-01 -1.29944404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34587156 meters 0.0193183360903669 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.12, Z:-0.13 [[ 9.98520160e-01 5.05746766e-02 1.99923244e-02 4.93249335e+00] [-5.05697986e-02 9.98720248e-01 -7.49795011e-04 -1.18762643e-01] [-2.00046598e-02 -2.62322385e-04 9.99799852e-01 -1.30955559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375871560000002 meters 0.023189465546998685 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.11, Z:-0.13 [[ 9.98282276e-01 5.47552777e-02 2.08412327e-02 4.96446893e+00] [-5.47508555e-02 9.98499740e-01 -7.83156648e-04 -1.12871051e-01] [-2.08528474e-02 -3.59263917e-04 9.99782491e-01 -1.30463353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405871560000001 meters 0.023157247304500275 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.11, Z:-0.13 [[ 9.98174924e-01 5.67689422e-02 2.05939029e-02 4.99612083e+00] [-5.67649902e-02 9.98387266e-01 -7.76891510e-04 -1.13347753e-01] [-2.06047937e-02 -3.93539072e-04 9.99787621e-01 -1.30398812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43587156 meters 0.02578815507610519 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.11, Z:-0.13 [[ 9.98069105e-01 5.86448559e-02 2.04656386e-02 5.02737054e+00] [-5.86412797e-02 9.98278818e-01 -7.75341830e-04 -1.09960434e-01] [-2.04758833e-02 -4.26286512e-04 9.99790256e-01 -1.32681919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465871560000002 meters 0.02578815507610519 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.11, Z:-0.13 [[ 9.98057714e-01 5.88384442e-02 2.04655264e-02 5.05986874e+00] [-5.88348483e-02 9.98267427e-01 -7.78289218e-04 -1.11391204e-01] [-2.04758617e-02 -4.27308586e-04 9.99790256e-01 -1.33673147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495871560000001 meters 0.027521912501041527 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.11, Z:-0.14 [[ 9.97966140e-01 6.08048831e-02 1.91402450e-02 5.09150435e+00] [-6.08020277e-02 9.98149577e-01 -7.31622148e-04 -1.08724869e-01] [-1.91493137e-02 -4.33631575e-04 9.99816541e-01 -1.37014123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52587156 meters 0.029832830800947036 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.11, Z:-0.14 [[ 9.97962429e-01 6.10744975e-02 1.84633877e-02 5.12287049e+00] [-6.10718353e-02 9.98133122e-01 -7.08522510e-04 -1.06421135e-01] [-1.84721915e-02 -4.20514131e-04 9.99829286e-01 -1.40701287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555871560000002 meters 0.03423324440544791 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.11, Z:-0.14 [[ 9.97978403e-01 6.08062996e-02 1.84851738e-02 5.15469065e+00] [-6.08035337e-02 9.98149499e-01 -7.12137200e-04 -1.10583615e-01] [-1.84942694e-02 -4.13266346e-04 9.99828881e-01 -1.39044828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585871560000001 meters 0.02626984988189119 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.11, Z:-0.14 [[ 9.98105836e-01 5.86021520e-02 1.87223712e-02 5.18577020e+00] [-5.85988629e-02 9.98281347e-01 -7.24706425e-04 -1.10216405e-01] [-1.87326633e-02 -3.73775951e-04 9.99824458e-01 -1.42096300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615871560000002 meters 0.0217373291947522 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.12, Z:-0.14 [[ 9.98180707e-01 5.73218165e-02 1.86945162e-02 5.21789229e+00] [-5.73182618e-02 9.98355693e-01 -7.26349708e-04 -1.16726679e-01] [-1.87054123e-02 -3.46508907e-04 9.99824978e-01 -1.41002006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645871560000002 meters 0.021955010423441 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.12, Z:-0.14 [[ 9.98256815e-01 5.60833223e-02 1.83845414e-02 5.24957626e+00] [-5.60796153e-02 9.98426042e-01 -7.17524508e-04 -1.17371099e-01] [-1.83958460e-02 -3.14724277e-04 9.99830733e-01 -1.43081667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675871560000001 meters 0.020910023536871717 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.12, Z:-0.14 [[ 9.98335158e-01 5.43102067e-02 1.94245573e-02 5.28124402e+00] [-5.43056581e-02 9.98524068e-01 -7.61960174e-04 -1.18608464e-01] [-1.94372702e-02 -2.94171739e-04 9.99811035e-01 -1.43019704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705871560000002 meters 0.020121606358315437 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.12, Z:-0.14 [[ 9.98366907e-01 5.36165923e-02 1.97174823e-02 5.31361178e+00] [-5.36117009e-02 9.98561556e-01 -7.76966900e-04 -1.20073282e-01] [-1.97307781e-02 -2.81389724e-04 9.99805290e-01 -1.42688540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735871560000001 meters 0.018301471170946652 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.12, Z:-0.14 [[ 9.98393875e-01 5.30341049e-02 1.99262076e-02 5.34530309e+00] [-5.30289278e-02 9.98592665e-01 -7.88480210e-04 -1.23082110e-01] [-1.99399811e-02 -2.69451615e-04 9.99801143e-01 -1.42307252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76587156 meters 0.019274301714037302 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.13, Z:-0.14 [[ 9.98470678e-01 5.15189394e-02 2.00525285e-02 5.37751153e+00] [-5.15133202e-02 9.98671990e-01 -7.97006653e-04 -1.25607938e-01] [-2.00669595e-02 -2.37184550e-04 9.99798610e-01 -1.41872407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795871560000002 meters 0.016265280647196415 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.13, Z:-0.14 [[ 9.98529820e-01 5.03818736e-02 1.99966428e-02 5.40895797e+00] [-5.03759728e-02 9.98730005e-01 -7.99027314e-04 -1.27780522e-01] [-2.00115037e-02 -2.09497734e-04 9.99799728e-01 -1.44138472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825871560000001 meters 0.015967801239526114 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.13, Z:-0.15 [[ 9.98599625e-01 4.90339940e-02 1.98609419e-02 5.44024704e+00] [-4.90278804e-02 9.98797094e-01 -7.94914590e-04 -1.29609200e-01] [-1.98760289e-02 -1.79938473e-04 9.99802436e-01 -1.45961934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85587156 meters 0.012899407399458778 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.14, Z:-0.15 [[ 9.98782336e-01 4.51723326e-02 1.98319302e-02 5.47236683e+00] [-4.51654166e-02 9.98979204e-01 -7.96725422e-04 -1.37517499e-01] [-1.98476758e-02 -9.99621109e-05 9.99803010e-01 -1.45768728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885871560000002 meters 0.02182225184526036 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.14, Z:-0.15 [[ 9.98860784e-01 4.33220245e-02 2.00084137e-02 5.50314439e+00] [-4.33145412e-02 9.99061159e-01 -8.07431071e-04 -1.41466048e-01] [-2.00246086e-02 -6.01440288e-05 9.99799486e-01 -1.46145360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915871560000001 meters 0.023108547997351923 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.15, Z:-0.15 [[ 9.98941861e-01 4.10827348e-02 2.06728703e-02 5.53483443e+00] [-4.10741985e-02 9.99155748e-01 -8.37540986e-04 -1.46624394e-01] [-2.06898257e-02 -1.24668293e-05 9.99785943e-01 -1.45406205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945871560000002 meters 0.012258171393148934 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.16, Z:-0.15 [[ 9.99095394e-01 3.71922998e-02 2.06185782e-02 5.56515830e+00] [-3.71828909e-02 9.99308124e-01 -8.39645171e-04 -1.55222201e-01] [-2.06355411e-02 7.22272790e-05 9.99787062e-01 -1.47416231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975871560000002 meters 0.013043540029808908 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.16, Z:-0.15 [[ 9.99151012e-01 3.56343627e-02 2.06748131e-02 5.59602930e+00] [-3.56245342e-02 9.99364889e-01 -8.43609153e-04 -1.59768280e-01] [-2.06917437e-02 1.06362354e-04 9.99785897e-01 -1.48611992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005871560000001 meters 0.013523365490880098 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.16, Z:-0.15 [[ 9.99183693e-01 3.46138114e-02 2.08286416e-02 5.62912177e+00] [-3.46035941e-02 9.99400754e-01 -8.50858095e-04 -1.64010182e-01] [-2.08456116e-02 1.29417672e-04 9.99782698e-01 -1.49429638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035871560000002 meters 0.014389838679521892 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.17, Z:-0.15 [[ 9.99243273e-01 3.33782488e-02 1.99693465e-02 5.66118579e+00] [-3.33685345e-02 9.99442779e-01 -8.19560607e-04 -1.70301482e-01] [-1.99855747e-02 1.52592593e-04 9.99800257e-01 -1.51383529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065871560000001 meters 0.026577351822989904 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.17, Z:-0.15 [[ 9.99255382e-01 3.32633274e-02 1.95507945e-02 5.69279090e+00] [-3.32539369e-02 9.99446610e-01 -8.05309518e-04 -1.74554078e-01] [-1.95667626e-02 1.54568981e-04 9.99808541e-01 -1.53043175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09587156 meters 0.014684368479313018 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.18, Z:-0.15 [[ 9.99250757e-01 3.38148127e-02 1.88277373e-02 5.72587532e+00] [-3.38061390e-02 9.99428106e-01 -7.78862170e-04 -1.76441525e-01] [-1.88433069e-02 1.41785510e-04 9.99822439e-01 -1.54805663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125871560000002 meters 0.014704396208110768 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.18, Z:-0.16 [[ 9.99221176e-01 3.47931849e-02 1.86138406e-02 5.75800271e+00] [-3.47848085e-02 9.99394526e-01 -7.73681866e-04 -1.78444706e-01] [-1.86294892e-02 1.25600424e-04 9.99826448e-01 -1.56796694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155871560000001 meters 0.012941264310550867 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.18, Z:-0.16 [[ 9.99073770e-01 3.89711194e-02 1.82443097e-02 5.78981045e+00] [-3.89637070e-02 9.99240336e-01 -7.61701946e-04 -1.75027510e-01] [-1.82601345e-02 5.01304962e-05 9.99833269e-01 -1.57992143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18587156 meters 0.012039522973065826 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.17, Z:-0.16 [[ 9.98961530e-01 4.17569141e-02 1.82269288e-02 5.82290660e+00] [-4.17499342e-02 9.99127800e-01 -7.63462686e-04 -1.72998175e-01] [-1.82429111e-02 1.69677412e-06 9.99833584e-01 -1.56306402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215871560000002 meters 0.014291564434767751 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.17, Z:-0.16 [[ 9.98655056e-01 4.81408094e-02 1.92494518e-02 5.85567836e+00] [-4.81341270e-02 9.98840552e-01 -8.10584024e-04 -1.65726290e-01] [-1.92661552e-02 -1.17061722e-04 9.99814384e-01 -1.58426636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245871560000001 meters 0.016345424420387538 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.16, Z:-0.16 [[ 9.98491476e-01 5.12768284e-02 1.96330907e-02 5.88779342e+00] [-5.12704042e-02 9.98684462e-01 -8.30754514e-04 -1.62633555e-01] [-1.96498611e-02 -1.77095193e-04 9.99806907e-01 -1.58488591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27587156 meters 0.017673413543207783 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.16, Z:-0.16 [[ 9.98326950e-01 5.42131792e-02 2.01055104e-02 5.92038850e+00] [-5.42069717e-02 9.98529356e-01 -8.54005016e-04 -1.61501647e-01] [-2.01222407e-02 -2.37282612e-04 9.99797499e-01 -1.57549027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305871560000002 meters 0.021422462971701327 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.16, Z:-0.16 [[ 9.98051534e-01 5.89934767e-02 2.03200899e-02 5.95291241e+00] [-5.89880312e-02 9.98258313e-01 -8.67789606e-04 -1.56800595e-01] [-2.03358926e-02 -3.32543348e-04 9.99793149e-01 -1.57617271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335871560000001 meters 0.024605582346796693 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.15, Z:-0.16 [[ 9.97932787e-01 6.10185095e-02 2.01715952e-02 5.98398549e+00] [-6.10135596e-02 9.98136566e-01 -8.61302097e-04 -1.53092813e-01] [-2.01865621e-02 -3.71219225e-04 9.99796162e-01 -1.59798127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365871560000002 meters 0.02455724757565555 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.15, Z:-0.16 [[ 9.97824737e-01 6.28864626e-02 1.97759013e-02 6.01564931e+00] [-6.28820122e-02 9.98020608e-01 -8.47410275e-04 -1.53557859e-01] [-1.97900477e-02 -3.97981534e-04 9.99804079e-01 -1.60026675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395871560000002 meters 0.03203886613403519 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.14, Z:-0.16 [[ 9.97599512e-01 6.64455273e-02 1.94988395e-02 6.04602007e+00] [-6.64417860e-02 9.97789949e-01 -8.40357216e-04 -1.41342405e-01] [-1.95115840e-02 -4.57197771e-04 9.99809526e-01 -1.63390183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425871560000001 meters 0.032190125294134946 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.14, Z:-0.16 [[ 9.97504818e-01 6.78620887e-02 1.94647285e-02 6.07717686e+00] [-6.78586350e-02 9.97694594e-01 -8.38630941e-04 -1.40902992e-01] [-1.94767656e-02 -4.84311503e-04 9.99810193e-01 -1.63553383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455871560000002 meters 0.03227181974000792 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.14, Z:-0.16 [[ 9.97407368e-01 6.92402429e-02 1.96043803e-02 6.10896192e+00] [-6.92370244e-02 9.97599881e-01 -8.43681022e-04 -1.41469116e-01] [-1.96157442e-02 -5.15855291e-04 9.99807460e-01 -1.64042648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485871560000001 meters 0.034426327199311255 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.14, Z:-0.17 [[ 9.97295853e-01 7.07845334e-02 1.97618597e-02 6.13919001e+00] [-7.07814818e-02 9.97491479e-01 -8.54709905e-04 -1.37438286e-01] [-1.97727869e-02 -5.46375069e-04 9.99804350e-01 -1.65640380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51587156 meters 0.034729180505543196 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.14, Z:-0.17 [[ 9.97281154e-01 7.09654245e-02 1.98546659e-02 6.17016848e+00] [-7.09623508e-02 9.97478624e-01 -8.60189421e-04 -1.36043527e-01] [-1.98656486e-02 -5.51083072e-04 9.99802507e-01 -1.66288222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545871560000002 meters 0.03484631782449274 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.14, Z:-0.17 [[ 9.97261527e-01 7.11859952e-02 2.00499707e-02 6.20106540e+00] [-7.11829053e-02 9.97462901e-01 -8.68650863e-04 -1.35292487e-01] [-2.00609377e-02 -5.60943082e-04 9.99798602e-01 -1.67090653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575871560000001 meters 0.03399788835560191 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.13, Z:-0.17 [[ 9.97356194e-01 6.97244061e-02 2.04726431e-02 6.23133668e+00] [-6.97208794e-02 9.97566144e-01 -8.86845351e-04 -1.34620360e-01] [-2.04846504e-02 -5.42869976e-04 9.99790020e-01 -1.68274604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60587156 meters 0.030572528726602037 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.14, Z:-0.17 [[ 9.97445026e-01 6.83058136e-02 2.09221547e-02 6.26216076e+00] [-6.83018156e-02 9.97664292e-01 -9.06454340e-04 -1.38712087e-01] [-2.09352027e-02 -5.24882777e-04 9.99780697e-01 -1.67621890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635871560000002 meters 0.0270741134667782 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.14, Z:-0.17 [[ 9.97653703e-01 6.50563940e-02 2.13249879e-02 6.29333553e+00] [-6.50514873e-02 9.97881481e-01 -9.24434416e-04 -1.40719941e-01] [-2.13399508e-02 -4.64956760e-04 9.99772169e-01 -1.67328059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665871560000001 meters 0.02561708544645243 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.14, Z:-0.17 [[ 9.97750698e-01 6.36115562e-02 2.11450627e-02 6.32479142e+00] [-6.36064229e-02 9.97974641e-01 -9.15915548e-04 -1.42734572e-01] [-2.11604991e-02 -4.31106418e-04 9.99775999e-01 -1.68576119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695871560000002 meters 0.031060494435558753 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.15, Z:-0.17 [[ 9.97864656e-01 6.20450240e-02 2.04094133e-02 6.35662093e+00] [-6.20398548e-02 9.98073279e-01 -8.86952183e-04 -1.45622532e-01] [-2.04251210e-02 -3.81138804e-04 9.99791313e-01 -1.70035155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725871560000002 meters 0.022560754362109314 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.15, Z:-0.18 [[ 9.98033047e-01 5.99338020e-02 1.83841228e-02 6.38759946e+00] [-5.99291993e-02 9.98202308e-01 -8.01676836e-04 -1.47394203e-01] [-1.83991214e-02 -3.01645786e-04 9.99830676e-01 -1.75639604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755871560000001 meters 0.022065822623160078 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.15, Z:-0.18 [[ 9.98054177e-01 5.96952673e-02 1.80093045e-02 6.41975138e+00] [-5.96907646e-02 9.98216606e-01 -7.87931479e-04 -1.47576449e-01] [-1.80242226e-02 -2.88590852e-04 9.99837509e-01 -1.76801474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785871560000002 meters 0.022063142166218234 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.15, Z:-0.18 [[ 9.98057132e-01 5.96962521e-02 1.78414737e-02 6.45218851e+00] [-5.96917807e-02 9.98216548e-01 -7.83523410e-04 -1.46497972e-01] [-1.78564277e-02 -2.82988209e-04 9.99840521e-01 -1.78219910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815871560000001 meters 0.027082594747001223 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.15, Z:-0.18 [[ 9.98053689e-01 5.97587860e-02 1.78247657e-02 6.48401964e+00] [-5.97542821e-02 9.98212807e-01 -7.85637969e-04 -1.47399566e-01] [-1.78398582e-02 -2.80997208e-04 9.99840818e-01 -1.76614086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84587156 meters 0.02193332412149563 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.14, Z:-0.18 [[ 9.98052954e-01 5.96589447e-02 1.81964852e-02 6.51531546e+00] [-5.96541716e-02 9.98218779e-01 -8.05475417e-04 -1.42187242e-01] [-1.82121271e-02 -2.81589131e-04 9.99834106e-01 -1.79943991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875871560000002 meters 0.019873555778006813 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.14, Z:-0.18 [[ 9.98109816e-01 5.86500142e-02 1.83567899e-02 6.54633746e+00] [-5.86449000e-02 9.98278572e-01 -8.17252983e-04 -1.44085876e-01] [-1.83731219e-02 -2.60823881e-04 9.99831166e-01 -1.79606411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905871560000001 meters 0.018307910020495224 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.15, Z:-0.18 [[ 9.98183667e-01 5.72595277e-02 1.87273440e-02 6.57843896e+00] [-5.72539837e-02 9.98359298e-01 -8.32498554e-04 -1.46040790e-01] [-1.87442865e-02 -2.41228587e-04 9.99824281e-01 -1.79344056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93587156 meters 0.013856469152079746 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.15, Z:-0.18 [[ 9.98452808e-01 5.16424185e-02 2.06167596e-02 6.61003701e+00] [-5.16343938e-02 9.98665630e-01 -9.21723041e-04 -1.50884872e-01] [-2.06368492e-02 -1.44236923e-04 9.99787027e-01 -1.77054896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965871560000002 meters 0.012234866596154297 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.16, Z:-0.18 [[ 9.98619476e-01 4.80547086e-02 2.12105623e-02 6.64082729e+00] [-4.80454020e-02 9.98844703e-01 -9.48439663e-04 -1.55733356e-01] [-2.12316348e-02 -7.19396750e-05 9.99774581e-01 -1.78051593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995871560000001 meters 0.011373087243214276 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.16, Z:-0.18 [[ 9.98778777e-01 4.43880146e-02 2.16946554e-02 6.67278950e+00] [-4.43773382e-02 9.99014366e-01 -9.73545303e-04 -1.61935345e-01] [-2.17164862e-02 9.60532779e-06 9.99764169e-01 -1.77567847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025871560000002 meters 0.021564172322541503 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.17, Z:-0.18 [[ 9.99090378e-01 3.73839290e-02 2.05148284e-02 6.70428981e+00] [-3.73728408e-02 9.99300964e-01 -9.23754851e-04 -1.71873317e-01] [-2.05350214e-02 1.56217167e-04 9.99789122e-01 -1.79902858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055871560000002 meters 0.016467846858364048 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.18, Z:-0.18 [[ 9.99201826e-01 3.48304357e-02 1.95589225e-02 6.73554827e+00] [-3.48198058e-02 9.99393216e-01 -8.83873246e-04 -1.76959335e-01] [-1.95778402e-02 2.02129878e-04 9.99808315e-01 -1.83457703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085871560000001 meters 0.020723004462303234 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.19, Z:-0.19 [[ 9.99375599e-01 3.00562393e-02 1.85750927e-02 6.76751193e+00] [-3.00457555e-02 9.99548169e-01 -8.43279765e-04 -1.85698322e-01] [-1.85920457e-02 2.84650527e-04 9.99827112e-01 -1.86596681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115871560000002 meters 0.02293780603659573 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.19, Z:-0.19 [[ 9.99445660e-01 2.80609444e-02 1.79152610e-02 6.79952410e+00] [-2.80508839e-02 9.99606166e-01 -8.12652272e-04 -1.91395800e-01] [-1.79310091e-02 3.09662880e-04 9.99839179e-01 -1.88461893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145871560000002 meters 0.031806220408022785 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.20, Z:-0.19 [[ 9.99491731e-01 2.65015641e-02 1.77185322e-02 6.83068270e+00] [-2.64914252e-02 9.99648715e-01 -8.06728579e-04 -1.96507395e-01] [-1.77336876e-02 3.36929372e-04 9.99842689e-01 -1.88537630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175871560000001 meters 0.0367820213697397 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.20, Z:-0.19 [[ 9.99530870e-01 2.50526588e-02 1.76183039e-02 6.86304328e+00] [-2.50423656e-02 9.99686067e-01 -8.04644406e-04 -2.00372330e-01] [-1.76329314e-02 3.63062915e-04 9.99844462e-01 -1.89713054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205871560000002 meters 0.02827271988566262 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.21, Z:-0.19 [[ 9.99577120e-01 2.31611290e-02 1.75824549e-02 6.89404515e+00] [-2.31505321e-02 9.99731666e-01 -8.06021199e-04 -2.05750800e-01] [-1.75964053e-02 3.98637162e-04 9.99845092e-01 -1.90521698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235871560000001 meters 0.03432730212480791 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.21, Z:-0.19 [[ 9.99578332e-01 2.26032187e-02 1.82278227e-02 6.92470245e+00] [-2.25916696e-02 9.99744423e-01 -8.39290477e-04 -2.10281155e-01] [-1.82421347e-02 4.27139628e-04 9.99833507e-01 -1.90022388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26587156 meters 0.035988855002674736 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.21, Z:-0.19 [[ 9.99578540e-01 2.23685437e-02 1.85038184e-02 6.95777853e+00] [-2.23565915e-02 9.99749697e-01 -8.52562227e-04 -2.14595119e-01] [-1.85182574e-02 4.38520596e-04 9.99828426e-01 -1.90598252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295871560000002 meters 0.0342953431892356 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.22, Z:-0.19 [[ 9.99569865e-01 2.28701160e-02 1.83587521e-02 6.98845117e+00] [-2.28583661e-02 9.99738352e-01 -8.49628747e-04 -2.21059943e-01] [-1.83733797e-02 4.29612214e-04 9.99831103e-01 -1.91464567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325871560000001 meters 0.030352312659676892 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.23, Z:-0.19 [[ 9.99558643e-01 2.36395628e-02 1.79914115e-02 7.01921018e+00] [-2.36283591e-02 9.99720463e-01 -8.35070802e-04 -2.25407163e-01] [-1.80061229e-02 4.09594707e-04 9.99837793e-01 -1.94739008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355871560000002 meters 0.030352312659676892 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.23, Z:-0.20 [[ 9.99554395e-01 2.38185715e-02 1.79912917e-02 7.05169240e+00] [-2.38073505e-02 9.99716214e-01 -8.37640973e-04 -2.27115438e-01] [-1.80061374e-02 4.08942730e-04 9.99837793e-01 -1.95730274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385871560000002 meters 0.029060584671209953 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.23, Z:-0.20 [[ 9.99532164e-01 2.51575836e-02 1.73939513e-02 7.08374442e+00] [-2.51472417e-02 9.99683427e-01 -8.13072956e-04 -2.28479374e-01] [-1.74088998e-02 3.75282674e-04 9.99848383e-01 -1.97606344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415871560000001 meters 0.02370857806364173 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.23, Z:-0.20 [[ 9.99463597e-01 2.85770233e-02 1.59960132e-02 7.11585326e+00] [-2.85686583e-02 9.99591550e-01 -7.51249730e-04 -2.25661767e-01] [-1.60109482e-02 2.93862121e-04 9.99871773e-01 -1.98901838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445871560000002 meters 0.023734459918039734 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.23, Z:-0.20 [[ 9.99408431e-01 3.07403571e-02 1.54213529e-02 7.14704803e+00] [-3.07328486e-02 9.99527372e-01 -7.23691855e-04 -2.28396683e-01] [-1.54363109e-02 2.49321638e-04 9.99880822e-01 -2.02316020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475871560000002 meters 0.0310342534546515 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.23, Z:-0.20 [[ 9.99351186e-01 3.26261501e-02 1.52558511e-02 7.17812074e+00] [-3.26189720e-02 9.99467601e-01 -7.19175922e-04 -2.29550703e-01] [-1.52711928e-02 2.21079133e-04 9.99883364e-01 -2.03115051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505871560000001 meters 0.032256956523016134 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.23, Z:-0.20 [[ 9.99192425e-01 3.67392235e-02 1.62704654e-02 7.21012524e+00] [-3.67315672e-02 9.99324872e-01 -7.69251350e-04 -2.28063866e-01] [-1.62877424e-02 1.70990429e-04 9.99867331e-01 -1.99908323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535871560000002 meters 0.015839777788138706 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.23, Z:-0.20 [[ 9.99092350e-01 3.91499842e-02 1.67855707e-02 7.24108408e+00] [-3.91421857e-02 9.99233336e-01 -7.93003340e-04 -2.29003107e-01] [-1.68037479e-02 1.35259643e-04 9.99858798e-01 -2.01933480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565871560000001 meters 0.013376704125553472 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.23, Z:-0.20 [[ 9.98957648e-01 4.26617133e-02 1.62356392e-02 7.27295948e+00] [-4.26548485e-02 9.99089572e-01 -7.69032420e-04 -2.28818782e-01] [-1.62536661e-02 7.57020867e-05 9.99867898e-01 -2.01952171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59587156 meters 0.013070276380874789 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.23, Z:-0.20 [[ 9.98874983e-01 4.45464672e-02 1.62597773e-02 7.30445372e+00] [-4.45397685e-02 9.99007312e-01 -7.74050800e-04 -2.30153907e-01] [-1.62781176e-02 4.89732627e-05 9.99867501e-01 -2.03851005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625871560000002 meters 0.012621808373077081 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.23, Z:-0.20 [[ 9.98793291e-01 4.63981937e-02 1.60987632e-02 7.33721941e+00] [-4.63918660e-02 9.98923024e-01 -7.66487109e-04 -2.31219489e-01] [-1.61169888e-02 1.87105186e-05 9.99870113e-01 -2.04347089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655871560000001 meters 0.013714638735986445 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.23, Z:-0.21 [[ 9.98707743e-01 4.81618457e-02 1.62259071e-02 7.36916647e+00] [-4.81555947e-02 9.98839545e-01 -7.75968523e-04 -2.32859770e-01] [-1.62444498e-02 -6.40243421e-06 9.99868050e-01 -2.09801299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68587156 meters 0.014639118431002318 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.23, Z:-0.21 [[ 9.98570143e-01 5.11139017e-02 1.56537125e-02 7.40008558e+00] [-5.11083948e-02 9.98692829e-01 -7.51895490e-04 -2.33669570e-01] [-1.56716828e-02 -4.92157332e-05 9.99877190e-01 -2.11312471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715871560000002 meters 0.013469056243344955 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.24, Z:-0.21 [[ 9.98476799e-01 5.27872780e-02 1.60494415e-02 7.43276593e+00] [-5.27816799e-02 9.98605777e-01 -7.72484790e-04 -2.35420389e-01] [-1.60678424e-02 -7.58083425e-05 9.99870901e-01 -2.06709128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745871560000001 meters 0.013850987957053055 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.24, Z:-0.21 [[ 9.98408666e-01 5.40420961e-02 1.61117048e-02 7.46592124e+00] [-5.40365664e-02 9.98538654e-01 -7.78667647e-04 -2.36380219e-01] [-1.61302408e-02 -9.31926785e-05 9.99869895e-01 -2.07233559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775871560000002 meters 0.015580478389948584 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.24, Z:-0.21 [[ 9.98286993e-01 5.60664272e-02 1.67222838e-02 7.49762264e+00] [-5.60606786e-02 9.98427033e-01 -8.12704191e-04 -2.36413913e-01] [-1.67415456e-02 -1.26150555e-04 9.99859843e-01 -2.09596731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805871560000002 meters 0.017388293075595397 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.24, Z:-0.21 [[ 9.98260338e-01 5.64628280e-02 1.69777989e-02 7.52913582e+00] [-5.64569357e-02 9.98404693e-01 -8.26534559e-04 -2.37357123e-01] [-1.69973826e-02 -1.33417832e-04 9.99855525e-01 -2.13770468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835871560000001 meters 0.017066397266987176 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.24, Z:-0.21 [[ 9.98277532e-01 5.61661520e-02 1.69508729e-02 7.56225159e+00] [-5.61601842e-02 9.98421428e-01 -8.28253423e-04 -2.41870434e-01] [-1.69706345e-02 -1.25137360e-04 9.99855981e-01 -2.14920144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865871560000002 meters 0.015999121902935697 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.25, Z:-0.22 [[ 9.98359632e-01 5.47117042e-02 1.68723086e-02 7.59309494e+00] [-5.47055283e-02 9.98502188e-01 -8.27705192e-04 -2.48639792e-01] [-1.68923222e-02 -9.66611025e-05 9.99857310e-01 -2.15796552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895871560000002 meters 0.01337803850397252 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.25, Z:-0.21 [[ 9.98402671e-01 5.40274854e-02 1.65268665e-02 7.62576984e+00] [-5.40214439e-02 9.98539445e-01 -8.12098179e-04 -2.54637970e-01] [-1.65466037e-02 -8.20041984e-05 9.99863092e-01 -2.11023338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925871560000001 meters 0.013013466371071723 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.26, Z:-0.21 [[ 9.98456649e-01 5.29844552e-02 1.66423210e-02 7.65714827e+00] [-5.29781195e-02 9.98595335e-01 -8.21650498e-04 -2.59542911e-01] [-1.66624788e-02 -6.12964647e-05 9.99861169e-01 -2.12137029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955871560000002 meters 0.014519129175211169 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.26, Z:-0.22 [[ 9.98442542e-01 5.30061975e-02 1.74021129e-02 7.68827385e+00] [-5.29992202e-02 9.98594181e-01 -8.62209346e-04 -2.61768241e-01] [-1.74233511e-02 -6.14319220e-05 9.99848200e-01 -2.18352747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985871560000001 meters 0.012927235724760242 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.27, Z:-0.21 [[ 9.98438872e-01 5.31709767e-02 1.71074720e-02 7.72136618e+00] [-5.31642214e-02 9.98585421e-01 -8.49743506e-04 -2.66652484e-01] [-1.71284539e-02 -6.10884820e-05 9.99853295e-01 -2.13449005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01587156 meters 0.01292191447489145 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.27, Z:-0.21 [[ 9.98431034e-01 5.33759808e-02 1.69255450e-02 7.75445889e+00] [-5.33693433e-02 9.98574484e-01 -8.43921375e-04 -2.69155301e-01] [-1.69464625e-02 -6.07079319e-05 9.99856397e-01 -2.14616799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045871560000002 meters 0.013762051621722999 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.27, Z:-0.22 [[ 9.98386754e-01 5.43786340e-02 1.63356685e-02 7.78524116e+00] [-5.43725278e-02 9.98520385e-01 -8.18031135e-04 -2.70181006e-01] [-1.63559814e-02 -7.15001370e-05 9.99866229e-01 -2.17573160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075871560000001 meters 0.013788175612444166 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.27, Z:-0.22 [[ 9.98337370e-01 5.52422427e-02 1.64557006e-02 7.81824012e+00] [-5.52361283e-02 9.98472978e-01 -8.26186629e-04 -2.71590245e-01] [-1.64762128e-02 -8.41362035e-05 9.99864254e-01 -2.17221866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105871560000002 meters 0.01806697717324543 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.27, Z:-0.22 [[ 9.98300366e-01 5.58579069e-02 1.66214674e-02 7.85016941e+00] [-5.58516966e-02 9.98438724e-01 -8.37958767e-04 -2.71984811e-01] [-1.66423234e-02 -9.18026129e-05 9.99861503e-01 -2.17529851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135871560000002 meters 0.014384044534616981 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.27, Z:-0.22 [[ 9.98168938e-01 5.75014946e-02 1.87709644e-02 7.88216953e+00] [-5.74937840e-02 9.98345412e-01 -9.50616937e-04 -2.71009762e-01] [-1.87945680e-02 -1.30337472e-04 9.99823358e-01 -2.15203638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165871560000001 meters 0.014440471268038624 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.27, Z:-0.22 [[ 9.98144205e-01 5.76495046e-02 1.96132548e-02 7.91367815e+00] [-5.76410436e-02 9.98336875e-01 -9.96906346e-04 -2.72397222e-01] [-1.96381066e-02 -1.35472180e-04 9.99807145e-01 -2.15362357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195871560000002 meters 0.01381414644130581 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.28, Z:-0.22 [[ 9.98170600e-01 5.70881587e-02 1.99097047e-02 7.94569849e+00] [-5.70792680e-02 9.98369134e-01 -1.01499964e-03 -2.76178351e-01] [-1.99351791e-02 -1.23288570e-04 9.99801267e-01 -2.15923112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225871560000002 meters 0.01216960633697483 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.29, Z:-0.22 [[ 9.98348901e-01 5.39811546e-02 1.96343096e-02 7.97784665e+00] [-5.39718470e-02 9.98541953e-01 -1.00402519e-03 -2.85812761e-01] [-1.96598803e-02 -5.73325126e-05 9.99806724e-01 -2.16373828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255871560000001 meters 0.012023784962214717 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.29, Z:-0.22 [[ 9.98447074e-01 5.21298149e-02 1.96449227e-02 8.01006202e+00] [-5.21200754e-02 9.98640317e-01 -1.00779708e-03 -2.91319591e-01] [-1.96707481e-02 -1.76628039e-05 9.99806512e-01 -2.18543720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285871560000002 meters 0.021913632029696057 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.30, Z:-0.22 [[ 9.98551933e-01 5.03556389e-02 1.89300352e-02 8.04237380e+00] [-5.03462124e-02 9.98731350e-01 -9.74509811e-04 -2.96407218e-01] [-1.89550916e-02 2.00430845e-05 9.99820336e-01 -2.18933472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315871560000001 meters 0.013453122922012043 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.31, Z:-0.22 [[ 9.98711633e-01 4.73015199e-02 1.83750099e-02 8.07333756e+00] [-4.72920508e-02 9.98880653e-01 -9.49762368e-04 -3.06398970e-01] [-1.83993671e-02 7.95468249e-05 9.99830714e-01 -2.23684003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34587156 meters 0.022756667892482752 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.31, Z:-0.22 [[ 9.98776369e-01 4.60854247e-02 1.79415197e-02 8.10561329e+00] [-4.60761884e-02 9.98937497e-01 -9.28051535e-04 -3.11488800e-01] [-1.79652264e-02 1.00239102e-04 9.99838607e-01 -2.23163490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375871560000002 meters 0.013978014976131142 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.32, Z:-0.22 [[ 9.98789936e-01 4.56181171e-02 1.83752876e-02 8.13817699e+00] [-4.56082958e-02 9.98958945e-01 -9.53416338e-04 -3.16541729e-01] [-1.83996509e-02 1.14197092e-04 9.99830706e-01 -2.24701713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405871560000001 meters 0.014059243036829028 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.32, Z:-0.23 [[ 9.98789211e-01 4.56233924e-02 1.84015524e-02 8.17150102e+00] [-4.56134770e-02 9.98958704e-01 -9.58413385e-04 -3.20918645e-01] [-1.84261170e-02 1.17894163e-04 9.99830218e-01 -2.25420254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435871560000002 meters 0.014523048877828846 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.32, Z:-0.23 [[ 9.98767685e-01 4.61678639e-02 1.82110011e-02 8.20316316e+00] [-4.61581764e-02 9.98933690e-01 -9.52151801e-04 -3.23671308e-01] [-1.82355413e-02 1.10391848e-04 9.99833713e-01 -2.28000019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465871560000002 meters 0.01392890627310671 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.33, Z:-0.23 [[ 9.98718088e-01 4.71437143e-02 1.84296132e-02 8.23546233e+00] [-4.71338922e-02 9.98888112e-01 -9.67201461e-04 -3.25642980e-01] [-1.84547190e-02 9.73021914e-05 9.99829692e-01 -2.29028837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495871560000001 meters 0.012660756083800372 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.33, Z:-0.23 [[ 9.98570493e-01 5.01899088e-02 1.83832579e-02 8.26722986e+00] [-5.01805971e-02 9.98739691e-01 -9.67752051e-04 -3.27546946e-01] [-1.84086607e-02 4.38857832e-05 9.99830545e-01 -2.29168175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525871560000002 meters 0.012461591592008488 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.33, Z:-0.23 [[ 9.98451767e-01 5.24507223e-02 1.85200293e-02 8.29903489e+00] [-5.24416041e-02 9.98623513e-01 -9.77982629e-04 -3.28577106e-01] [-1.85458327e-02 5.24843627e-06 9.99828011e-01 -2.30526302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555871560000002 meters 0.013014920837158243 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.33, Z:-0.23 [[ 9.98182001e-01 5.71739132e-02 1.90745182e-02 8.33237215e+00] [-5.71650369e-02 9.98364231e-01 -1.01071699e-03 -3.26524809e-01] [-1.91011033e-02 -8.15160263e-05 9.99817554e-01 -2.29469801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585871560000001 meters 0.013966564356207913 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.33, Z:-0.23 [[ 9.98032774e-01 5.96287167e-02 1.93648902e-02 8.36518164e+00] [-5.96199552e-02 9.98220617e-01 -1.02996316e-03 -3.26054541e-01] [-1.93918481e-02 -1.26596898e-04 9.99811952e-01 -2.30279132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615871560000002 meters 0.01504611073400728 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.33, Z:-0.23 [[ 9.97906061e-01 6.18456416e-02 1.89369917e-02 8.39765953e+00] [-6.18375898e-02 9.98085713e-01 -1.01101615e-03 -3.25622173e-01] [-1.89632678e-02 -1.62118776e-04 9.99820168e-01 -2.31127441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645871560000002 meters 0.01758625996769191 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.32, Z:-0.23 [[ 9.97697360e-01 6.50441078e-02 1.92156541e-02 8.42910536e+00] [-6.50363422e-02 9.97882365e-01 -1.02942630e-03 -3.21837076e-01] [-1.92419205e-02 -2.22659958e-04 9.99814832e-01 -2.32179183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675871560000001 meters 0.018394212887491653 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.32, Z:-0.23 [[ 9.97606529e-01 6.61440741e-02 2.01537990e-02 8.46243889e+00] [-6.61356935e-02 9.97810051e-01 -1.08278832e-03 -3.22245394e-01] [-2.01812832e-02 -2.52688780e-04 9.99796305e-01 -2.32611467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705871560000002 meters 0.020201085455550587 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.32, Z:-0.23 [[ 9.97553410e-01 6.68709524e-02 2.03830988e-02 8.49415383e+00] [-6.68624355e-02 9.97761597e-01 -1.09982399e-03 -3.22190695e-01] [-2.04110195e-02 -2.65730454e-04 9.99791638e-01 -2.34664585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735871560000001 meters 0.019059915987857078 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.33, Z:-0.23 [[ 9.97499115e-01 6.76286807e-02 2.05396717e-02 8.52743762e+00] [-6.76201567e-02 9.97710520e-01 -1.11003686e-03 -3.26783356e-01] [-2.05677169e-02 -2.81635034e-04 9.99788422e-01 -2.34231708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76587156 meters 0.019328216282506888 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.33, Z:-0.24 [[ 9.97482075e-01 6.78625794e-02 2.05956155e-02 8.55926846e+00] [-6.78539731e-02 9.97694638e-01 -1.11721253e-03 -3.28682899e-01] [-2.06239520e-02 -2.83094868e-04 9.99787264e-01 -2.35662193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795871560000002 meters 0.01910663869632897 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.33, Z:-0.24 [[ 9.97457976e-01 6.81527427e-02 2.08036039e-02 8.59201034e+00] [-6.81439476e-02 9.97674857e-01 -1.13219791e-03 -3.30000211e-01] [-2.08323949e-02 -2.88319862e-04 9.99782941e-01 -2.36099052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825871560000001 meters 0.019956822218259517 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.33, Z:-0.24 [[ 9.97429456e-01 6.85202313e-02 2.09632647e-02 8.62391106e+00] [-6.85112803e-02 9.97649684e-01 -1.14572048e-03 -3.28155254e-01] [-2.09924994e-02 -2.93444751e-04 9.99779590e-01 -2.37288305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855871560000002 meters 0.019938886301150878 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.33, Z:-0.24 [[ 9.97415396e-01 6.85542628e-02 2.15137273e-02 8.65494531e+00] [-6.85447913e-02 9.97647344e-01 -1.17822653e-03 -3.29147399e-01] [-2.15438853e-02 -2.99472669e-04 9.99767859e-01 -2.37784995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885871560000002 meters 0.019643557766333624 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.33, Z:-0.24 [[ 9.97413020e-01 6.85281901e-02 2.17061130e-02 8.68778321e+00] [-6.85184756e-02 9.97649136e-01 -1.19182856e-03 -3.31482593e-01] [-2.17367588e-02 -2.98524448e-04 9.99763684e-01 -2.38736662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915871560000001 meters 0.030925526872707824 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.34, Z:-0.24 [[ 9.97536049e-01 6.69273627e-02 2.10371027e-02 8.72035185e+00] [-6.69177828e-02 9.97757819e-01 -1.15979937e-03 -3.35468661e-01] [-2.10675560e-02 -2.50814586e-04 9.99778023e-01 -2.37996794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945871560000002 meters 0.01642295097032534 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.34, Z:-0.24 [[ 9.97612999e-01 6.56390785e-02 2.14433002e-02 8.75141597e+00] [-6.56287954e-02 9.97843405e-01 -1.18368839e-03 -3.38428085e-01] [-2.14747519e-02 -2.26435042e-04 9.99769365e-01 -2.41398101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975871560000002 meters 0.022903824858022673 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.34, Z:-0.24 [[ 9.97743134e-01 6.38743353e-02 2.07052725e-02 8.78232308e+00] [-6.38643018e-02 9.97957934e-01 -1.14613701e-03 -3.41562857e-01] [-2.07361997e-02 -1.78777447e-04 9.99784966e-01 -2.43007602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005871560000001 meters 0.02674044281933643 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.35, Z:-0.24 [[ 9.97967459e-01 6.00951853e-02 2.12018924e-02 8.81468081e+00] [-6.00837254e-02 9.98192646e-01 -1.17769350e-03 -3.49329178e-01] [-2.12343468e-02 -9.85888980e-05 9.99774521e-01 -2.41911820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035871560000002 meters 0.01230810859570709 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.35, Z:-0.24 [[ 9.98060584e-01 5.85170549e-02 2.12326515e-02 8.84623627e+00] [-5.85051786e-02 9.98286407e-01 -1.18062040e-03 -3.53580663e-01] [-2.12653538e-02 -6.38893808e-05 9.99773865e-01 -2.43631036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065871560000001 meters 0.021926896216455022 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.36, Z:-0.24 [[ 9.98182351e-01 5.65444532e-02 2.08498926e-02 8.87756904e+00] [-5.65325006e-02 9.98400082e-01 -1.16270699e-03 -3.58045014e-01] [-2.08822791e-02 -1.81029662e-05 9.99781941e-01 -2.44524706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09587156 meters 0.01850928080961257 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.37, Z:-0.24 [[ 9.98347490e-01 5.35261255e-02 2.09103736e-02 8.91002960e+00] [-5.35133637e-02 9.98566448e-01 -1.16978583e-03 -3.66532808e-01] [-2.09430116e-02 4.88683139e-05 9.99780670e-01 -2.44905057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125871560000002 meters 0.012886000954215387 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.37, Z:-0.25 [[ 9.98400741e-01 5.23820007e-02 2.12623238e-02 8.94197966e+00] [-5.23684534e-02 9.98627118e-01 -1.19383062e-03 -3.71951269e-01] [-2.12956684e-02 7.84463599e-05 9.99773218e-01 -2.48109246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155871560000001 meters 0.013398741852911053 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.38, Z:-0.25 [[ 9.98440805e-01 5.16635524e-02 2.11385173e-02 8.97484544e+00] [-5.16499227e-02 9.98664542e-01 -1.19060171e-03 -3.77227131e-01] [-2.11717984e-02 9.69425405e-05 9.99775848e-01 -2.49736273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185871560000002 meters 0.013444678605834735 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.38, Z:-0.25 [[ 9.98476308e-01 5.06146472e-02 2.19822786e-02 9.00816686e+00] [-5.05995577e-02 9.98718249e-01 -1.24246764e-03 -3.82432810e-01] [-2.20169899e-02 1.28280928e-04 9.99757588e-01 -2.48837729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215871560000002 meters 0.021370255332665483 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.38, Z:-0.25 [[ 9.98474552e-01 5.08054900e-02 2.16187592e-02 9.03990956e+00] [-5.07908374e-02 9.98708559e-01 -1.22667395e-03 -3.84323884e-01] [-2.16531617e-02 1.26767834e-04 9.99765535e-01 -2.49335164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245871560000001 meters 0.01311983233641483 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.39, Z:-0.25 [[ 9.98413821e-01 5.18566031e-02 2.19256485e-02 9.07193039e+00] [-5.18417345e-02 9.98654535e-01 -1.24637856e-03 -3.85187960e-01] [-2.19607812e-02 1.07737934e-04 9.99758827e-01 -2.51535830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275871560000002 meters 0.01311983233641483 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.39, Z:-0.25 [[ 9.98403899e-01 5.20473826e-02 2.19254510e-02 9.10437659e+00] [-5.20324840e-02 9.98644611e-01 -1.24984120e-03 -3.87222435e-01] [-2.19607844e-02 1.07010647e-04 9.99758827e-01 -2.52526776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305871560000002 meters 0.01885081256922535 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.39, Z:-0.25 [[ 9.98295264e-01 5.43936058e-02 2.11636966e-02 9.13740727e+00] [-5.43801706e-02 9.98519570e-01 -1.21023656e-03 -3.87015043e-01] [-2.11981943e-02 5.72879963e-05 9.99775291e-01 -2.53384821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335871560000001 meters 0.012104432799967008 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.39, Z:-0.26 [[ 9.98205395e-01 5.58113364e-02 2.17044793e-02 9.16847090e+00] [-5.57974382e-02 9.98441332e-01 -1.24587877e-03 -3.88419472e-01] [-2.17401834e-02 3.25885704e-05 9.99763654e-01 -2.56155500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365871560000002 meters 0.011891059901413174 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.39, Z:-0.26 [[ 9.98122637e-01 5.72910398e-02 2.16549716e-02 9.20129459e+00] [-5.72774858e-02 9.98357520e-01 -1.24614372e-03 -3.89810549e-01] [-2.16907966e-02 3.46192508e-06 9.99764727e-01 -2.56508303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395871560000002 meters 0.012199491707594361 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.39, Z:-0.26 [[ 9.98057640e-01 5.85476271e-02 2.12866534e-02 9.23327301e+00] [-5.85347273e-02 9.98284616e-01 -1.22911271e-03 -3.92197469e-01] [-2.13221002e-02 -1.92831194e-05 9.99772658e-01 -2.58834461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425871560000001 meters 0.01249389899019439 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.39, Z:-0.26 [[ 9.97939626e-01 6.05351371e-02 2.12602936e-02 9.26657746e+00] [-6.05226390e-02 9.98166065e-01 -1.23139665e-03 -3.93361079e-01] [-2.12958464e-02 -5.78695610e-05 9.99773216e-01 -2.60380520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455871560000002 meters 0.02618582950421834 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.39, Z:-0.26 [[ 9.97874607e-01 6.18210722e-02 2.06015407e-02 9.29742547e+00] [-6.18095267e-02 9.98087245e-01 -1.19731352e-03 -3.93433454e-01] [-2.06361542e-02 -7.86027228e-05 9.99787049e-01 -2.60149528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485871560000001 meters 0.017210946153508242 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.39, Z:-0.26 [[ 9.97663839e-01 6.49811721e-02 2.10786928e-02 9.33012790e+00] [-6.49697230e-02 9.97886480e-01 -1.22824347e-03 -3.91749952e-01] [-2.11139553e-02 -1.44102735e-04 9.99777065e-01 -2.60506913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515871560000003 meters 0.015271724475295846 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.39, Z:-0.26 [[ 9.97535839e-01 6.66731785e-02 2.18388842e-02 9.36217810e+00] [-6.66612120e-02 9.97774851e-01 -1.27628865e-03 -3.91892786e-01] [-2.18753836e-02 -1.82662823e-04 9.99760688e-01 -2.62486392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545871560000002 meters 0.018113731930949974 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.39, Z:-0.26 [[ 9.97341026e-01 6.94665562e-02 2.20289645e-02 9.39343920e+00] [-6.94549684e-02 9.97584252e-01 -1.29161827e-03 -3.88374552e-01] [-2.20654723e-02 -2.41837144e-04 9.99756499e-01 -2.64399258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575871560000001 meters 0.019129039683790563 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.39, Z:-0.27 [[ 9.97269805e-01 7.05803542e-02 2.17105760e-02 9.42543312e+00] [-7.05692927e-02 9.97506063e-01 -1.27617403e-03 -3.89291370e-01] [-2.17465040e-02 -2.59410167e-04 9.99763483e-01 -2.66303294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605871560000002 meters 0.017476342736165048 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.39, Z:-0.26 [[ 9.97221533e-01 7.11538219e-02 2.20532763e-02 9.45798324e+00] [-7.11424761e-02 9.97465317e-01 -1.29959922e-03 -3.93871206e-01] [-2.20898497e-02 -2.72936359e-04 9.99755952e-01 -2.64773625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635871560000002 meters 0.017756707141145373 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.40, Z:-0.26 [[ 9.97168162e-01 7.13912381e-02 2.36420796e-02 9.48923834e+00] [-7.13781275e-02 9.97448347e-01 -1.39904241e-03 -3.95374054e-01] [-2.36816326e-02 -2.92446822e-04 9.99719508e-01 -2.64267722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665871560000001 meters 0.018404632698228483 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.40, Z:-0.27 [[ 9.97198643e-01 7.09686555e-02 2.36287187e-02 9.52024822e+00] [-7.09553959e-02 9.97478507e-01 -1.40016032e-03 -3.96992378e-01] [-2.36685066e-02 -2.80347119e-04 9.99719822e-01 -2.66476911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695871560000002 meters 0.017751250031193603 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.40, Z:-0.27 [[ 9.97234636e-01 7.04446529e-02 2.36776440e-02 9.55208950e+00] [-7.04311020e-02 9.97515654e-01 -1.40679718e-03 -4.00719985e-01] [-2.37179219e-02 -2.64735688e-04 9.99718655e-01 -2.66954276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725871560000002 meters 0.02670375156094922 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.41, Z:-0.27 [[ 9.97322908e-01 6.92680508e-02 2.34297773e-02 9.58381555e+00] [-6.92543712e-02 9.97598057e-01 -1.39574789e-03 -4.06432920e-01] [-2.34701810e-02 -2.30603143e-04 9.99724511e-01 -2.65012984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755871560000001 meters 0.026328146969160197 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.41, Z:-0.27 [[ 9.97364502e-01 6.89449217e-02 2.25975246e-02 9.61622039e+00] [-6.89320339e-02 9.97620445e-01 -1.34969670e-03 -4.09778641e-01] [-2.26368073e-02 -2.11553756e-04 9.99743732e-01 -2.66930666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785871560000002 meters 0.02386252739795563 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.41, Z:-0.27 [[ 9.97423596e-01 6.83980751e-02 2.16303978e-02 9.64768210e+00] [-6.83860472e-02 9.97658092e-01 -1.29613927e-03 -4.12490594e-01] [-2.16683949e-02 -1.86417522e-04 9.99765195e-01 -2.71450962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815871560000001 meters 0.014207469725910511 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.42, Z:-0.27 [[ 9.97498071e-01 6.72346308e-02 2.18426609e-02 9.67900336e+00] [-6.72219931e-02 9.97737179e-01 -1.31313681e-03 -4.20464321e-01] [-2.18815231e-02 -1.58455765e-04 9.99760558e-01 -2.73584383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84587156 meters 0.017044554102121325 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.42, Z:-0.27 [[ 9.97511075e-01 6.70261714e-02 2.18894612e-02 9.71088702e+00] [-6.70133484e-02 9.97751206e-01 -1.31963783e-03 -4.23310082e-01] [-2.19286866e-02 -1.50532744e-04 9.99759526e-01 -2.72903150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875871560000002 meters 0.013956203835250616 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.43, Z:-0.28 [[ 9.97547950e-01 6.65266397e-02 2.17323203e-02 9.74244057e+00] [-6.65137949e-02 9.97784640e-01 -1.31415111e-03 -4.25531135e-01] [-2.17716015e-02 -1.34570350e-04 9.99762962e-01 -2.75728008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905871560000001 meters 0.028832042414379287 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.43, Z:-0.27 [[ 9.97589472e-01 6.60659384e-02 2.12258820e-02 9.77557254e+00] [-6.60535039e-02 9.97815252e-01 -1.28715172e-03 -4.30647840e-01] [-2.12645457e-02 -1.17994879e-04 9.99773877e-01 -2.74343119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935871560000002 meters 0.013481818618471557 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.43, Z:-0.28 [[ 9.97595745e-01 6.59669897e-02 2.12387981e-02 9.80785682e+00] [-6.59544255e-02 9.97821800e-01 -1.29226496e-03 -4.32802404e-01] [-2.12777825e-02 -1.11634696e-04 9.99773596e-01 -2.78379269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965871560000002 meters 0.013623912612343811 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.43, Z:-0.28 [[ 9.97559675e-01 6.65044717e-02 2.12567453e-02 9.84070619e+00] [-6.64919272e-02 9.97786120e-01 -1.29716322e-03 -4.34558596e-01] [-2.12959526e-02 -1.19404237e-04 9.99773208e-01 -2.79578141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995871560000001 meters 0.021877530452889617 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.44, Z:-0.28 [[ 9.97524432e-01 6.71983784e-02 2.07216266e-02 9.87323990e+00] [-6.71865258e-02 9.97739626e-01 -1.26843184e-03 -4.37300720e-01] [-2.07600245e-02 -1.26922351e-04 9.99784479e-01 -2.78850841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025871560000002 meters 0.016948279767862232 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.44, Z:-0.28 [[ 9.97438133e-01 6.81596231e-02 2.17126119e-02 9.90583616e+00] [-6.81467371e-02 9.97674418e-01 -1.33369592e-03 -4.41630024e-01] [-2.17530216e-02 -1.49364492e-04 9.99763364e-01 -2.79168242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055871560000002 meters 0.017448437940607568 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.44, Z:-0.28 [[ 9.97353742e-01 6.91268726e-02 2.25164304e-02 9.93763314e+00] [-6.91131531e-02 9.97607862e-01 -1.38786190e-03 -4.43217055e-01] [-2.25585065e-02 -1.71992242e-04 9.99745510e-01 -2.78913143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085871560000001 meters 0.025439873850539786 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.44, Z:-0.28 [[ 9.97141715e-01 7.18556582e-02 2.33487415e-02 9.96945641e+00] [-7.18415429e-02 9.97415013e-01 -1.44388490e-03 -4.41099816e-01] [-2.33921366e-02 -2.37651749e-04 9.99726338e-01 -2.76620084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115871560000002 meters 0.017539556027634778 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.44, Z:-0.28 [[ 9.97006888e-01 7.34414508e-02 2.41581925e-02 1.00008023e+01] [-7.34267095e-02 9.97299491e-01 -1.49789174e-03 -4.39700084e-01] [-2.42029604e-02 -2.80448198e-04 9.99707026e-01 -2.78379473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145871560000002 meters 0.020613011991029852 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.44, Z:-0.28 [[ 9.96637558e-01 7.80412610e-02 2.49627640e-02 1.00328462e+01] [-7.80268629e-02 9.96950049e-01 -1.55178820e-03 -4.36156644e-01] [-2.50077324e-02 -4.01195769e-04 9.99687177e-01 -2.77732647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175871560000001 meters 0.02244361914311718 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.43, Z:-0.28 [[ 9.96452670e-01 8.05542951e-02 2.43532573e-02 1.00646953e+01] [-8.05412498e-02 9.96750121e-01 -1.51766174e-03 -4.34945220e-01] [-2.43963663e-02 -4.49163683e-04 9.99702263e-01 -2.78878479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205871560000002 meters 0.024741183732513498 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.43, Z:-0.28 [[ 9.96239830e-01 8.31977493e-02 2.41730291e-02 1.00972497e+01] [-8.31855820e-02 9.96532929e-01 -1.51022378e-03 -4.32581219e-01] [-2.42148667e-02 -5.06302408e-04 9.99706649e-01 -2.80075640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235871560000001 meters 0.02846047860560865 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.43, Z:-0.28 [[ 9.96035572e-01 8.55706037e-02 2.43066047e-02 1.01288166e+01] [-8.55589022e-02 9.96331950e-01 -1.52289607e-03 -4.27738085e-01] [-2.43477620e-02 -5.62787754e-04 9.99703391e-01 -2.81627775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265871560000003 meters 0.03010052200538841 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.42, Z:-0.28 [[ 9.95772029e-01 8.88453556e-02 2.33359900e-02 1.01605073e+01] [-8.88353634e-02 9.96045244e-01 -1.46656683e-03 -4.24702236e-01] [-2.33739995e-02 -6.12694922e-04 9.99726603e-01 -2.83885099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295871560000002 meters 0.03240747868070661 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.42, Z:-0.29 [[ 9.95676694e-01 9.01684955e-02 2.23061432e-02 1.01912831e+01] [-9.01596970e-02 9.95926335e-01 -1.40186831e-03 -4.21949142e-01] [-2.23416798e-02 -6.15307507e-04 9.99750204e-01 -2.86678293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325871560000001 meters 0.03157925168199617 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.42, Z:-0.29 [[ 9.95605250e-01 9.10032487e-02 2.21042021e-02 1.02237954e+01] [-9.09947893e-02 9.95850398e-01 -1.39030154e-03 -4.23213989e-01] [-2.21390004e-02 -6.27175704e-04 9.99754706e-01 -2.87237289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355871560000002 meters 0.04003911002498684 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.42, Z:-0.29 [[ 9.95606172e-01 9.09343863e-02 2.23447427e-02 1.02554624e+01] [-9.09256229e-02 9.95856688e-01 -1.40996987e-03 -4.17096637e-01] [-2.23803762e-02 -6.27934943e-04 9.99749331e-01 -2.87594347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385871560000002 meters 0.03828778635732379 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.42, Z:-0.29 [[ 9.95627406e-01 9.06829049e-02 2.24204861e-02 1.02873511e+01] [-9.06739812e-02 9.95879623e-01 -1.41640347e-03 -4.21911836e-01] [-2.24565488e-02 -6.22744616e-04 9.99747626e-01 -2.87413429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415871560000001 meters 0.03269629736711523 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.42, Z:-0.29 [[ 9.95767090e-01 8.91355255e-02 2.24223399e-02 1.03185034e+01] [-8.91261206e-02 9.96019336e-01 -1.42042117e-03 -4.18406896e-01] [-2.24596941e-02 -5.84007520e-04 9.99747579e-01 -2.91097731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445871560000002 meters 0.029770860356356448 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.42, Z:-0.29 [[ 9.95808280e-01 8.85946931e-02 2.27343212e-02 1.03502125e+01] [-8.85848033e-02 9.96067592e-01 -1.44371790e-03 -4.21788740e-01] [-2.27728263e-02 -5.76249130e-04 9.99740499e-01 -2.90997737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475871560000002 meters 0.031252629688490845 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.42, Z:-0.29 [[ 9.95824691e-01 8.82694853e-02 2.32740614e-02 1.03827175e+01] [-8.82589366e-02 9.96096463e-01 -1.48206951e-03 -4.23360027e-01] [-2.33140318e-02 -5.78262505e-04 9.99728024e-01 -2.89289361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505871560000001 meters 0.03502833026249853 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.42, Z:-0.29 [[ 9.95964747e-01 8.67958366e-02 2.28189564e-02 1.04154366e+01] [-8.67852088e-02 9.96225980e-01 -1.45751195e-03 -4.23017627e-01] [-2.28593432e-02 -5.28717371e-04 9.99738551e-01 -2.91146259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535871560000002 meters 0.0269158778957159 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.42, Z:-0.29 [[ 9.96088612e-01 8.54700522e-02 2.24131129e-02 1.04463911e+01] [-8.54594284e-02 9.96340621e-01 -1.43315692e-03 -4.22978541e-01] [-2.24535868e-02 -4.87860528e-04 9.99747767e-01 -2.94336403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565871560000001 meters 0.02410720227242258 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.43, Z:-0.30 [[ 9.96263941e-01 8.34866184e-02 2.20939679e-02 1.04788100e+01] [-8.34757315e-02 9.96508804e-01 -1.41617712e-03 -4.25162676e-01] [-2.21350653e-02 -4.33423926e-04 9.99754895e-01 -2.97144879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595871560000003 meters 0.02812059639837867 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.43, Z:-0.30 [[ 9.96424622e-01 8.16280297e-02 2.17907753e-02 1.05104369e+01] [-8.16169145e-02 9.96662791e-01 -1.40044317e-03 -4.27065740e-01] [-2.18323703e-02 -3.83059784e-04 9.99761572e-01 -2.97522202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625871560000002 meters 0.017986787049162452 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.43, Z:-0.30 [[ 9.96871597e-01 7.62717309e-02 2.07278089e-02 1.05411593e+01] [-7.62604170e-02 9.97087038e-01 -1.33687794e-03 -4.33851547e-01] [-2.07693956e-02 -2.48015711e-04 9.99784262e-01 -3.01972769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655871560000001 meters 0.01644637623749275 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.44, Z:-0.30 [[ 9.97074727e-01 7.35801879e-02 2.06868085e-02 1.05724826e+01] [-7.35683436e-02 9.97289286e-01 -1.33403133e-03 -4.37471956e-01] [-2.07288908e-02 -1.91765319e-04 9.99785115e-01 -3.03628101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685871560000002 meters 0.020875403551231977 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.45, Z:-0.30 [[ 9.97466652e-01 6.81079452e-02 2.05325543e-02 1.06045347e+01] [-6.80950917e-02 9.97677955e-01 -1.32532723e-03 -4.45624029e-01] [-2.05751421e-02 -7.61964560e-05 9.99788306e-01 -3.01965457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715871560000002 meters 0.01836344319346614 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.45, Z:-0.30 [[ 9.97640918e-01 6.55544767e-02 2.03766925e-02 1.06364641e+01] [-6.55412162e-02 9.97848992e-01 -1.31863611e-03 -4.50370631e-01] [-2.04193046e-02 -1.99878722e-05 9.99791504e-01 -3.03865212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745871560000001 meters 0.012451208118755244 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.45, Z:-0.31 [[ 9.97794768e-01 6.31600584e-02 2.04060571e-02 1.06691552e+01] [-6.31461839e-02 9.98003410e-01 -1.32420266e-03 -4.54962530e-01] [-2.04489513e-02 3.27178547e-05 9.99790898e-01 -3.06059887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775871560000002 meters 0.027606756243194475 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.46, Z:-0.30 [[ 9.97996137e-01 5.98126166e-02 2.06436743e-02 1.07012259e+01] [-5.97976136e-02 9.98209617e-01 -1.34383323e-03 -4.60532859e-01] [-2.06870924e-02 1.06697917e-04 9.99785994e-01 -3.03927408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805871560000002 meters 0.024791909838674776 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.47, Z:-0.31 [[ 9.98077635e-01 5.84565863e-02 2.05879123e-02 1.07321893e+01] [-5.84412991e-02 9.98289942e-01 -1.34392518e-03 -4.65299490e-01] [-2.06312671e-02 1.38157326e-04 9.99787143e-01 -3.07506123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835871560000001 meters 0.015624176237796628 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.47, Z:-0.31 [[ 9.98158407e-01 5.71643586e-02 2.02985626e-02 1.07629690e+01] [-5.71491636e-02 9.98364767e-01 -1.32834245e-03 -4.68872925e-01] [-2.03413036e-02 1.65850306e-04 9.99793081e-01 -3.10803932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865871560000002 meters 0.029254580641474372 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.47, Z:-0.31 [[ 9.98204855e-01 5.58550042e-02 2.16167981e-02 1.07956667e+01] [-5.58373935e-02 9.98438869e-01 -1.41787728e-03 -4.73071415e-01] [-2.16622470e-02 2.08306330e-04 9.99765324e-01 -3.07632055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895871560000002 meters 0.0292797840729142 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.48, Z:-0.31 [[ 9.98192370e-01 5.57372029e-02 2.24801346e-02 1.08289658e+01] [-5.57180262e-02 9.98445449e-01 -1.47898825e-03 -4.76063136e-01] [-2.25276228e-02 2.23766061e-04 9.99746196e-01 -3.07183234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925871560000003 meters 0.016671369771920286 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.48, Z:-0.31 [[ 9.98180995e-01 5.57828706e-02 2.28685905e-02 1.08606999e+01] [-5.57629221e-02 9.98442897e-01 -1.50957411e-03 -4.79809304e-01] [-2.29171901e-02 2.31608761e-04 9.99737340e-01 -3.09607788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955871560000002 meters 0.01803815708911113 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.48, Z:-0.31 [[ 9.98100545e-01 5.71919205e-02 2.28994851e-02 1.08931737e+01] [-5.71722351e-02 9.98363182e-01 -1.51395403e-03 -4.80202711e-01] [-2.29485888e-02 2.01863590e-04 9.99736626e-01 -3.07259998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985871560000001 meters 0.026548128407174024 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.48, Z:-0.31 [[ 9.98025608e-01 5.83699252e-02 2.31913203e-02 1.09241302e+01] [-5.83499570e-02 9.98295006e-01 -1.53736459e-03 -4.81820874e-01] [-2.32415151e-02 1.81116688e-04 9.99729863e-01 -3.07652409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01587156 meters 0.014039343828670219 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.48, Z:-0.31 [[ 9.97909867e-01 6.03665752e-02 2.30602184e-02 1.09553658e+01] [-6.03472711e-02 9.98176266e-01 -1.53274191e-03 -4.83148043e-01] [-2.31106890e-02 1.37917028e-04 9.99732903e-01 -3.12322058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04587156 meters 0.012794024944267507 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.48, Z:-0.31 [[ 9.97822034e-01 6.20606394e-02 2.23531882e-02 1.09889483e+01] [-6.20428972e-02 9.98072376e-01 -1.48703400e-03 -4.82494979e-01] [-2.24023859e-02 9.69387357e-05 9.99749030e-01 -3.12463907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07587156 meters 0.02505049445344097 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.48, Z:-0.31 [[ 9.97677085e-01 6.43878426e-02 2.22405207e-02 1.10217201e+01] [-6.43707440e-02 9.97924949e-01 -1.48460028e-03 -4.82547984e-01] [-2.22899607e-02 4.95128093e-05 9.99751547e-01 -3.12360318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10587156 meters 0.01225826689490084 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.48, Z:-0.32 [[ 9.97449112e-01 6.81380086e-02 2.12715786e-02 1.10540520e+01] [-6.81231984e-02 9.97675905e-01 -1.42094167e-03 -4.79926714e-01] [-2.13189616e-02 -3.17709657e-05 9.99772725e-01 -3.17495105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135871560000002 meters 0.03034070754830303 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.48, Z:-0.32 [[ 9.97311619e-01 7.02925068e-02 2.07001737e-02 1.10854546e+01] [-7.02788592e-02 9.97526420e-01 -1.38693581e-03 -4.79967692e-01] [-2.07464613e-02 -7.15773938e-05 9.99784766e-01 -3.17922706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16587156 meters 0.03034070754830303 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.48, Z:-0.32 [[ 9.97298252e-01 7.04819599e-02 2.06999815e-02 1.11178857e+01] [-7.04682936e-02 9.97513052e-01 -1.38979685e-03 -4.82340228e-01] [-2.07464573e-02 -7.26504035e-05 9.99784766e-01 -3.18913709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.19587156 meters 0.01459971809535376 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.48, Z:-0.32 [[ 9.97101561e-01 7.35519747e-02 1.94572425e-02 1.11499777e+01] [-7.35404140e-02 9.97291377e-01 -1.30997991e-03 -4.77909582e-01] [-1.95008918e-02 -1.24710650e-04 9.99809832e-01 -3.23680825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22587156 meters 0.02924102228909856 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.48, Z:-0.32 [[ 9.96979015e-01 7.51564243e-02 1.96049708e-02 1.11825947e+01] [-7.51449328e-02 9.97171745e-01 -1.32321813e-03 -4.77608240e-01] [-1.96489713e-02 -1.53993501e-04 9.99806928e-01 -3.22188499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25587156 meters 0.016091902286223703 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.48, Z:-0.33 [[ 9.96889231e-01 7.62267773e-02 2.00334507e-02 1.12151073e+01] [-7.62149255e-02 9.97090491e-01 -1.35554987e-03 -4.76601579e-01] [-2.00784924e-02 -1.75514878e-04 9.99798391e-01 -3.25541421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28587156 meters 0.0299879846569109 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.48, Z:-0.32 [[ 9.96752491e-01 7.77308729e-02 2.10329213e-02 1.12471409e+01] [-7.77180553e-02 9.96974356e-01 -1.42737359e-03 -4.76437356e-01] [-2.10802342e-02 -2.11899555e-04 9.99777765e-01 -3.21497943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31587156 meters 0.016322841443791505 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.48, Z:-0.32 [[ 9.96732429e-01 7.77155297e-02 2.20172793e-02 1.12794090e+01] [-7.77013937e-02 9.96975551e-01 -1.49810312e-03 -4.78136989e-01] [-2.20671151e-02 -2.17565330e-04 9.99756468e-01 -3.22861351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34587156 meters 0.015362783973435493 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.48, Z:-0.32 [[ 9.96739217e-01 7.74844318e-02 2.25187827e-02 1.13113033e+01] [-7.74694985e-02 9.96993539e-01 -1.53607837e-03 -4.81109846e-01] [-2.25701031e-02 -2.13449249e-04 9.99745240e-01 -3.21689472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.37587156 meters 0.023813612881274024 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.48, Z:-0.32 [[ 9.96820670e-01 7.63699855e-02 2.27195137e-02 1.13433899e+01] [-7.63544038e-02 9.97079531e-01 -1.55378633e-03 -4.84507718e-01] [-2.27718247e-02 -1.85888599e-04 9.99740671e-01 -3.20921555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40587156 meters 0.014969478467267738 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.48, Z:-0.33 [[ 9.96887933e-01 7.54873300e-02 2.27180948e-02 1.13742288e+01] [-7.54714295e-02 9.97146748e-01 -1.55771262e-03 -4.84986545e-01] [-2.27708619e-02 -1.61702181e-04 9.99740697e-01 -3.26441505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43587156 meters 0.023544750420251715 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.49, Z:-0.33 [[ 9.96972367e-01 7.47291923e-02 2.14859603e-02 1.14071887e+01] [-7.47147320e-02 9.97203856e-01 -1.47609791e-03 -4.88821511e-01] [-2.15361900e-02 -1.33688935e-04 9.99768060e-01 -3.25351285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46587156 meters 0.02124581164877948 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.49, Z:-0.33 [[ 9.97074768e-01 7.36120630e-02 2.05711012e-02 1.14397319e+01] [-7.35984939e-02 9.97286947e-01 -1.41695645e-03 -4.91609864e-01] [-2.06195958e-02 -1.01190541e-04 9.99787388e-01 -3.27630061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49587156 meters 0.0285743367939523 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.50, Z:-0.33 [[ 9.97335114e-01 7.02658938e-02 1.96309475e-02 1.14720495e+01] [-7.02528176e-02 9.97528297e-01 -1.35579761e-03 -4.99314529e-01] [-1.96776919e-02 -2.69448099e-05 9.99806375e-01 -3.31036710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52587156 meters 0.013306631906657889 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.51, Z:-0.34 [[ 9.97505487e-01 6.80048850e-02 1.89245834e-02 1.15024919e+01] [-6.79922511e-02 9.97684988e-01 -1.31095895e-03 -5.05485785e-01] [-1.89699244e-02 2.09637209e-05 9.99820055e-01 -3.37512320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55587156 meters 0.014356426627507713 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.51, Z:-0.34 [[ 9.97778904e-01 6.40037288e-02 1.84602706e-02 1.15342755e+01] [-6.39909721e-02 9.97949655e-01 -1.28151130e-03 -5.12036602e-01] [-1.85044421e-02 9.73742772e-05 9.99828773e-01 -3.37222587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58587156 meters 0.015229533967381624 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.52, Z:-0.34 [[ 9.97876598e-01 6.23089495e-02 1.89707429e-02 1.15665220e+01] [-6.22950981e-02 9.98056900e-01 -1.32079346e-03 -5.16130473e-01] [-1.90161781e-02 1.36204590e-04 9.99819167e-01 -3.37175565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61587156 meters 0.01586304118442146 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.52, Z:-0.34 [[ 9.97972916e-01 6.05853925e-02 1.94799897e-02 1.15981371e+01] [-6.05704228e-02 9.98163002e-01 -1.35810180e-03 -5.20731561e-01] [-1.95264861e-02 1.75437599e-04 9.99809325e-01 -3.36249529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64587156 meters 0.018177663441050308 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.53, Z:-0.34 [[ 9.98137906e-01 5.78071067e-02 1.94694432e-02 1.16284793e+01] [-5.77915578e-02 9.98327744e-01 -1.36079559e-03 -5.29349527e-01] [-1.95155490e-02 2.33092204e-04 9.99809526e-01 -3.36548789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67587156 meters 0.0189493389844205 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.53, Z:-0.34 [[ 9.98183780e-01 5.69836826e-02 1.95448711e-02 1.16599605e+01] [-5.69677972e-02 9.98375078e-01 -1.36902331e-03 -5.33743162e-01] [-1.95911242e-02 2.53108606e-04 9.99808043e-01 -3.37158434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70587156 meters 0.018864564187034503 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.54, Z:-0.34 [[ 9.98220990e-01 5.62019002e-02 1.99048102e-02 1.16917726e+01] [-5.61852016e-02 9.98419386e-01 -1.39760394e-03 -5.39245573e-01] [-1.99518963e-02 2.76761814e-04 9.99800903e-01 -3.36086235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73587156 meters 0.03095503483803743 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.54, Z:-0.33 [[ 9.98169154e-01 5.67769820e-02 2.08498153e-02 1.17229792e+01] [-5.67587024e-02 9.98386846e-01 -1.46793119e-03 -5.42475299e-01] [-2.08995261e-02 2.81835170e-04 9.99781541e-01 -3.33572212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76587156 meters 0.02707295659880247 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.54, Z:-0.33 [[ 9.98115946e-01 5.75254911e-02 2.13395488e-02 1.17548886e+01] [-5.75064411e-02 9.98344000e-01 -1.50579844e-03 -5.43193325e-01] [-2.13908323e-02 2.75799930e-04 9.99771152e-01 -3.32565214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79587156 meters 0.023494352090685917 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.54, Z:-0.33 [[ 9.97950028e-01 6.02453348e-02 2.15926032e-02 1.17877111e+01] [-6.02263670e-02 9.98183575e-01 -1.52825575e-03 -5.42396802e-01] [-2.16454521e-02 2.24678827e-04 9.99765685e-01 -3.32524546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82587156 meters 0.015117942023464115 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.54, Z:-0.34 [[ 9.97857528e-01 6.19075139e-02 2.11616025e-02 1.18187152e+01] [-6.18896541e-02 9.98081873e-01 -1.49847773e-03 -5.44113211e-01] [-2.12137789e-02 1.85583024e-04 9.99774945e-01 -3.36130952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.85587156 meters 0.014220141262919053 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.55, Z:-0.34 [[ 9.97748659e-01 6.38573217e-02 2.04904074e-02 1.18499836e+01] [-6.38409230e-02 9.97959028e-01 -1.45411382e-03 -5.45629704e-01] [-2.05414429e-02 1.42713588e-04 9.99788992e-01 -3.38214433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885871560000002 meters 0.024200195148535643 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.54, Z:-0.34 [[ 9.97495098e-01 6.79475841e-02 1.96635526e-02 1.18820222e+01] [-6.79331986e-02 9.97688890e-01 -1.39940284e-03 -5.43725501e-01] [-1.97131941e-02 6.00894465e-05 9.99805674e-01 -3.38264011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91587156 meters 0.012603051091878115 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.54, Z:-0.34 [[ 9.97337438e-01 7.02017782e-02 1.97419630e-02 1.19142986e+01] [-7.01877210e-02 9.97532812e-01 -1.40489494e-03 -5.43153431e-01] [-1.97918820e-02 1.55109344e-05 9.99804121e-01 -3.42024562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94587156 meters 0.012456576466451978 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.54, Z:-0.34 [[ 9.97171059e-01 7.26315933e-02 1.93528222e-02 1.19476873e+01] [-7.26184786e-02 9.97358838e-01 -1.38048705e-03 -5.42469279e-01] [-1.94019752e-02 -2.87907640e-05 9.99811764e-01 -3.41954700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97587156 meters 0.021616187345310678 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.54, Z:-0.34 [[ 9.96785500e-01 7.78990541e-02 1.87191093e-02 1.19802100e+01] [-7.78876424e-02 9.96961244e-01 -1.33902504e-03 -5.38374284e-01] [-1.87665353e-02 -1.23266545e-04 9.99823885e-01 -3.41996924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00587156 meters 0.026085233755364937 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.54, Z:-0.34 [[ 9.96619033e-01 8.00548996e-02 1.84855888e-02 1.20125331e+01] [-8.00440828e-02 9.96790443e-01 -1.32549516e-03 -5.38896761e-01] [-1.85323707e-02 -1.58648301e-04 9.99828248e-01 -3.43905678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.03587156 meters 0.018357119878849356 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.54, Z:-0.35 [[ 9.96354515e-01 8.35569707e-02 1.72021193e-02 1.20431293e+01] [-8.35480422e-02 9.96502981e-01 -1.23829775e-03 -5.36339530e-01] [-1.72454316e-02 -2.03419835e-04 9.99851266e-01 -3.50531384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06587156 meters 0.019694529270558887 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.54, Z:-0.35 [[ 9.96260799e-01 8.47783902e-02 1.66446428e-02 1.20730336e+01] [-8.47702074e-02 9.96399808e-01 -1.19781331e-03 -5.36861106e-01] [-1.66862676e-02 -2.17635379e-04 9.99860751e-01 -3.52775505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09587156 meters 0.019532623473743217 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.54, Z:-0.35 [[ 9.96219006e-01 8.52812088e-02 1.65772971e-02 1.21033465e+01] [-8.52731352e-02 9.96356897e-01 -1.19455751e-03 -5.38901849e-01] [-1.66187776e-02 -2.23557195e-04 9.99861874e-01 -3.52814056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12587156 meters 0.027446757549898195 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.54, Z:-0.35 [[ 9.96243133e-01 8.47817039e-02 1.76545187e-02 1.21332099e+01] [-8.47724657e-02 9.96399523e-01 -1.27233934e-03 -5.39067899e-01] [-1.76988251e-02 -2.29057753e-04 9.99843337e-01 -3.51066141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15587156 meters 0.017888127871916015 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.54, Z:-0.35 [[ 9.96340866e-01 8.35235845e-02 1.81298073e-02 1.21643246e+01] [-8.35136464e-02 9.96505778e-01 -1.30590298e-03 -5.44053616e-01] [-1.81755314e-02 -2.12961805e-04 9.99834789e-01 -3.51316390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18587156 meters 0.017076285498750243 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.55, Z:-0.35 [[ 9.96457032e-01 8.20594988e-02 1.84288378e-02 1.21942292e+01] [-8.20489684e-02 9.96627414e-01 -1.32806154e-03 -5.47802632e-01] [-1.84756650e-02 -1.88710868e-04 9.99829293e-01 -3.52515825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.21587156 meters 0.014724234122222598 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.56, Z:-0.35 [[ 9.96696080e-01 7.88766967e-02 1.93750223e-02 1.22255499e+01] [-7.88644559e-02 9.96884370e-01 -1.39623753e-03 -5.55670053e-01] [-1.94247876e-02 -1.36376121e-04 9.99811312e-01 -3.51828550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24587156 meters 0.021485584877933273 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.56, Z:-0.35 [[ 9.96764779e-01 7.79938988e-02 1.94146081e-02 1.22576311e+01] [-7.79814556e-02 9.96953829e-01 -1.39831409e-03 -5.60902911e-01] [-1.94645278e-02 -1.20189162e-04 9.99810541e-01 -3.50541470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27587156 meters 0.013729816980893017 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.56, Z:-0.35 [[ 9.96810686e-01 7.73891427e-02 1.94776063e-02 1.22896760e+01] [-7.73764398e-02 9.97000958e-01 -1.40609392e-03 -5.64371263e-01] [-1.95280085e-02 -1.05498380e-04 9.99809305e-01 -3.53835611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30587156 meters 0.019510753721990057 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.57, Z:-0.35 [[ 9.96746576e-01 7.83182507e-02 1.90397963e-02 1.23211892e+01] [-7.83061977e-02 9.96928402e-01 -1.37890286e-03 -5.65035752e-01] [-1.90893070e-02 -1.16517357e-04 9.99817776e-01 -3.54235957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33587156 meters 0.017375585758401774 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.57, Z:-0.36 [[ 9.96661794e-01 7.95716646e-02 1.82652148e-02 1.23529732e+01] [-7.95607689e-02 9.96829139e-01 -1.32356132e-03 -5.65311583e-01] [-1.83126163e-02 -1.34051530e-04 9.99832301e-01 -3.55022828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36587156 meters 0.01598777671039041 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.56, Z:-0.36 [[ 9.96522429e-01 8.12733051e-02 1.83765732e-02 1.23838631e+01] [-8.12624941e-02 9.96691840e-01 -1.33550511e-03 -5.63109199e-01] [-1.84243215e-02 -1.62465379e-04 9.99830245e-01 -3.57679222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39587156 meters 0.018538792765316323 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.56, Z:-0.36 [[ 9.96220966e-01 8.49110391e-02 1.82729825e-02 1.24147688e+01] [-8.49009134e-02 9.96388511e-01 -1.33058679e-03 -5.56686362e-01] [-1.83199713e-02 -2.25834449e-04 9.99832150e-01 -3.58551253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42587156 meters 0.01990121302234339 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.56, Z:-0.36 [[ 9.96066822e-01 8.66473445e-02 1.85236062e-02 1.24453865e+01] [-8.66372393e-02 9.96239012e-01 -1.34883650e-03 -5.55162362e-01] [-1.85708122e-02 -2.61302820e-04 9.99827513e-01 -3.59119069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45587156 meters 0.02204160457975285 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.55, Z:-0.36 [[ 9.95944631e-01 8.79781918e-02 1.88183380e-02 1.24751573e+01] [-8.79679973e-02 9.96122359e-01 -1.37044056e-03 -5.53293784e-01] [-1.88659362e-02 -2.90528588e-04 9.99821980e-01 -3.60659920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48587156 meters 0.023413660472127368 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.55, Z:-0.36 [[ 9.95786599e-01 8.95233746e-02 1.98648977e-02 1.25047190e+01] [-8.95123222e-02 9.95984664e-01 -1.44663652e-03 -5.49626263e-01] [-1.99146412e-02 -3.37611864e-04 9.99801627e-01 -3.59653119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51587156 meters 0.023987338844820072 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.55, Z:-0.36 [[ 9.95724233e-01 9.01352291e-02 2.02210822e-02 1.25347623e+01] [-9.01239204e-02 9.95929472e-01 -1.47171326e-03 -5.48076836e-01] [-2.02714250e-02 -3.56982652e-04 9.99794450e-01 -3.59570407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545871560000002 meters 0.03296193707912259 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.55, Z:-0.36 [[ 9.95642656e-01 9.12444254e-02 1.92394717e-02 1.25649225e+01] [-9.12344030e-02 9.95828461e-01 -1.39985331e-03 -5.45156774e-01] [-1.92869423e-02 -3.61548049e-04 9.99813924e-01 -3.60021690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57587156 meters 0.029114142510250643 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.55, Z:-0.36 [[ 9.95631483e-01 9.14360612e-02 1.89049304e-02 1.25947800e+01] [-9.14264273e-02 9.95810884e-01 -1.37506616e-03 -5.45150144e-01] [-1.89514661e-02 -3.59351085e-04 9.99820340e-01 -3.61528289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60587156 meters 0.024948622112533597 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.54, Z:-0.36 [[ 9.95643022e-01 9.12952383e-02 1.89776787e-02 1.26234418e+01] [-9.12855109e-02 9.95823805e-01 -1.38002677e-03 -5.44601865e-01] [-1.90244141e-02 -3.58373063e-04 9.99818955e-01 -3.64652273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635871560000002 meters 0.024427232137989724 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.54, Z:-0.37 [[ 9.95774491e-01 8.98258630e-02 1.90912800e-02 1.26527140e+01] [-8.98157649e-02 9.95957430e-01 -1.38744540e-03 -5.44371236e-01] [-1.91387307e-02 -3.33115181e-04 9.99816782e-01 -3.66570515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66587156 meters 0.02169848069595877 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.55, Z:-0.37 [[ 9.95927636e-01 8.80209949e-02 1.95051024e-02 1.26824031e+01] [-8.80101178e-02 9.96118573e-01 -1.41703132e-03 -5.49272559e-01] [-1.95541233e-02 -3.05385702e-04 9.99808753e-01 -3.66686009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.69587156 meters 0.019548963388125947 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.55, Z:-0.37 [[ 9.96114704e-01 8.58274779e-02 1.97266375e-02 1.27118611e+01] [-8.58159318e-02 9.96309979e-01 -1.43264072e-03 -5.53204913e-01] [-1.97768057e-02 -2.65785285e-04 9.99804385e-01 -3.66737581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72587156 meters 0.017610294377695523 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.56, Z:-0.37 [[ 9.96548006e-01 8.05316495e-02 2.01674173e-02 1.27415854e+01] [-8.05185122e-02 9.96752038e-01 -1.46389837e-03 -5.58455023e-01] [-2.02198045e-02 -1.65005434e-04 9.99795545e-01 -3.67627024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75587156 meters 0.013950921594951404 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.56, Z:-0.37 [[ 9.96763472e-01 7.77582774e-02 2.04017210e-02 1.27722782e+01] [-7.77442568e-02 9.96972235e-01 -1.48067181e-03 -5.63272078e-01] [-2.04550839e-02 -1.10237065e-04 9.99790767e-01 -3.68680209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78587156 meters 0.026233769991429366 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.57, Z:-0.37 [[ 9.97162354e-01 7.26120389e-02 1.98678772e-02 1.28028497e+01] [-7.25977387e-02 9.97360262e-01 -1.44102714e-03 -5.72274609e-01] [-1.99200671e-02 -5.42494723e-06 9.99801576e-01 -3.69785563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81587156 meters 0.01309020394098866 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.58, Z:-0.37 [[ 9.97360903e-01 7.00653547e-02 1.90282790e-02 1.28346588e+01] [-7.00517253e-02 9.97542402e-01 -1.38269406e-03 -5.77877441e-01] [-1.90783941e-02 4.60812193e-05 9.99817990e-01 -3.73001503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84587156 meters 0.014337769310644281 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.58, Z:-0.38 [[ 9.97546651e-01 6.75184826e-02 1.84914241e-02 1.28664495e+01] [-6.75050975e-02 9.97718019e-01 -1.34779563e-03 -5.83751308e-01] [-1.85402281e-02 9.62236263e-05 9.99828111e-01 -3.75849866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.87587156 meters 0.02992460466221147 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.59, Z:-0.37 [[ 9.97904063e-01 6.20554759e-02 1.83466115e-02 1.28975800e+01] [-6.20413789e-02 9.98072682e-01 -1.33709538e-03 -5.94316325e-01] [-1.83942259e-02 1.96043839e-04 9.99830793e-01 -3.74287366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90587156 meters 0.020348183566436057 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.60, Z:-0.38 [[ 9.98024802e-01 5.99855713e-02 1.86608353e-02 1.29278178e+01] [-5.99705690e-02 9.98199215e-01 -1.36301621e-03 -6.01991404e-01] [-1.87089924e-02 2.41223079e-04 9.99824942e-01 -3.77511011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93587156 meters 0.032317197844711154 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.61, Z:-0.37 [[ 9.98110352e-01 5.83954498e-02 1.91232019e-02 1.29598631e+01] [-5.83793459e-02 9.98293490e-01 -1.39975976e-03 -6.05918245e-01] [-1.91723076e-02 2.80714684e-04 9.99816155e-01 -3.74990969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96587156 meters 0.023858963735604286 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.61, Z:-0.37 [[ 9.98229642e-01 5.57963277e-02 2.05997748e-02 1.29910211e+01] [-5.57769948e-02 9.98442106e-01 -1.51231353e-03 -6.13454398e-01] [-2.06520641e-02 3.60642666e-04 9.99786658e-01 -3.74911590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99587156 meters 0.02206176403040319 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.61, Z:-0.37 [[ 9.98261647e-01 5.50073226e-02 2.11631222e-02 1.30233084e+01] [-5.49867148e-02 9.98485875e-01 -1.55488134e-03 -6.14962982e-01] [-2.12166085e-02 3.88487844e-04 9.99774827e-01 -3.72837926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02587156 meters 0.028827316086582306 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.62, Z:-0.37 [[ 9.98315801e-01 5.38064168e-02 2.16894152e-02 1.30541838e+01] [-5.37844020e-02 9.98551294e-01 -1.59749758e-03 -6.23564855e-01] [-2.17439492e-02 4.28254845e-04 9.99763481e-01 -3.72971293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.05587156 meters 0.028827316086582306 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.63, Z:-0.37 [[ 9.98305764e-01 5.39924217e-02 2.16891828e-02 1.30866054e+01] [-5.39703823e-02 9.98541254e-01 -1.60064614e-03 -6.26139697e-01] [-2.17439665e-02 4.27360780e-04 9.99763481e-01 -3.73962463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08587156 meters 0.023783545697945076 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.63, Z:-0.37 [[ 9.98336590e-01 5.34002565e-02 2.17362734e-02 1.31185886e+01] [-5.33778890e-02 9.98573089e-01 -1.60834319e-03 -6.27800836e-01] [-2.17911436e-02 4.45431462e-04 9.99762446e-01 -3.74410455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11587156 meters 0.02613042740421411 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.64, Z:-0.38 [[ 9.98328167e-01 5.33277591e-02 2.22939607e-02 1.31505389e+01] [-5.33041246e-02 9.98576956e-01 -1.65346969e-03 -6.35511476e-01] [-2.23504112e-02 4.62345313e-04 9.99750091e-01 -3.76073492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14587156 meters 0.03528031058815895 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.64, Z:-0.37 [[ 9.98331016e-01 5.30011029e-02 2.29361063e-02 1.31835759e+01] [-5.29759019e-02 9.98594335e-01 -1.70539322e-03 -6.39761150e-01] [-2.29942536e-02 4.87486030e-04 9.99735478e-01 -3.74245937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17587156 meters 0.029644730358911877 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.65, Z:-0.38 [[ 9.98386046e-01 5.22694953e-02 2.22081952e-02 1.32144054e+01] [-5.22455908e-02 9.98632894e-01 -1.65563269e-03 -6.49861262e-01] [-2.22643733e-02 4.92680300e-04 9.99751997e-01 -3.77522106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20587156 meters 0.03365604638814887 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.65, Z:-0.38 [[ 9.98412826e-01 5.20384106e-02 2.15367591e-02 1.32466493e+01] [-5.20158102e-02 9.98644966e-01 -1.60862990e-03 -6.52854261e-01] [-2.15912866e-02 4.85824753e-04 9.99766763e-01 -3.78083177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23587156 meters 0.030374250907821164 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.66, Z:-0.38 [[ 9.98412457e-01 5.23323277e-02 2.08301019e-02 1.32789275e+01] [-5.23111858e-02 9.98629616e-01 -1.55893330e-03 -6.57635335e-01] [-2.08831393e-02 4.66811094e-04 9.99781814e-01 -3.81157861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26587156 meters 0.039640603447256444 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.67, Z:-0.38 [[ 9.98410709e-01 5.25675712e-02 2.03151611e-02 1.33102004e+01] [-5.25474317e-02 9.98617266e-01 -1.52426400e-03 -6.67037076e-01] [-2.03671975e-02 4.54331962e-04 9.99792464e-01 -3.83249756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295871560000002 meters 0.033630596358500665 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.67, Z:-0.38 [[ 9.98364398e-01 5.34316896e-02 2.03367428e-02 1.33415940e+01] [-5.34116104e-02 9.98571410e-01 -1.52961367e-03 -6.72024225e-01] [-2.03894197e-02 4.40893654e-04 9.99792017e-01 -3.84901265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32587156 meters 0.024732639307104707 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.67, Z:-0.39 [[ 9.98307930e-01 5.45352925e-02 2.01786785e-02 1.33741558e+01] [-5.45156843e-02 9.98511756e-01 -1.52094586e-03 -6.73367062e-01] [-2.02315929e-02 4.18317848e-04 9.99795233e-01 -3.86264193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.35587156 meters 0.031035224075508735 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.68, Z:-0.39 [[ 9.98123139e-01 5.77493811e-02 2.03766423e-02 1.34050837e+01] [-5.77299542e-02 9.98331046e-01 -1.54083168e-03 -6.76604536e-01] [-2.04316167e-02 3.61597123e-04 9.99791187e-01 -3.85151351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385871560000002 meters 0.020939180942129293 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.68, Z:-0.39 [[ 9.97996000e-01 5.99331790e-02 2.02977302e-02 1.34360505e+01] [-5.99143712e-02 9.98202342e-01 -1.53400632e-03 -6.79725881e-01] [-2.03531797e-02 3.14806434e-04 9.99792803e-01 -3.88435789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41587156 meters 0.02780655930600931 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.68, Z:-0.39 [[ 9.97621195e-01 6.58967907e-02 2.02377084e-02 1.34669808e+01] [-6.58792248e-02 9.97826425e-01 -1.53417162e-03 -6.76646887e-01] [-2.02948172e-02 1.97277585e-04 9.99794020e-01 -3.88219267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44587156 meters 0.031035183702106013 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.67, Z:-0.39 [[ 9.97350844e-01 6.97455174e-02 2.06605251e-02 1.34991539e+01] [-6.97280599e-02 9.97564809e-01 -1.56503157e-03 -6.74891132e-01] [-2.07193667e-02 1.20267225e-04 9.99785324e-01 -3.88993042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47587156 meters 0.03176591908744795 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.67, Z:-0.39 [[ 9.97042824e-01 7.38855595e-02 2.11312818e-02 1.35320922e+01] [-7.38681318e-02 9.97266726e-01 -1.60516686e-03 -6.72568627e-01] [-2.11921229e-02 3.94917904e-05 9.99775421e-01 -3.89581689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50587156 meters 0.02217146686786885 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.66, Z:-0.39 [[ 9.96352480e-01 8.28100781e-02 2.05967376e-02 1.35637084e+01] [-8.27954213e-02 9.96565336e-01 -1.56480728e-03 -6.62920961e-01] [-2.06555766e-02 -1.46215956e-04 9.99786640e-01 -3.91909831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.53587156 meters 0.02951744900942401 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.66, Z:-0.39 [[ 9.96007246e-01 8.68880796e-02 2.04945898e-02 1.35950309e+01] [-8.68743430e-02 9.96218054e-01 -1.56131488e-03 -6.59318442e-01] [-2.05527400e-02 -2.25373094e-04 9.99788745e-01 -3.93577071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56587156 meters 0.022827067850095053 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.65, Z:-0.40 [[ 9.95358272e-01 9.41648429e-02 1.98719088e-02 1.36261229e+01] [-9.41533712e-02 9.95556553e-01 -1.51417470e-03 -6.53419041e-01] [-1.99261911e-02 -3.63860897e-04 9.99801388e-01 -3.95369149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59587156 meters 0.025257866855347665 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.65, Z:-0.40 [[ 9.95106664e-01 9.69269290e-02 1.91806490e-02 1.36564047e+01] [-9.69167312e-02 9.95291418e-01 -1.46270261e-03 -6.51339968e-01] [-1.92321106e-02 -4.03380693e-04 9.99814964e-01 -3.97405616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62587156 meters 0.02825236508300928 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.65, Z:-0.40 [[ 9.94903379e-01 9.90873953e-02 1.86803041e-02 1.36861163e+01] [-9.90781073e-02 9.95078640e-01 -1.42432107e-03 -6.48049037e-01] [-1.87295039e-02 -4.33747333e-04 9.99824493e-01 -4.00115671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65587156 meters 0.03671803078778444 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.65, Z:-0.40 [[ 9.94705514e-01 1.01116318e-01 1.83420525e-02 1.37146077e+01] [-1.01107712e-01 9.94874502e-01 -1.39829442e-03 -6.45511220e-01] [-1.83894307e-02 -4.63631795e-04 9.99830793e-01 -3.99764313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68587156 meters 0.030960109364080148 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.64, Z:-0.40 [[ 9.94447863e-01 1.03485509e-01 1.90839721e-02 1.37445176e+01] [-1.03476630e-01 9.94630821e-01 -1.45478149e-03 -6.43782477e-01] [-1.91320557e-02 -5.28040783e-04 9.99816826e-01 -4.00170828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.71587156 meters 0.03315522583698863 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.64, Z:-0.40 [[ 9.94386614e-01 1.03993745e-01 1.95080189e-02 1.37725525e+01] [-1.03984567e-01 9.94577799e-01 -1.48700295e-03 -6.42281137e-01] [-1.95568815e-02 -5.49877070e-04 9.99808595e-01 -4.00672999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74587156 meters 0.038786026659670285 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.64, Z:-0.40 [[ 9.94352015e-01 1.04182462e-01 2.02505306e-02 1.38009972e+01] [-1.04172641e-01 9.94558034e-01 -1.54211776e-03 -6.36170510e-01] [-2.03009895e-02 -5.76143342e-04 9.99793748e-01 -4.02659581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77587156 meters 0.031667052885825324 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.64, Z:-0.40 [[ 9.94441637e-01 1.03056049e-01 2.15703980e-02 1.38306233e+01] [-1.03044671e-01 9.94675375e-01 -1.64127748e-03 -6.44124922e-01] [-2.16246873e-02 -5.90559901e-04 9.99765985e-01 -3.98583044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80587156 meters 0.03863880548842333 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.64, Z:-0.40 [[ 9.94527079e-01 1.02221834e-01 2.16005923e-02 1.38586977e+01] [-1.02210232e-01 9.94761463e-01 -1.64336002e-03 -6.43239506e-01] [-2.16554241e-02 -5.73435509e-04 9.99765329e-01 -3.98878489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83587156 meters 0.030713798597911006 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.65, Z:-0.40 [[ 9.94641223e-01 1.01072247e-01 2.17540567e-02 1.38879028e+01] [-1.01060241e-01 9.94878934e-01 -1.65337719e-03 -6.46372347e-01] [-2.18097633e-02 -5.53953099e-04 9.99761985e-01 -4.00450952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86587156 meters 0.03254219078418062 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.65, Z:-0.40 [[ 9.94926793e-01 9.83372405e-02 2.12241318e-02 1.39177811e+01] [-9.83251998e-02 9.95153031e-01 -1.61265416e-03 -6.49526612e-01] [-2.12798430e-02 -4.82394166e-04 9.99773442e-01 -4.00109991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89587156 meters 0.025374961549898246 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.65, Z:-0.40 [[ 9.95084575e-01 9.67489240e-02 2.11266326e-02 1.39478189e+01] [-9.67366526e-02 9.95308719e-01 -1.60445914e-03 -6.51393706e-01] [-2.11827513e-02 -4.47147176e-04 9.99775520e-01 -4.02832318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92587156 meters 0.02366591112734023 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.65, Z:-0.41 [[ 9.95473506e-01 9.27829170e-02 2.05871029e-02 1.39772647e+01] [-9.27704215e-02 9.95686299e-01 -1.56323583e-03 -6.53114089e-01] [-2.06433379e-02 -3.53714363e-04 9.99786841e-01 -4.06367744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95587156 meters 0.027332529357057732 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.66, Z:-0.41 [[ 9.95706839e-01 9.03223965e-02 2.02424242e-02 1.40063069e+01] [-9.03098100e-02 9.95912534e-01 -1.53693987e-03 -6.58834998e-01] [-2.02985041e-02 -2.97747945e-04 9.99793920e-01 -4.05241725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98587156 meters 0.032447750114272804 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.66, Z:-0.41 [[ 9.95922400e-01 8.78346954e-02 2.05825279e-02 1.40357656e+01] [-8.78211712e-02 9.96135032e-01 -1.56178765e-03 -6.61277934e-01] [-2.06401563e-02 -2.52162410e-04 9.99786937e-01 -4.06304091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01587156 meters 0.02640077866660435 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.67, Z:-0.41 [[ 9.96160242e-01 8.51224718e-02 2.04679631e-02 1.40660381e+01] [-8.51085117e-02 9.96370477e-01 -1.55375649e-03 -6.65737755e-01] [-2.05259338e-02 -1.94207443e-04 9.99789302e-01 -4.06713721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045871560000002 meters 0.026605501638361517 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.67, Z:-0.41 [[ 9.96624490e-01 7.95991367e-02 2.00898750e-02 1.40968427e+01] [-7.95845701e-02 9.96826951e-01 -1.52480708e-03 -6.72246865e-01] [-2.01475021e-02 -7.91839795e-05 9.99797015e-01 -4.08010566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07587156 meters 0.014319126789455983 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.68, Z:-0.41 [[ 9.96865384e-01 7.64762805e-02 2.02678109e-02 1.41283354e+01] [-7.64608020e-02 9.97071401e-01 -1.53866401e-03 -6.77950897e-01] [-2.03261259e-02 -1.58521909e-05 9.99793403e-01 -4.08406775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10587156 meters 0.02508264935794761 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.69, Z:-0.41 [[ 9.97293546e-01 7.06754129e-02 2.02624853e-02 1.41584484e+01] [-7.06587550e-02 9.97499361e-01 -1.53776011e-03 -6.88312033e-01] [-2.03204980e-02 1.01876243e-04 9.99793512e-01 -4.11380101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135871560000002 meters 0.02828008412186584 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.69, Z:-0.41 [[ 9.97501450e-01 6.77898162e-02 1.98846426e-02 1.41904173e+01] [-6.77731388e-02 9.97699612e-01 -1.51217604e-03 -6.94189607e-01] [-1.99414103e-02 1.60753148e-04 9.99801137e-01 -4.11047751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16587156 meters 0.017395261381287653 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.70, Z:-0.41 [[ 9.97719248e-01 6.45517184e-02 1.97326722e-02 1.42211946e+01] [-6.45345925e-02 9.97914337e-01 -1.50411806e-03 -7.01478565e-01] [-1.97886099e-02 2.27247580e-04 9.99804160e-01 -4.13778401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.19587156 meters 0.028670134894217398 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.71, Z:-0.41 [[ 9.98124887e-01 5.74569936e-02 2.11045767e-02 1.42518892e+01] [-5.74357128e-02 9.98347903e-01 -1.61361932e-03 -7.14597003e-01] [-2.11624236e-02 3.98437200e-04 9.99775971e-01 -4.11219174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22587156 meters 0.03259993787074906 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.73, Z:-0.41 [[ 9.98293329e-01 5.41251932e-02 2.19292622e-02 1.42820763e+01] [-5.41014251e-02 9.98534039e-01 -1.67611271e-03 -7.25833845e-01] [-2.19878347e-02 4.86847802e-04 9.99758120e-01 -4.12291318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25587156 meters 0.04238814192690002 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.74, Z:-0.41 [[ 9.98594430e-01 4.79366252e-02 2.26106960e-02 1.43124605e+01] [-4.79096616e-02 9.98850169e-01 -1.73302913e-03 -7.36351284e-01] [-2.26677731e-02 6.47322439e-04 9.99742843e-01 -4.10764729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28587156 meters 0.0400635940574423 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.74, Z:-0.41 [[ 9.98684217e-01 4.60400429e-02 2.25864780e-02 1.43443978e+01] [-4.60126528e-02 9.98939357e-01 -1.73115448e-03 -7.43574129e-01] [-2.26422242e-02 6.89612887e-04 9.99743394e-01 -4.12087010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31587156 meters 0.04801722810651526 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.75, Z:-0.41 [[ 9.98727030e-01 4.52335087e-02 2.23214894e-02 1.43750809e+01] [-4.52065521e-02 9.98976196e-01 -1.71103717e-03 -7.49829269e-01] [-2.23760328e-02 6.99781497e-04 9.99749380e-01 -4.13723572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34587156 meters 0.03277809364622901 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.75, Z:-0.42 [[ 9.98680270e-01 4.67743576e-02 2.12103196e-02 1.44074747e+01] [-4.67502812e-02 9.98905278e-01 -1.62983031e-03 -7.53704112e-01] [-2.12633345e-02 6.36090962e-04 9.99773707e-01 -4.16023000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.37587156 meters 0.040292236789231155 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.76, Z:-0.42 [[ 9.98574135e-01 4.88555305e-02 2.15135591e-02 1.44388824e+01] [-4.88312350e-02 9.98805675e-01 -1.65350444e-03 -7.57124950e-01] [-2.15686477e-02 6.00613109e-04 9.99767189e-01 -4.17530065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40587156 meters 0.03308153443986395 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.76, Z:-0.42 [[ 9.98448773e-01 5.15010522e-02 2.11586926e-02 1.44706308e+01] [-5.14780487e-02 9.98672795e-01 -1.63078255e-03 -7.56909905e-01] [-2.12145977e-02 5.39044625e-04 9.99774800e-01 -4.18428880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43587156 meters 0.031009066423190252 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.75, Z:-0.42 [[ 9.98153529e-01 5.71176821e-02 2.06664709e-02 1.45014266e+01] [-5.70969102e-02 9.98367368e-01 -1.59425099e-03 -7.53178580e-01] [-2.07237901e-02 4.11315623e-04 9.99785155e-01 -4.19752507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46587156 meters 0.02760652236626469 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.75, Z:-0.42 [[ 9.97983387e-01 6.01458860e-02 2.02887251e-02 1.45326108e+01] [-6.01265245e-02 9.98189539e-01 -1.56351712e-03 -7.54780007e-01] [-2.03460323e-02 3.40473587e-04 9.99792940e-01 -4.21495446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49587156 meters 0.02078524614942471 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.76, Z:-0.42 [[ 9.97840650e-01 6.25338164e-02 2.00887957e-02 1.45636002e+01] [-6.25152550e-02 9.98042803e-01 -1.55124818e-03 -7.57383533e-01] [-2.01464835e-02 2.92042308e-04 9.99796996e-01 -4.24104379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52587156 meters 0.02113236582024909 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.76, Z:-0.42 [[ 9.97707216e-01 6.44953898e-02 2.05099089e-02 1.45963438e+01] [-6.44763745e-02 9.97917971e-01 -1.58774281e-03 -7.58197740e-01] [-2.05696087e-02 2.61697899e-04 9.99788389e-01 -4.24005766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.55587156 meters 0.03257025887081731 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.76, Z:-0.42 [[ 9.97544873e-01 6.68789971e-02 2.07708136e-02 1.46287063e+01] [-6.68599877e-02 9.97761070e-01 -1.60907580e-03 -7.60117918e-01] [-2.08319226e-02 2.16388975e-04 9.99782969e-01 -4.24383032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58587156 meters 0.015870028287639167 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.76, Z:-0.43 [[ 9.97466634e-01 6.80024689e-02 2.08801123e-02 1.46608867e+01] [-6.79834307e-02 9.97685133e-01 -1.62108926e-03 -7.62946428e-01] [-2.09420157e-02 1.97480783e-04 9.99780672e-01 -4.25297907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61587156 meters 0.028798115411607966 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.77, Z:-0.42 [[ 9.97367485e-01 6.92425782e-02 2.15305763e-02 1.46930909e+01] [-6.92225419e-02 9.97599836e-01 -1.67538930e-03 -7.65502047e-01] [-2.15949077e-02 1.80577591e-04 9.99766786e-01 -4.24869327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64587156 meters 0.02361264763650097 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.77, Z:-0.43 [[ 9.97116227e-01 7.29038380e-02 2.10774612e-02 1.47253871e+01] [-7.28853811e-02 9.97338969e-01 -1.64357670e-03 -7.66487716e-01] [-2.11411965e-02 1.02598210e-04 9.99776495e-01 -4.26165547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67587156 meters 0.018934496612667363 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.77, Z:-0.43 [[ 9.96925976e-01 7.54836300e-02 2.09956936e-02 1.47562834e+01] [-7.54658086e-02 9.97147040e-01 -1.64096963e-03 -7.66985931e-01] [-2.10596600e-02 5.14682581e-05 9.99778219e-01 -4.28116846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705871560000002 meters 0.0126587968420157 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.76, Z:-0.43 [[ 9.96494513e-01 8.13335028e-02 1.95843363e-02 1.47885729e+01] [-8.13190733e-02 9.96686940e-01 -1.53335651e-03 -7.62430145e-01] [-1.96441655e-02 -6.45987286e-05 9.99807033e-01 -4.30098860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73587156 meters 0.020126565035850547 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.76, Z:-0.43 [[ 9.96266284e-01 8.42448939e-02 1.88756086e-02 1.48201071e+01] [-8.42319532e-02 9.96445074e-01 -1.48098599e-03 -7.60306153e-01] [-1.89332727e-02 -1.14472965e-04 9.99820743e-01 -4.34811660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76587156 meters 0.015968660003577315 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.76, Z:-0.44 [[ 9.96070795e-01 8.67250213e-02 1.79371588e-02 1.48518297e+01] [-8.67136520e-02 9.96232276e-01 -1.41210246e-03 -7.59860786e-01] [-1.79920411e-02 -1.48842520e-04 9.99838119e-01 -4.37152110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795871560000002 meters 0.0173601120017429 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.76, Z:-0.44 [[ 9.95903584e-01 8.86692821e-02 1.77146885e-02 1.48827014e+01] [-8.86584877e-02 9.96061105e-01 -1.39531373e-03 -7.59411028e-01] [-1.77686336e-02 -1.80959544e-04 9.99842109e-01 -4.38459768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82587156 meters 0.01990584314923401 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.76, Z:-0.44 [[ 9.95680713e-01 9.10889587e-02 1.79644134e-02 1.49129216e+01] [-9.10782487e-02 9.95842734e-01 -1.41513310e-03 -7.56365619e-01] [-1.80186335e-02 -2.27146575e-04 9.99837625e-01 -4.40095089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.85587156 meters 0.01982383609506624 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.76, Z:-0.44 [[ 9.95677615e-01 9.10628966e-02 1.82656976e-02 1.49428741e+01] [-9.10518268e-02 9.95845116e-01 -1.43849436e-03 -7.58428064e-01] [-1.83207992e-02 -2.30848504e-04 9.99832133e-01 -4.40795448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885871560000002 meters 0.019118987379469723 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.76, Z:-0.44 [[ 9.95709332e-01 9.05893352e-02 1.88811935e-02 1.49731222e+01] [-9.05774216e-02 9.95888307e-01 -1.48696704e-03 -7.61838604e-01] [-1.89382632e-02 -2.29622866e-04 9.99820629e-01 -4.40332003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91587156 meters 0.015598851942466133 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.77, Z:-0.44 [[ 9.95950088e-01 8.75223659e-02 2.05732252e-02 1.50042892e+01] [-8.75075718e-02 9.96162537e-01 -1.61998033e-03 -7.70406847e-01] [-2.06360607e-02 -1.86893423e-04 9.99787036e-01 -4.37130843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.94587156 meters 0.015598851942466133 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.77, Z:-0.44 [[ 9.95947958e-01 8.75466051e-02 2.05731855e-02 1.50350162e+01] [-8.75318058e-02 9.96160407e-01 -1.62048321e-03 -7.72871393e-01] [-2.06360607e-02 -1.86891138e-04 9.99787036e-01 -4.38070530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97587156 meters 0.014002082602649122 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.78, Z:-0.44 [[ 9.96108826e-01 8.55262816e-02 2.12711660e-02 1.50664477e+01] [-8.55100173e-02 9.96335903e-01 -1.67466438e-03 -7.78799235e-01] [-2.13364542e-02 -1.50749803e-04 9.99772341e-01 -4.37926334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00587156 meters 0.011854725366538744 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.79, Z:-0.44 [[ 9.96507330e-01 8.04456458e-02 2.23973013e-02 1.50966733e+01] [-8.04262349e-02 9.96758996e-01 -1.76755984e-03 -7.89302487e-01] [-2.24669040e-02 -3.99442727e-05 9.99747586e-01 -4.37594921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.03587156 meters 0.018181709499780027 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.80, Z:-0.44 [[ 9.96720824e-01 7.76798903e-02 2.26590829e-02 1.51289962e+01] [-7.76592318e-02 9.96978352e-01 -1.79157803e-03 -7.97873768e-01] [-2.27297848e-02 2.60161513e-05 9.99741645e-01 -4.37674412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06587156 meters 0.024179131933698302 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.81, Z:-0.44 [[ 9.97109234e-01 7.25590230e-02 2.25469335e-02 1.51602564e+01] [-7.25371557e-02 9.97364109e-01 -1.78727701e-03 -8.11058948e-01] [-2.26171853e-02 1.46619985e-04 9.99744188e-01 -4.38444236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09587156 meters 0.027084601338470397 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.82, Z:-0.44 [[ 9.97254915e-01 7.06135548e-02 2.22791611e-02 1.51921543e+01] [-7.05916344e-02 9.97503729e-01 -1.76980887e-03 -8.17930676e-01] [-2.23485188e-02 1.92228198e-04 9.99750222e-01 -4.40175738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.12587156 meters 0.02947463099069756 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.82, Z:-0.44 [[ 9.97364830e-01 6.92437392e-02 2.16494688e-02 1.52240856e+01] [-6.92226407e-02 9.97599747e-01 -1.72334236e-03 -8.23949817e-01] [-2.17168352e-02 2.20167661e-04 9.99764137e-01 -4.42270207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15587156 meters 0.026044312746652785 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.83, Z:-0.44 [[ 9.97431175e-01 6.85008346e-02 2.09448666e-02 1.52563739e+01] [-6.84808536e-02 9.97651032e-01 -1.67058311e-03 -8.28899795e-01] [-2.10101041e-02 2.31969336e-04 9.99779236e-01 -4.43515776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18587156 meters 0.022327255707869993 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.84, Z:-0.45 [[ 9.97433141e-01 6.86059941e-02 2.05023475e-02 1.52876260e+01] [-6.85868022e-02 9.97643807e-01 -1.63861930e-03 -8.36763009e-01] [-2.05664591e-02 2.28222744e-04 9.99788462e-01 -4.45929985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.21587156 meters 0.036051072194631856 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.84, Z:-0.45 [[ 9.97373729e-01 6.93568398e-02 2.08631863e-02 1.53193497e+01] [-6.93370450e-02 9.97591891e-01 -1.67154856e-03 -8.40855321e-01] [-2.09288788e-02 2.20566934e-04 9.99780943e-01 -4.46607979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.24587156 meters 0.016270863606850258 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.85, Z:-0.45 [[ 9.97199796e-01 7.17085610e-02 2.12237841e-02 1.53506827e+01] [-7.16885307e-02 9.97425612e-01 -1.70408750e-03 -8.46210532e-01] [-2.12913435e-02 1.77813807e-04 9.99773298e-01 -4.49074518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27587156 meters 0.0323387511307135 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.85, Z:-0.45 [[ 9.97101184e-01 7.31760917e-02 2.08443725e-02 1.53824713e+01] [-7.31569991e-02 9.97319025e-01 -1.67805388e-03 -8.47863520e-01] [-2.09112826e-02 1.48277775e-04 9.99781324e-01 -4.49899779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.30587156 meters 0.01684520232823421 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.85, Z:-0.45 [[ 9.96936116e-01 7.56433891e-02 1.99112834e-02 1.54155875e+01] [-7.56264668e-02 9.97134930e-01 -1.60258006e-03 -8.46612370e-01] [-1.99754608e-02 9.18499304e-05 9.99800466e-01 -4.51145807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.33587156 meters 0.02114236490153866 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.84, Z:-0.45 [[ 9.96589641e-01 8.02263161e-02 1.93086726e-02 1.54479626e+01] [-8.02111674e-02 9.96776674e-01 -1.55898927e-03 -8.42730264e-01] [-1.93715065e-02 4.90137939e-06 9.99812355e-01 -4.52251648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36587156 meters 0.01281777196922296 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.84, Z:-0.46 [[ 9.96360375e-01 8.31555587e-02 1.87391496e-02 1.54804339e+01] [-8.31418122e-02 9.96536578e-01 -1.51280778e-03 -8.43073423e-01] [-1.88000464e-02 -5.07051336e-05 9.99823262e-01 -4.55053596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39587156 meters 0.016735224081619024 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.84, Z:-0.46 [[ 9.96163263e-01 8.55558799e-02 1.84104500e-02 1.55124297e+01] [-8.55429647e-02 9.96333369e-01 -1.48933180e-03 -8.44605443e-01] [-1.84703668e-02 -9.12668507e-05 9.99829404e-01 -4.55775049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42587156 meters 0.014588089691389399 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.85, Z:-0.46 [[ 9.95953590e-01 8.79413672e-02 1.85138348e-02 1.55447244e+01] [-8.79286595e-02 9.96125644e-01 -1.50087090e-03 -8.45688201e-01] [-1.85740942e-02 -1.33098912e-04 9.99827478e-01 -4.57164222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455871560000002 meters 0.018670755048680043 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.84, Z:-0.45 [[ 9.95510970e-01 9.23972592e-02 2.05098743e-02 1.55777153e+01] [-9.23825238e-02 9.95722196e-01 -1.66680437e-03 -8.43735257e-01] [-2.05761452e-02 -2.35431910e-04 9.99788261e-01 -4.53205251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48587156 meters 0.018563085334082637 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.84, Z:-0.45 [[ 9.95288759e-01 9.45778647e-02 2.13380645e-02 1.56086653e+01] [-9.45623292e-02 9.95517426e-01 -1.73816479e-03 -8.43352013e-01] [-2.14068070e-02 -2.87801206e-04 9.99770807e-01 -4.53115274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.51587156 meters 0.021720470465072448 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.84, Z:-0.45 [[ 9.95005619e-01 9.72204424e-02 2.26275171e-02 1.56399457e+01] [-9.72035650e-02 9.95262807e-01 -1.84717704e-03 -8.41225269e-01] [-2.26999095e-02 -3.61523797e-04 9.99742258e-01 -4.52861133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545871560000002 meters 0.02251826257332621 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.84, Z:-0.45 [[ 9.94927464e-01 9.80619473e-02 2.24320143e-02 1.56723572e+01] [-9.80454953e-02 9.95180242e-01 -1.83471738e-03 -8.43249961e-01] [-2.25038134e-02 -3.73947239e-04 9.99746687e-01 -4.54267064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57587156 meters 0.023403334224400447 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.84, Z:-0.46 [[ 9.94858282e-01 9.89501438e-02 2.15839745e-02 1.57045735e+01] [-9.89350478e-02 9.95092321e-01 -1.76874598e-03 -8.44893863e-01] [-2.16530650e-02 -3.75759967e-04 9.99765474e-01 -4.56415532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.60587156 meters 0.02498287765534242 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.84, Z:-0.46 [[ 9.94687897e-01 1.00589642e-01 2.18566059e-02 1.57363507e+01] [-1.00574451e-01 9.94927914e-01 -1.79596848e-03 -8.44805879e-01] [-2.19264031e-02 -4.11788021e-04 9.99759503e-01 -4.57370455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635871560000002 meters 0.03144776861846127 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.85, Z:-0.46 [[ 9.94594901e-01 1.01367174e-01 2.24872913e-02 1.57672261e+01] [-1.01351280e-01 9.94848984e-01 -1.84833603e-03 -8.47470498e-01] [-2.25588195e-02 -4.40770166e-04 9.99745420e-01 -4.55963482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66587156 meters 0.02647297933330477 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.85, Z:-0.46 [[ 9.94296941e-01 1.04094008e-01 2.31954904e-02 1.57986682e+01] [-1.04077824e-01 9.94567328e-01 -1.90713269e-03 -8.45347833e-01] [-2.32679980e-02 -5.17879977e-04 9.99729129e-01 -4.55323652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.69587156 meters 0.028486633387360853 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.84, Z:-0.46 [[ 9.94160850e-01 1.05396546e-01 2.31467398e-02 1.58295121e+01] [-1.05380768e-01 9.94430123e-01 -1.90378240e-03 -8.43802303e-01] [-2.32184674e-02 -5.46555275e-04 9.99730266e-01 -4.56502361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72587156 meters 0.03240389266068966 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.84, Z:-0.46 [[ 9.93886768e-01 1.08074661e-01 2.25601442e-02 1.58595939e+01] [-1.08060353e-01 9.94142603e-01 -1.85588997e-03 -8.37695769e-01] [-2.26285751e-02 -5.93312661e-04 9.99743765e-01 -4.59318028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75587156 meters 0.03187162669606697 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.84, Z:-0.46 [[ 9.93710259e-01 1.10308463e-01 1.92863795e-02 1.58898540e+01] [-1.10298426e-01 9.93897248e-01 -1.58662761e-03 -8.36494701e-01] [-1.93436980e-02 -5.50609172e-04 9.99812742e-01 -4.64321369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.78587156 meters 0.0337071256841899 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.83, Z:-0.47 [[ 9.93670957e-01 1.10830653e-01 1.82919437e-02 1.59190743e+01] [-1.10821707e-01 9.93839164e-01 -1.50514570e-03 -8.32400792e-01] [-1.83460663e-02 -5.31524857e-04 9.99831555e-01 -4.68354096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81587156 meters 0.03285388172045315 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.83, Z:-0.47 [[ 9.93737040e-01 1.10211405e-01 1.84429049e-02 1.59476944e+01] [-1.10202211e-01 9.93908029e-01 -1.51716505e-03 -8.33886870e-01] [-1.84977602e-02 -5.24785794e-04 9.99828764e-01 -4.69201453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84587156 meters 0.033379514000288456 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.83, Z:-0.47 [[ 9.93849816e-01 1.09165285e-01 1.85871996e-02 1.59760993e+01] [-1.09155782e-01 9.94023481e-01 -1.52810172e-03 -8.33009102e-01] [-1.86429285e-02 -5.10196686e-04 9.99826075e-01 -4.70216091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.87587156 meters 0.033379514000288456 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.84, Z:-0.47 [[ 9.93855009e-01 1.09117982e-01 1.85872753e-02 1.60043359e+01] [-1.09108487e-01 9.94028674e-01 -1.52717950e-03 -8.35239460e-01] [-1.86429274e-02 -5.10234500e-04 9.99826075e-01 -4.71079719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90587156 meters 0.031504895862703504 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.84, Z:-0.47 [[ 9.93978959e-01 1.07962078e-01 1.87087685e-02 1.60336571e+01] [-1.07952276e-01 9.94154891e-01 -1.53598128e-03 -8.37343901e-01] [-1.87652414e-02 -4.92921069e-04 9.99823796e-01 -4.71155065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93587156 meters 0.030487090706931445 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.84, Z:-0.47 [[ 9.94176111e-01 1.06046495e-01 1.91833829e-02 1.60629040e+01] [-1.06035842e-01 9.94361062e-01 -1.57446084e-03 -8.38306440e-01] [-1.92421750e-02 -4.68834806e-04 9.99814742e-01 -4.71414904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.96587156 meters 0.02487785718729282 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.85, Z:-0.47 [[ 9.94780526e-01 1.00109921e-01 1.97410568e-02 1.60914374e+01] [-1.00097481e-01 9.94976317e-01 -1.61972384e-03 -8.45087611e-01] [-1.98040344e-02 -3.64760328e-04 9.99803814e-01 -4.72377132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.99587156 meters 0.03229996164181994 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.85, Z:-0.47 [[ 9.95183885e-01 9.60706903e-02 1.94796536e-02 1.61214488e+01] [-9.60578183e-02 9.95374474e-01 -1.59756313e-03 -8.53566305e-01] [-1.95430289e-02 -2.81303942e-04 9.99808977e-01 -4.71684630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02587156 meters 0.02835016309616787 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.86, Z:-0.47 [[ 9.95608795e-01 9.15241670e-02 1.96584407e-02 1.61506709e+01] [-9.15101686e-02 9.95802837e-01 -1.61235580e-03 -8.60955574e-01] [-1.97235005e-02 -1.93671608e-04 9.99805454e-01 -4.72487338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.05587156 meters 0.0237064397034561 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.88, Z:-0.47 [[ 9.96412602e-01 8.22384888e-02 1.99689267e-02 1.61817222e+01] [-8.22222222e-02 9.96612678e-01 -1.63565503e-03 -8.75060404e-01] [-2.00357993e-02 -1.21022397e-05 9.99799263e-01 -4.72101010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08587156 meters 0.023994142077125583 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.88, Z:-0.47 [[ 9.96795358e-01 7.75350160e-02 1.96808332e-02 1.62131908e+01] [-7.75182329e-02 9.96989626e-01 -1.61537227e-03 -8.83748296e-01] [-1.97468344e-02 8.45721698e-05 9.99805009e-01 -4.73804644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115871560000002 meters 0.015882668190399244 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.89, Z:-0.48 [[ 9.97155408e-01 7.28323768e-02 1.94045518e-02 1.62440049e+01] [-7.28151045e-02 9.97344180e-01 -1.59611345e-03 -8.92018416e-01] [-1.94692656e-02 1.78628694e-04 9.99810440e-01 -4.76102414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.14587156 meters 0.028136938188930472 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.91, Z:-0.48 [[ 9.97715398e-01 6.46616262e-02 1.95667901e-02 1.62733162e+01] [-6.46423990e-02 9.97907187e-01 -1.61419884e-03 -9.05998110e-01] [-1.96302172e-02 3.45666784e-04 9.99807249e-01 -4.76273600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17587156 meters 0.027439925092183032 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.92, Z:-0.48 [[ 9.97914101e-01 6.13837388e-02 1.99870937e-02 1.63036129e+01] [-6.13630442e-02 9.98114153e-01 -1.64763155e-03 -9.16191833e-01] [-2.00505389e-02 4.17725837e-04 9.99798880e-01 -4.78300469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205871560000002 meters 0.03165230220514113 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.93, Z:-0.48 [[ 9.98179971e-01 5.66794731e-02 2.05957004e-02 1.63344573e+01] [-5.66564019e-02 9.98392285e-01 -1.70244287e-03 -9.25077627e-01] [-2.06590820e-02 5.32466094e-04 9.99786437e-01 -4.76127973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23587156 meters 0.03290163686834458 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.93, Z:-0.48 [[ 9.98214661e-01 5.62425668e-02 2.01063291e-02 1.63668258e+01] [-5.62205110e-02 9.98416995e-01 -1.66097725e-03 -9.28839965e-01] [-2.01679183e-02 5.27623747e-04 9.99796468e-01 -4.76873314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26587156 meters 0.02932400300110524 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.93, Z:-0.48 [[ 9.98217150e-01 5.63825936e-02 1.95837979e-02 1.63993560e+01] [-5.63616408e-02 9.98409104e-01 -1.62064377e-03 -9.30239442e-01] [-1.96440182e-02 5.13979425e-04 9.99806906e-01 -4.78677698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295871560000002 meters 0.030302462473191252 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.94, Z:-0.48 [[ 9.98089871e-01 5.86207304e-02 1.94991961e-02 1.64301837e+01] [-5.86003024e-02 9.98280215e-01 -1.61786176e-03 -9.35811507e-01] [-1.95605019e-02 4.72112646e-04 9.99808564e-01 -4.81242873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32587156 meters 0.02927540234448621 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.94, Z:-0.48 [[ 9.98009233e-01 5.98593206e-02 1.98603198e-02 1.64622868e+01] [-5.98382887e-02 9.98206717e-01 -1.65210081e-03 -9.37406312e-01] [-1.99235982e-02 4.60404311e-04 9.99801399e-01 -4.81513763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.35587156 meters 0.02775542394928594 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.94, Z:-0.48 [[ 9.97930563e-01 6.10777963e-02 2.01021124e-02 1.64944104e+01] [-6.10564952e-02 9.98132911e-01 -1.67226265e-03 -9.37020094e-01] [-2.01667180e-02 4.41437479e-04 9.99796534e-01 -4.80060822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385871560000002 meters 0.027099739768612588 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.94, Z:-0.48 [[ 9.97863260e-01 6.19446750e-02 2.07790918e-02 1.65254451e+01] [-6.19220232e-02 9.98079487e-01 -1.73238920e-03 -9.44476350e-01] [-2.08464976e-02 4.42004130e-04 9.99782590e-01 -4.81655949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41587156 meters 0.025159238860926372 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.95, Z:-0.48 [[ 9.97859709e-01 6.19902190e-02 2.08137738e-02 1.65586622e+01] [-6.19674418e-02 9.98076658e-01 -1.73813713e-03 -9.47089093e-01] [-2.08814893e-02 4.44640698e-04 9.99781859e-01 -4.81376596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.44587156 meters 0.02598763735218544 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.96, Z:-0.49 [[ 9.97908393e-01 6.16783629e-02 1.93550894e-02 1.65891646e+01] [-6.16585345e-02 9.98095988e-01 -1.62011076e-03 -9.55091889e-01] [-1.94181629e-02 4.23315678e-04 9.99811360e-01 -4.85037235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47587156 meters 0.02785021006132763 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.96, Z:-0.49 [[ 9.97947561e-01 6.13246128e-02 1.84379293e-02 1.66198385e+01] [-6.13065091e-02 9.98117789e-01 -1.54604045e-03 -9.62641501e-01] [-1.84980356e-02 4.12502211e-04 9.99828812e-01 -4.88120626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50587156 meters 0.027456589235718934 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.97, Z:-0.49 [[ 9.97966666e-01 6.10781288e-02 1.82207685e-02 1.66512067e+01] [-6.10603566e-02 9.98132902e-01 -1.53064104e-03 -9.67402273e-01] [-1.82802372e-02 4.14962115e-04 9.99832816e-01 -4.88903246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.53587156 meters 0.029351249202241945 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.98, Z:-0.49 [[ 9.97997852e-01 6.04735411e-02 1.85267115e-02 1.66816093e+01] [-6.04550072e-02 9.98169705e-01 -1.55933427e-03 -9.77846970e-01] [-1.85871006e-02 4.36179780e-04 9.99827150e-01 -4.90025282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56587156 meters 0.028888060048901973 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.98, Z:-0.49 [[ 9.98002207e-01 6.03003750e-02 1.88536320e-02 1.67141867e+01] [-6.02811008e-02 9.98180175e-01 -1.58946724e-03 -9.82961287e-01] [-1.89151671e-02 4.49774122e-04 9.99820991e-01 -4.90229670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59587156 meters 0.02966147258615493 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.99, Z:-0.49 [[ 9.97977170e-01 6.06344482e-02 1.91058088e-02 1.67448707e+01] [-6.06146365e-02 9.98159936e-01 -1.61488053e-03 -9.89602548e-01] [-1.91685703e-02 4.53522242e-04 9.99816163e-01 -4.91377614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.62587156 meters 0.0385373057083384 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.99, Z:-0.49 [[ 9.97912534e-01 6.16432969e-02 1.92530173e-02 1.67766526e+01] [-6.16233101e-02 9.98098146e-01 -1.63023109e-03 -9.93409510e-01] [-1.93168937e-02 4.40393381e-04 9.99813314e-01 -4.90159452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65587156 meters 0.024111910203917505 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.00, Z:-0.49 [[ 9.97703246e-01 6.47823956e-02 1.97857229e-02 1.68077838e+01] [-6.47618094e-02 9.97899336e-01 -1.68010990e-03 -9.95988834e-01] [-1.98530013e-02 3.94891887e-04 9.99802832e-01 -4.90642323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68587156 meters 0.02352438188703909 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.00, Z:-0.49 [[ 9.97541432e-01 6.72920924e-02 1.95669579e-02 1.68385398e+01] [-6.72724534e-02 9.97733260e-01 -1.66092440e-03 -1.00034221e+00] [-1.96343718e-02 3.40523642e-04 9.99807169e-01 -4.93459477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.71587156 meters 0.02396838041972706 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.00, Z:-0.49 [[ 9.97138444e-01 7.32652280e-02 1.86314465e-02 1.68706522e+01] [-7.32483904e-02 9.97312468e-01 -1.58546173e-03 -9.98598468e-01] [-1.86975331e-02 2.16201382e-04 9.99825162e-01 -4.93155831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.74587156 meters 0.015607321955142934 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.00, Z:-0.50 [[ 9.96889978e-01 7.65281646e-02 1.88098721e-02 1.69017829e+01] [-7.65115870e-02 9.97067408e-01 -1.60045695e-03 -9.98686400e-01] [-1.88771905e-02 1.56306328e-04 9.99821798e-01 -4.96090438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77587156 meters 0.014398334329703794 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.00, Z:-0.50 [[ 9.96634260e-01 7.98249831e-02 1.86580668e-02 1.69332383e+01] [-7.98091947e-02 9.96808890e-01 -1.59046946e-03 -9.98810479e-01] [-1.87254861e-02 9.60310636e-05 9.99824658e-01 -4.98151207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.80587156 meters 0.01269346837719588 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.00, Z:-0.50 [[ 9.96178166e-01 8.53091887e-02 1.87457850e-02 1.69656772e+01] [-8.52941693e-02 9.96354526e-01 -1.60074642e-03 -9.95927965e-01] [-1.88140061e-02 -4.27752445e-06 9.99823001e-01 -4.97208848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.83587156 meters 0.01294005138312728 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.00, Z:-0.50 [[ 9.95968773e-01 8.76470220e-02 1.90841031e-02 1.69972980e+01] [-8.76318224e-02 9.96151594e-01 -1.63287810e-03 -9.97788515e-01] [-1.91537767e-02 -4.60791446e-05 9.99816549e-01 -4.98191673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865871560000002 meters 0.013435077778634006 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.00, Z:-0.50 [[ 9.95791981e-01 8.95443355e-02 1.94972338e-02 1.70292699e+01] [-8.95287611e-02 9.95982834e-01 -1.67196658e-03 -9.99898213e-01] [-1.95686254e-02 -8.06322762e-05 9.99808513e-01 -4.99086586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.89587156 meters 0.013435077778634006 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.00, Z:-0.50 [[ 9.95774817e-01 8.97350734e-02 1.94969430e-02 1.70616424e+01] [-8.97194692e-02 9.95965667e-01 -1.67534970e-03 -1.00287633e+00] [-1.95686234e-02 -8.09843375e-05 9.99808513e-01 -5.00077538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.92587156 meters 0.01429687085871739 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.01, Z:-0.50 [[ 9.95576216e-01 9.18521152e-02 1.97784735e-02 1.70943246e+01] [-9.18363972e-02 9.95772652e-01 -1.70344802e-03 -1.00543460e+00] [-1.98513283e-02 -1.20471416e-04 9.99802936e-01 -5.00987470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955871560000002 meters 0.01437715972195849 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.01, Z:-0.50 [[ 9.95542033e-01 9.21778660e-02 1.99825237e-02 1.71267820e+01] [-9.21618093e-02 9.95742550e-01 -1.72492466e-03 -1.00942727e+00] [-2.00564490e-02 -1.24390541e-04 9.99798841e-01 -5.01902312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98587156 meters 0.014268066954397439 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.02, Z:-0.50 [[ 9.95553162e-01 9.18073834e-02 2.11022517e-02 1.71571357e+01] [-9.17892931e-02 9.95776777e-01 -1.82631447e-03 -1.01653823e+00] [-2.11808014e-02 -1.18767625e-04 9.99775655e-01 -5.02655855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.01587156 meters 0.013428738204756731 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.02, Z:-0.50 [[ 9.95540302e-01 9.18245954e-02 2.16275680e-02 1.71896728e+01] [-9.18055293e-02 9.95775190e-01 -1.87490306e-03 -1.02292215e+00] [-2.17083578e-02 -1.18988765e-04 9.99764339e-01 -5.01233744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045871560000002 meters 0.013432747045465734 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.03, Z:-0.50 [[ 9.95526963e-01 9.18931648e-02 2.19479271e-02 1.72212626e+01] [-9.18734470e-02 9.95768865e-01 -1.90718333e-03 -1.02778317e+00] [-2.20303196e-02 -1.17779291e-04 9.99757296e-01 -5.01898248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07587156 meters 0.013686861388999754 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.03, Z:-0.50 [[ 9.95556087e-01 9.15898895e-02 2.18945078e-02 1.72523121e+01] [-9.15701056e-02 9.95796807e-01 -1.90657658e-03 -1.03460914e+00] [-2.19771041e-02 -1.06778471e-04 9.99758469e-01 -5.04650531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.10587156 meters 0.013412486736928651 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.04, Z:-0.51 [[ 9.95531752e-01 9.20276426e-02 2.11528818e-02 1.72849742e+01] [-9.20091999e-02 9.95756447e-01 -1.84553654e-03 -1.04039695e+00] [-2.12329588e-02 -1.08969502e-04 9.99774549e-01 -5.05373477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135871560000002 meters 0.014522917164252221 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.04, Z:-0.51 [[ 9.95483075e-01 9.27180460e-02 2.04159620e-02 1.73154845e+01] [-9.27009211e-02 9.95692398e-01 -1.78563824e-03 -1.04279229e+00] [-2.04935791e-02 -1.15005834e-04 9.99789978e-01 -5.09316028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16587156 meters 0.01580345044774363 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.05, Z:-0.51 [[ 9.95338033e-01 9.46512075e-02 1.85296596e-02 1.73472939e+01] [-9.46374039e-02 9.95510487e-01 -1.62238201e-03 -1.04583748e+00] [-1.86000308e-02 -1.38780358e-04 9.99826995e-01 -5.12814069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.19587156 meters 0.031880522834826334 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.05, Z:-0.51 [[ 9.95243368e-01 9.57849368e-02 1.77731459e-02 1.73792814e+01] [-9.57723698e-02 9.95402041e-01 -1.55885354e-03 -1.05006795e+00] [-1.78407404e-02 -1.50737649e-04 9.99840830e-01 -5.13762072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22587156 meters 0.02210943758777352 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.05, Z:-0.51 [[ 9.95065404e-01 9.77155628e-02 1.72194852e-02 1.74114512e+01] [-9.77040099e-02 9.95214368e-01 -1.51293854e-03 -1.05454053e+00] [-1.72849167e-02 -1.76939953e-04 9.99850589e-01 -5.13803469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25587156 meters 0.018439892764983937 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.06, Z:-0.52 [[ 9.94957661e-01 9.87793931e-02 1.73748438e-02 1.74437102e+01] [-9.87677423e-02 9.95109338e-01 -1.52948867e-03 -1.05536731e+00] [-1.74409512e-02 -1.94297617e-04 9.99847876e-01 -5.17068465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.28587156 meters 0.01906343055137522 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.06, Z:-0.52 [[ 9.94835652e-01 1.00067713e-01 1.69846421e-02 1.74757387e+01] [-1.00056713e-01 9.94980607e-01 -1.49830354e-03 -1.05736393e+00] [-1.70493213e-02 -2.08861680e-04 9.99854628e-01 -5.18203200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31587156 meters 0.020984704561908225 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.06, Z:-0.52 [[ 9.94670403e-01 1.01703165e-01 1.69485977e-02 1.75067255e+01] [-1.01692398e-01 9.94814763e-01 -1.49815522e-03 -1.05895249e+00] [-1.70130823e-02 -2.33372881e-04 9.99855240e-01 -5.20142128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34587156 meters 0.019528386145118322 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.06, Z:-0.52 [[ 9.94584432e-01 1.02517585e-01 1.70866329e-02 1.75399344e+01] [-1.02506726e-01 9.94731161e-01 -1.51249165e-03 -1.06448405e+00] [-1.71516632e-02 -2.47194143e-04 9.99852869e-01 -5.18066118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.37587156 meters 0.02969125261705635 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.06, Z:-0.52 [[ 9.94513343e-01 1.03203562e-01 1.70948954e-02 1.75715918e+01] [-1.03192730e-01 9.94660223e-01 -1.51686504e-03 -1.06431694e+00] [-1.71601583e-02 -2.55526408e-04 9.99852721e-01 -5.19689063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40587156 meters 0.02081226255214843 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.07, Z:-0.52 [[ 9.94463167e-01 1.03566123e-01 1.78063788e-02 1.76037031e+01] [-1.03554361e-01 9.94622534e-01 -1.58379869e-03 -1.06838339e+00] [-1.78746535e-02 -2.68898718e-04 9.99840199e-01 -5.20432590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43587156 meters 0.026106786570661258 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.07, Z:-0.52 [[ 9.94421272e-01 1.03889345e-01 1.82575657e-02 1.76356493e+01] [-1.03876964e-01 9.94588823e-01 -1.62778708e-03 -1.06877533e+00] [-1.83278805e-02 -2.77834386e-04 9.99831992e-01 -5.19756288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.46587156 meters 0.021743148747572823 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.07, Z:-0.52 [[ 9.94394012e-01 1.04060168e-01 1.87624699e-02 1.76682105e+01] [-1.04047087e-01 9.94570962e-01 -1.67465501e-03 -1.07077941e+00] [-1.88348726e-02 -2.86913425e-04 9.99822567e-01 -5.21324032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.49587156 meters 0.02162208729769491 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.07, Z:-0.52 [[ 9.94461753e-01 1.03415801e-01 1.87348076e-02 1.76997136e+01] [-1.03402586e-01 9.94638175e-01 -1.67531703e-03 -1.07327674e+00] [-1.88076091e-02 -2.71188856e-04 9.99823084e-01 -5.23330884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52587156 meters 0.02024625915545503 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.08, Z:-0.52 [[ 9.94526957e-01 1.02771544e-01 1.88186764e-02 1.77318253e+01] [-1.02758035e-01 9.94704953e-01 -1.68594705e-03 -1.07839941e+00] [-1.88922980e-02 -2.57050429e-04 9.99821492e-01 -5.23464683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.55587156 meters 0.018644827608363657 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.08, Z:-0.52 [[ 9.94605124e-01 1.01992137e-01 1.89275235e-02 1.77632604e+01] [-1.01978272e-01 9.94785176e-01 -1.69881873e-03 -1.08351705e+00] [-1.90020860e-02 -2.40542323e-04 9.99819415e-01 -5.22965149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.58587156 meters 0.016757466685306602 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.09, Z:-0.52 [[ 9.94812518e-01 9.98567613e-02 1.94082940e-02 1.77953839e+01] [-9.98417090e-02 9.95001802e-01 -1.74542131e-03 -1.08891846e+00] [-1.94855796e-02 -2.01390270e-04 9.99810118e-01 -5.22638097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615871560000002 meters 0.01581016357077886 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.09, Z:-0.52 [[ 9.94925076e-01 9.86333602e-02 1.98885031e-02 1.78263606e+01] [-9.86172354e-02 9.95123826e-01 -1.79230581e-03 -1.09326528e+00] [-1.99683045e-02 -1.78139200e-04 9.99800598e-01 -5.23107428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.64587156 meters 0.014943218493700885 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.10, Z:-0.52 [[ 9.95079081e-01 9.69658495e-02 2.03776046e-02 1.78572739e+01] [-9.69485028e-02 9.95287699e-01 -1.83977246e-03 -1.09828062e+00] [-2.04599743e-02 -1.44859164e-04 9.99790662e-01 -5.24046409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.67587156 meters 0.012630068451960214 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.11, Z:-0.52 [[ 9.95424211e-01 9.31933233e-02 2.11103197e-02 1.78887186e+01] [-9.31737867e-02 9.95648030e-01 -1.90929008e-03 -1.10834291e+00] [-2.11963813e-02 -6.63748508e-05 9.99775329e-01 -5.22489483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705871560000002 meters 0.012597536785164168 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.11, Z:-0.53 [[ 9.95588986e-01 9.14676986e-02 2.08861563e-02 1.79206378e+01] [-9.14481221e-02 9.95808043e-01 -1.89249066e-03 -1.11422576e+00] [-2.09717042e-02 -2.58569134e-05 9.99780069e-01 -5.25013709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73587156 meters 0.01288090529001176 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.12, Z:-0.53 [[ 9.95907229e-01 8.81331173e-02 2.00335686e-02 1.79525093e+01] [-8.81143589e-02 9.96108705e-01 -1.81886214e-03 -1.12277363e+00] [-2.01159140e-02 4.61729084e-05 9.99797653e-01 -5.25975036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.76587156 meters 0.017662306142573896 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.13, Z:-0.53 [[ 9.96021214e-01 8.69428992e-02 1.95620555e-02 1.79846338e+01] [-8.69247195e-02 9.96213294e-01 -1.77933129e-03 -1.12871338e+00] [-1.96426800e-02 7.18255203e-05 9.99807061e-01 -5.26857257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795871560000002 meters 0.013746954592407318 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.13, Z:-0.53 [[ 9.96074272e-01 8.63223948e-02 1.96083933e-02 1.80171805e+01] [-8.63039470e-02 9.96267252e-01 -1.78667572e-03 -1.13388129e+00] [-1.96894302e-02 8.73799862e-05 9.99806141e-01 -5.28727113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82587156 meters 0.014001791887760455 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.14, Z:-0.53 [[ 9.96060458e-01 8.63595285e-02 2.01394257e-02 1.80482125e+01] [-8.63399715e-02 9.96264033e-01 -1.84019764e-03 -1.13813361e+00] [-2.02231041e-02 9.41106670e-05 9.99795488e-01 -5.29853669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.85587156 meters 0.013624038534709667 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.14, Z:-0.53 [[ 9.96017865e-01 8.67871869e-02 2.04058006e-02 1.80809556e+01] [-8.67671776e-02 9.96226870e-01 -1.86557685e-03 -1.14121394e+00] [-2.04907150e-02 8.75941506e-05 9.99790039e-01 -5.30127871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885871560000002 meters 0.01379042209717459 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.15, Z:-0.53 [[ 9.95998534e-01 8.71375915e-02 1.98484259e-02 1.81135736e+01] [-8.71186570e-02 9.96196283e-01 -1.81828424e-03 -1.14601402e+00] [-1.99313690e-02 8.18402282e-05 9.99801347e-01 -5.31817628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91587156 meters 0.013811143552996483 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.15, Z:-0.53 [[ 9.95979903e-01 8.74456693e-02 1.94239027e-02 1.81467218e+01] [-8.74275244e-02 9.96169287e-01 -1.78299857e-03 -1.14931450e+00] [-1.95054108e-02 7.76470172e-05 9.99809748e-01 -5.33880693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.94587156 meters 0.022871626265537688 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.15, Z:-0.53 [[ 9.95969512e-01 8.77526474e-02 1.85527115e-02 1.81791612e+01] [-8.77360806e-02 9.96142293e-01 -1.70659228e-03 -1.15261459e+00] [-1.86308986e-02 7.19716891e-05 9.99826427e-01 -5.34036850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97587156 meters 0.014297173251067158 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.16, Z:-0.54 [[ 9.95982128e-01 8.77233858e-02 1.80057574e-02 1.82102715e+01] [-8.77077259e-02 9.96144870e-01 -1.65909419e-03 -1.15892368e+00] [-1.80818842e-02 7.31841340e-05 9.99836507e-01 -5.38899690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00587156 meters 0.014155537051377162 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.16, Z:-0.54 [[ 9.95958693e-01 8.80218307e-02 1.78448901e-02 1.82427439e+01] [-8.80064417e-02 9.96118543e-01 -1.64737047e-03 -1.16324031e+00] [-1.79206305e-02 7.02476577e-05 9.99839410e-01 -5.39353335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.03587156 meters 0.014188989448759315 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.17, Z:-0.54 [[ 9.95943216e-01 8.82231415e-02 1.77140677e-02 1.82751257e+01] [-8.82079478e-02 9.96100734e-01 -1.63874193e-03 -1.16652034e+00] [-1.77895708e-02 6.95723496e-05 9.99841751e-01 -5.40427592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06587156 meters 0.014343637498776854 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.17, Z:-0.54 [[ 9.95902760e-01 8.86874731e-02 1.76698825e-02 1.83075069e+01] [-8.86723642e-02 9.96059500e-01 -1.63826091e-03 -1.16884769e+00] [-1.77455476e-02 6.47183014e-05 9.99842533e-01 -5.42295157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09587156 meters 0.01399559590843725 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.17, Z:-0.54 [[ 9.95874052e-01 8.90228371e-02 1.76013367e-02 1.83407494e+01] [-8.90078442e-02 9.96029583e-01 -1.63492458e-03 -1.17216882e+00] [-1.76769977e-02 6.15219341e-05 9.99843748e-01 -5.41943228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.12587156 meters 0.014256672899932616 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.18, Z:-0.54 [[ 9.95843001e-01 8.92502643e-02 1.81963814e-02 1.83715784e+01] [-8.92342011e-02 9.96009230e-01 -1.69442614e-03 -1.17656319e+00] [-1.82749918e-02 6.36428585e-05 9.99832996e-01 -5.43826298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15587156 meters 0.013465305593299375 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.18, Z:-0.54 [[ 9.95790232e-01 8.96605970e-02 1.90470608e-02 1.84032248e+01] [-8.96430128e-02 9.95972376e-01 -1.77672207e-03 -1.17982404e+00] [-1.91296483e-02 6.18065689e-05 9.99817010e-01 -5.41050424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18587156 meters 0.01349749716570591 Centerline is valid? [True, True] Translation: X:18.43, Y:-1.18, Z:-0.54 [[ 9.95761285e-01 8.99356617e-02 1.92624091e-02 1.84349722e+01] [-8.99176661e-02 9.95947575e-01 -1.80005912e-03 -1.18306677e+00] [-1.93462392e-02 6.03983140e-05 9.99812842e-01 -5.41829024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.21587156 meters 0.012951014688215835 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.19, Z:-0.54 [[ 9.95663697e-01 9.08455232e-02 2.00223275e-02 1.84675009e+01] [-9.08261662e-02 9.95864995e-01 -1.87591227e-03 -1.18664013e+00] [-2.01099533e-02 4.92264956e-05 9.99797773e-01 -5.41462092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.24587156 meters 0.012862703953577814 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.19, Z:-0.54 [[ 9.95600294e-01 9.15018027e-02 2.01860224e-02 1.84997342e+01] [-9.14822440e-02 9.95804910e-01 -1.89217044e-03 -1.19002072e+00] [-2.02744772e-02 3.71828170e-05 9.99794451e-01 -5.42493149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275871560000002 meters 0.012838379947427188 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.19, Z:-0.54 [[ 9.95499670e-01 9.25712796e-02 2.02722927e-02 1.85314268e+01] [-9.25516985e-02 9.95706060e-01 -1.90401465e-03 -1.19235859e+00] [-2.03615018e-02 1.92108268e-05 9.99792683e-01 -5.44739621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.30587156 meters 0.012566539714535476 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.19, Z:-0.54 [[ 9.95403965e-01 9.36800095e-02 1.98746614e-02 1.85644135e+01] [-9.36613442e-02 9.95602358e-01 -1.86996808e-03 -1.19385790e+00] [-1.99624384e-02 -1.13853062e-07 9.99800731e-01 -5.44080439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.33587156 meters 0.012933931915056998 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.19, Z:-0.55 [[ 9.95170799e-01 9.60893127e-02 2.00480596e-02 1.85968463e+01] [-9.60707240e-02 9.95372715e-01 -1.89050083e-03 -1.19469905e+00] [-2.01369485e-02 -4.46603787e-05 9.99797230e-01 -5.46635133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365871560000002 meters 0.013336436322290798 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.20, Z:-0.55 [[ 9.95057981e-01 9.72672466e-02 1.99674260e-02 1.86283706e+01] [-9.72489555e-02 9.95258297e-01 -1.88732350e-03 -1.19687029e+00] [-2.00563212e-02 -6.38150115e-05 9.99798850e-01 -5.48364089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.39587156 meters 0.01424435199455678 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.20, Z:-0.55 [[ 9.94916470e-01 9.88647335e-02 1.91567742e-02 1.86597626e+01] [-9.88481598e-02 9.95100877e-01 -1.81246094e-03 -1.19698381e+00] [-1.92421113e-02 -9.03646348e-05 9.99814849e-01 -5.50884931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.42587156 meters 0.014205848275877293 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.20, Z:-0.55 [[ 9.94880534e-01 9.92832438e-02 1.88563115e-02 1.86928550e+01] [-9.92672165e-02 9.95059209e-01 -1.78638665e-03 -1.19949153e+00] [-1.89405046e-02 -9.45722479e-05 9.99820608e-01 -5.51555585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455871560000002 meters 0.014173173654715158 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.20, Z:-0.55 [[ 9.94858776e-01 9.94666803e-02 1.90366703e-02 1.87255441e+01] [-9.94503080e-02 9.95040889e-01 -1.80715889e-03 -1.20236243e+00] [-1.91220174e-02 -9.53348407e-05 9.99817153e-01 -5.52187468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48587156 meters 0.024607211499632138 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.21, Z:-0.55 [[ 9.94921819e-01 9.87876851e-02 1.92760584e-02 1.87563462e+01] [-9.87706901e-02 9.95108530e-01 -1.83406249e-03 -1.20606006e+00] [-1.93629529e-02 -7.91607974e-05 9.99812517e-01 -5.51687986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.51587156 meters 0.01339486256158684 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.21, Z:-0.55 [[ 9.94950659e-01 9.84728062e-02 1.93982586e-02 1.87893215e+01] [-9.84554853e-02 9.95139740e-01 -1.84824078e-03 -1.21102343e+00] [-1.94859795e-02 -7.09565851e-05 9.99810128e-01 -5.52909443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545871560000002 meters 0.013337988687201796 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.22, Z:-0.55 [[ 9.94989601e-01 9.79757162e-02 1.99111142e-02 1.88204445e+01] [-9.79572779e-02 9.95188804e-01 -1.90160149e-03 -1.21510128e+00] [-2.00016287e-02 -5.83648422e-05 9.99799946e-01 -5.53835268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57587156 meters 0.013108974821906968 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.22, Z:-0.55 [[ 9.94972459e-01 9.81367807e-02 1.99744282e-02 1.88537194e+01] [-9.81182013e-02 9.95172934e-01 -1.91043666e-03 -1.21879594e+00] [-2.00654945e-02 -5.90231043e-05 9.99798666e-01 -5.53439789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.60587156 meters 0.013415228375862377 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.22, Z:-0.56 [[ 9.94925007e-01 9.85256000e-02 2.04190095e-02 1.88855756e+01] [-9.85061774e-02 9.95134515e-01 -1.95728912e-03 -1.22121001e+00] [-2.05125042e-02 -6.40426826e-05 9.99789594e-01 -5.55886815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635871560000002 meters 0.013152830947221202 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.23, Z:-0.56 [[ 9.94874209e-01 9.91001996e-02 2.01111594e-02 1.89181054e+01] [-9.90814042e-02 9.95077457e-01 -1.93131248e-03 -1.22560438e+00] [-2.02035548e-02 -7.12289430e-05 9.99795885e-01 -5.55929976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66587156 meters 0.013217185072164205 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.23, Z:-0.56 [[ 9.94861922e-01 9.92398394e-02 2.00302228e-02 1.89504328e+01] [-9.92211437e-02 9.95063540e-01 -1.92749389e-03 -1.22981833e+00] [-2.01226286e-02 -6.98313342e-05 9.99797517e-01 -5.56839899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.69587156 meters 0.013545697563580943 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.23, Z:-0.56 [[ 9.94891801e-01 9.89239384e-02 2.01086618e-02 1.89823681e+01] [-9.89049352e-02 9.95094996e-01 -1.93980795e-03 -1.23352207e+00] [-2.02019221e-02 -5.89468584e-05 9.99795919e-01 -5.59695728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72587156 meters 0.017560051195158563 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.24, Z:-0.56 [[ 9.95034057e-01 9.75659642e-02 1.97004758e-02 1.90147695e+01] [-9.75474245e-02 9.95229060e-01 -1.90215200e-03 -1.24026397e+00] [-1.97920713e-02 -2.90246528e-05 9.99804117e-01 -5.60623482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75587156 meters 0.017560051195158563 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.24, Z:-0.56 [[ 9.95016352e-01 9.77464314e-02 1.97001303e-02 1.90470974e+01] [-9.77278564e-02 9.95211352e-01 -1.90572167e-03 -1.24360205e+00] [-1.97920708e-02 -2.90272814e-05 9.99804117e-01 -5.61614410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.78587156 meters 0.012961643811089262 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.25, Z:-0.56 [[ 9.95099899e-01 9.69607198e-02 1.93600002e-02 1.90791818e+01] [-9.69425685e-02 9.95288209e-01 -1.87608741e-03 -1.25043013e+00] [-1.94506868e-02 -9.91376198e-06 9.99810817e-01 -5.62545066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81587156 meters 0.013257238742022618 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.26, Z:-0.57 [[ 9.95168821e-01 9.62595795e-02 1.93160760e-02 1.91111127e+01] [-9.62413010e-02 9.95356265e-01 -1.87581777e-03 -1.25728769e+00] [-1.94069427e-02 7.75107471e-06 9.99811668e-01 -5.65090108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84587156 meters 0.013583195870847695 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.27, Z:-0.57 [[ 9.95249214e-01 9.55485154e-02 1.86944843e-02 1.91414571e+01] [-9.55312001e-02 9.95424774e-01 -1.81912236e-03 -1.26502080e+00] [-1.87827673e-02 2.45735740e-05 9.99823588e-01 -5.67862390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.87587156 meters 0.013431245378620574 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.27, Z:-0.57 [[ 9.95065178e-01 9.74379953e-02 1.87384148e-02 1.91747866e+01] [-9.74208871e-02 9.95241597e-01 -1.82585616e-03 -1.26795691e+00] [-1.88271576e-02 -8.66710726e-06 9.99822753e-01 -5.68213525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90587156 meters 0.022716637446821817 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.27, Z:-0.57 [[ 9.94882151e-01 9.92785901e-02 1.87954224e-02 1.92079510e+01] [-9.92616391e-02 9.95059677e-01 -1.83495528e-03 -1.26963697e+00] [-1.88847387e-02 -4.01001730e-05 9.99821667e-01 -5.66600857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93587156 meters 0.014487412446862354 Centerline is valid? [True, True] Translation: X:19.24, Y:-1.27, Z:-0.57 [[ 9.94557904e-01 1.02439238e-01 1.89941413e-02 1.92399766e+01] [-1.02422428e-01 9.94739259e-01 -1.85827075e-03 -1.26860352e+00] [-1.90845779e-02 -9.72682107e-05 9.99817868e-01 -5.69289939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.96587156 meters 0.01562942143308616 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.27, Z:-0.57 [[ 9.94222356e-01 1.05687320e-01 1.87642299e-02 1.92718904e+01] [-1.05671425e-01 9.94399400e-01 -1.83936728e-03 -1.26832364e+00] [-1.88535368e-02 -1.54102851e-04 9.99822244e-01 -5.69142252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.99587156 meters 0.020603486785897875 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.26, Z:-0.57 [[ 9.93538525e-01 1.12124617e-01 1.75860633e-02 1.93025249e+01] [-1.12111582e-01 9.93694121e-01 -1.72844012e-03 -1.26274509e+00] [-1.76689684e-02 -2.54329540e-04 9.99843859e-01 -5.71846894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025871560000002 meters 0.024308585892832926 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.26, Z:-0.57 [[ 9.93179554e-01 1.15294421e-01 1.73657962e-02 1.93335601e+01] [-1.15282214e-01 9.93331315e-01 -1.70568891e-03 -1.26066709e+00] [-1.74466456e-02 -3.07912094e-04 9.99847748e-01 -5.74693427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.05587156 meters 0.02677687171264666 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.26, Z:-0.57 [[ 9.92594551e-01 1.20228870e-01 1.73515277e-02 1.93653608e+01] [-1.20217397e-01 9.92746123e-01 -1.70654211e-03 -1.25826277e+00] [-1.74308375e-02 -3.92051108e-04 9.99847995e-01 -5.73245172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.08587156 meters 0.030984919765880622 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.25, Z:-0.58 [[ 9.92319318e-01 1.22378880e-01 1.80493877e-02 1.93971744e+01] [-1.22366843e-01 9.92483354e-01 -1.77398975e-03 -1.25421364e+00] [-1.81308157e-02 -4.48282282e-04 9.99835523e-01 -5.75204748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115871560000002 meters 0.030211174679246375 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.26, Z:-0.57 [[ 9.92070526e-01 1.24329631e-01 1.83906306e-02 1.94293618e+01] [-1.24317415e-01 9.92240849e-01 -1.81042710e-03 -1.25763477e+00] [-1.84730247e-02 -4.90204294e-04 9.99829239e-01 -5.73979997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.14587156 meters 0.03306001643728614 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.26, Z:-0.58 [[ 9.91732588e-01 1.26958110e-01 1.86577678e-02 1.94605339e+01] [-1.26945937e-01 9.91907931e-01 -1.84018866e-03 -1.25674377e+00] [-1.87404147e-02 -5.43552756e-04 9.99824235e-01 -5.75231954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.17587156 meters 0.03309478187456589 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.26, Z:-0.58 [[ 9.91636391e-01 1.27676166e-01 1.88696592e-02 1.94926550e+01] [-1.27663788e-01 9.91815750e-01 -1.86403292e-03 -1.25965213e+00] [-1.89532178e-02 -5.60529307e-04 9.99820215e-01 -5.76081855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205871560000002 meters 0.03706660789852566 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.26, Z:-0.58 [[ 9.91589665e-01 1.28031628e-01 1.89166210e-02 1.95237574e+01] [-1.28019189e-01 9.91769924e-01 -1.87208570e-03 -1.25737319e+00] [-1.90006219e-02 -5.65349641e-04 9.99819312e-01 -5.78949770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23587156 meters 0.03280798716485476 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.26, Z:-0.58 [[ 9.91619189e-01 1.27680195e-01 1.97269215e-02 1.95552609e+01] [-1.27666534e-01 9.91815221e-01 -1.95548695e-03 -1.26440747e+00] [-1.98151380e-02 -5.79369300e-04 9.99803493e-01 -5.76882803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.26587156 meters 0.04032383609602517 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.26, Z:-0.58 [[ 9.91643919e-01 1.27426896e-01 2.01177490e-02 1.95870634e+01] [-1.27412549e-01 9.91847795e-01 -1.99853949e-03 -1.26323401e+00] [-2.02084126e-02 -5.81414143e-04 9.99795620e-01 -5.77497625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295871560000002 meters 0.03232741426101873 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.27, Z:-0.58 [[ 9.91701648e-01 1.26974793e-01 2.01306767e-02 1.96190760e+01] [-1.26960310e-01 9.91905780e-01 -2.00104486e-03 -1.26803044e+00] [-2.02218168e-02 -5.71357475e-04 9.99795355e-01 -5.79529340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32587156 meters 0.031246739088617623 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.27, Z:-0.58 [[ 9.91772141e-01 1.26495500e-01 1.96699778e-02 1.96510694e+01] [-1.26481515e-01 9.91967031e-01 -1.95846811e-03 -1.27225074e+00] [-1.97597069e-02 -5.45534486e-04 9.99804609e-01 -5.81163767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.35587156 meters 0.03447538708697667 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.27, Z:-0.59 [[ 9.91878410e-01 1.25725784e-01 1.92417929e-02 1.96825951e+01] [-1.25712178e-01 9.92064898e-01 -1.91984582e-03 -1.27051226e+00] [-1.93304815e-02 -5.14674090e-04 9.99813016e-01 -5.85249973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385871560000002 meters 0.03019706270056976 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.28, Z:-0.58 [[ 9.91986734e-01 1.24909658e-01 1.89709250e-02 1.97145156e+01] [-1.24896265e-01 9.92167998e-01 -1.89380878e-03 -1.27827738e+00] [-1.90588997e-02 -4.90764488e-04 9.99818242e-01 -5.84609243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41587156 meters 0.030119905238654564 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.28, Z:-0.59 [[ 9.92217879e-01 1.23143350e-01 1.84227231e-02 1.97455896e+01] [-1.23130357e-01 9.92388795e-01 -1.84224372e-03 -1.28024970e+00] [-1.85093641e-02 -4.40489328e-04 9.99828590e-01 -5.86959331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.44587156 meters 0.028256528699607056 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.28, Z:-0.59 [[ 9.92363768e-01 1.21873789e-01 1.89981881e-02 1.97772483e+01] [-1.21859681e-01 9.92545514e-01 -1.90284604e-03 -1.28426898e+00] [-1.90884734e-02 -4.26797662e-04 9.99817707e-01 -5.86423838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47587156 meters 0.026585583171872873 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.29, Z:-0.59 [[ 9.92384312e-01 1.21626115e-01 1.95055472e-02 1.98094714e+01] [-1.21611130e-01 9.92575893e-01 -1.95700493e-03 -1.28809989e+00] [-1.95987589e-02 -4.29990648e-04 9.99807833e-01 -5.85644604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50587156 meters 0.028642918975012123 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.29, Z:-0.59 [[ 9.92376671e-01 1.21634320e-01 1.98402310e-02 1.98412176e+01] [-1.21618745e-01 9.92574886e-01 -1.99419533e-03 -1.28674360e+00] [-1.99354776e-02 -4.33951081e-04 9.99801174e-01 -5.88111193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.53587156 meters 0.029954085264448396 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.28, Z:-0.59 [[ 9.92350165e-01 1.21777901e-01 2.02803660e-02 1.98728653e+01] [-1.21761589e-01 9.92557276e-01 -2.04182135e-03 -1.28488516e+00] [-2.03780735e-02 -4.43167827e-04 9.99792247e-01 -5.89169092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56587156 meters 0.02971910920123437 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.29, Z:-0.59 [[ 9.92332935e-01 1.21915728e-01 2.02953686e-02 1.99048210e+01] [-1.21899361e-01 9.92540356e-01 -2.04627140e-03 -1.28837351e+00] [-2.03934450e-02 -4.43409951e-04 9.99791934e-01 -5.87993753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59587156 meters 0.02752894196890464 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.29, Z:-0.59 [[ 9.92328428e-01 1.21887500e-01 2.06815919e-02 1.99358304e+01] [-1.21870398e-01 9.92543822e-01 -2.09003471e-03 -1.29155869e+00] [-2.07821353e-02 -4.46472961e-04 9.99783928e-01 -5.88646173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.62587156 meters 0.027361883746768623 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.29, Z:-0.59 [[ 9.92435727e-01 1.21100751e-01 2.01478561e-02 1.99666008e+01] [-1.21084375e-01 9.92640132e-01 -2.03523785e-03 -1.29237542e+00] [-2.02460394e-02 -4.19747821e-04 9.99794940e-01 -5.91458028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65587156 meters 0.026811356120554138 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.29, Z:-0.59 [[ 9.92491269e-01 1.20751279e-01 1.94989415e-02 1.99991265e+01] [-1.20735820e-01 9.92682714e-01 -1.97241246e-03 -1.29478581e+00] [-1.95944335e-02 -3.96618540e-04 9.99807932e-01 -5.93137437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685871560000002 meters 0.030946092070409645 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.29, Z:-0.59 [[ 9.92702811e-01 1.18998869e-01 1.95037957e-02 2.00305129e+01] [-1.18982971e-01 9.92894325e-01 -1.97765465e-03 -1.29465431e+00] [-1.96005467e-02 -3.57396219e-04 9.99807827e-01 -5.93811933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.71587156 meters 0.02518627010447656 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.30, Z:-0.60 [[ 9.92725349e-01 1.18766352e-01 1.97720893e-02 2.00607386e+01] [-1.18749956e-01 9.92922165e-01 -2.00545941e-03 -1.29537138e+00] [-1.98703268e-02 -3.57064352e-04 9.99802502e-01 -5.96256685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.74587156 meters 0.024029849243907025 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.30, Z:-0.60 [[ 9.92751685e-01 1.18501332e-01 2.00381143e-02 2.00915265e+01] [-1.18484435e-01 9.92953829e-01 -2.03255705e-03 -1.29835624e+00] [-2.01377830e-02 -3.56380215e-04 9.99797151e-01 -5.95816668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775871560000002 meters 0.022619615190506277 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.30, Z:-0.59 [[ 9.92783500e-01 1.18064146e-01 2.10185485e-02 2.01228046e+01] [-1.18045447e-01 9.93005904e-01 -2.13253676e-03 -1.29966891e+00] [-2.11233189e-02 -3.63996628e-04 9.99776812e-01 -5.93930956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.80587156 meters 0.02256763122036229 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.30, Z:-0.59 [[ 9.92804588e-01 1.17866325e-01 2.11324172e-02 2.01545784e+01] [-1.17847366e-01 9.93029405e-01 -2.14461037e-03 -1.30059243e+00] [-2.12378890e-02 -3.61220681e-04 9.99774385e-01 -5.94741467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.83587156 meters 0.02160049430791913 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.30, Z:-0.60 [[ 9.92976837e-01 1.16573699e-01 2.01884584e-02 2.01856968e+01] [-1.16556147e-01 9.93181993e-01 -2.04791821e-03 -1.29997685e+00] [-2.02895467e-02 -3.19553583e-04 9.99794095e-01 -5.98201130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865871560000002 meters 0.02060053037193561 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.30, Z:-0.60 [[ 9.93139324e-01 1.15226770e-01 1.99267571e-02 2.02165394e+01] [-1.15209309e-01 9.93339172e-01 -2.02585266e-03 -1.30218072e+00] [-2.00274609e-02 -2.83793981e-04 9.99799390e-01 -5.99918250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.89587156 meters 0.01757287938180785 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.31, Z:-0.60 [[ 9.93608910e-01 1.11056331e-01 2.01946763e-02 2.02473985e+01] [-1.11037553e-01 9.93814092e-01 -2.05225349e-03 -1.30649678e+00] [-2.02976697e-02 -2.03230101e-04 9.99793960e-01 -6.01877416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.92587156 meters 0.015443010727400449 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.31, Z:-0.60 [[ 9.93866200e-01 1.08739030e-01 2.01445005e-02 2.02790678e+01] [-1.08719808e-01 9.94070320e-01 -2.05017479e-03 -1.31326587e+00] [-2.02479840e-02 -1.52506794e-04 9.99794977e-01 -6.02753011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955871560000002 meters 0.013975143504877533 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.32, Z:-0.60 [[ 9.94136401e-01 1.06227800e-01 2.02106352e-02 2.03109028e+01] [-1.06207864e-01 9.94341815e-01 -2.06027790e-03 -1.32004492e+00] [-2.03151385e-02 -9.83311443e-05 9.99793621e-01 -6.03477589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98587156 meters 0.012856528984099964 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.33, Z:-0.60 [[ 9.94574401e-01 1.02034366e-01 2.02669516e-02 2.03414576e+01] [-1.02013376e-01 9.94780874e-01 -2.06953013e-03 -1.32950845e+00] [-2.03723390e-02 -9.19846822e-06 9.99792462e-01 -6.04579537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.01587156 meters 0.012977389686823436 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.33, Z:-0.60 [[ 9.94719065e-01 1.00605443e-01 2.03107290e-02 2.03742090e+01] [-1.00584007e-01 9.94926401e-01 -2.07680429e-03 -1.33470616e+00] [-2.04166183e-02 2.29023102e-05 9.99791559e-01 -6.04747144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045871560000002 meters 0.013018590488693851 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.34, Z:-0.60 [[ 9.94799659e-01 9.96883758e-02 2.08773978e-02 2.04074538e+01] [-9.96654400e-02 9.95018706e-01 -2.13881452e-03 -1.33887019e+00] [-2.09866163e-02 4.69369131e-05 9.99779756e-01 -6.04568849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07587156 meters 0.013020053869339838 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.34, Z:-0.60 [[ 9.94894987e-01 9.84968250e-02 2.19622684e-02 2.04403027e+01] [-9.84710566e-02 9.95137362e-01 -2.25431940e-03 -1.34232728e+00] [-2.20775171e-02 8.01632917e-05 9.99756259e-01 -6.02855437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.10587156 meters 0.013392800328406382 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.35, Z:-0.60 [[ 9.94897181e-01 9.84357390e-02 2.21360279e-02 2.04719091e+01] [-9.84094461e-02 9.95143406e-01 -2.27665168e-03 -1.34656745e+00] [-2.22526261e-02 8.66400971e-05 9.99752376e-01 -6.04595102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135871560000002 meters 0.013473862272271377 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.35, Z:-0.61 [[ 9.94851347e-01 9.91210326e-02 2.11144311e-02 2.05040804e+01] [-9.90971867e-02 9.95075382e-01 -2.17527982e-03 -1.34850407e+00] [-2.12260666e-02 7.16993378e-05 9.99774699e-01 -6.07899625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16587156 meters 0.013170059024920529 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.35, Z:-0.61 [[ 9.94762789e-01 1.00199428e-01 2.01759369e-02 2.05373423e+01] [-1.00177814e-01 9.94967372e-01 -2.08168514e-03 -1.34937892e+00] [-2.02829826e-02 4.96016589e-05 9.99794278e-01 -6.09972674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.19587156 meters 0.013145683735829937 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.35, Z:-0.61 [[ 9.94639176e-01 1.01542788e-01 1.95441247e-02 2.05703777e+01] [-1.01522696e-01 9.94831172e-01 -2.02001406e-03 -1.35025805e+00] [-1.96482224e-02 2.50128842e-05 9.99806955e-01 -6.11970887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22587156 meters 0.01374577887301563 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.35, Z:-0.62 [[ 9.94358254e-01 1.04454410e-01 1.84645244e-02 2.06021973e+01] [-1.04436912e-01 9.94529676e-01 -1.91203120e-03 -1.34759520e+00] [-1.85632376e-02 -2.71339116e-05 9.99827688e-01 -6.15732427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25587156 meters 0.014051600508581338 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.35, Z:-0.62 [[ 9.94199031e-01 1.05891661e-01 1.88479057e-02 2.06329727e+01] [-1.05873601e-01 9.94377671e-01 -1.95630797e-03 -1.34739851e+00] [-1.89490933e-02 -5.05361530e-05 9.99820449e-01 -6.16738961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.28587156 meters 0.013992297901727456 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.35, Z:-0.62 [[ 9.94056408e-01 1.07158269e-01 1.92084192e-02 2.06641375e+01] [-1.07139745e-01 9.94241972e-01 -1.99381553e-03 -1.34794051e+00] [-1.93114705e-02 -7.60200420e-05 9.99813513e-01 -6.15289640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31587156 meters 0.014844161366383545 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.35, Z:-0.62 [[ 9.93862275e-01 1.08938991e-01 1.92373244e-02 2.06948671e+01] [-1.08920734e-01 9.94048432e-01 -1.99739375e-03 -1.34610994e+00] [-1.93404262e-02 -1.10209190e-04 9.99812950e-01 -6.15732826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34587156 meters 0.029862661466157226 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.35, Z:-0.61 [[ 9.93808988e-01 1.09400456e-01 1.93710050e-02 2.07258910e+01] [-1.09382031e-01 9.93997749e-01 -2.01135743e-03 -1.34784114e+00] [-1.94747787e-02 -1.19934767e-04 9.99810341e-01 -6.13406917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.37587156 meters 0.014918762533422456 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.35, Z:-0.62 [[ 9.93747084e-01 1.09898457e-01 1.97246573e-02 2.07559516e+01] [-1.09879438e-01 9.93942811e-01 -2.04871071e-03 -1.34641294e+00] [-1.98303315e-02 -1.31433970e-04 9.99803351e-01 -6.16725236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40587156 meters 0.014610708476954134 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.35, Z:-0.62 [[ 9.93743025e-01 1.09918732e-01 1.98159789e-02 2.07869243e+01] [-1.09899538e-01 9.93940569e-01 -2.05831383e-03 -1.34875158e+00] [-1.99221526e-02 -1.32331920e-04 9.99801525e-01 -6.17529857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435871560000002 meters 0.014455315881519708 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.35, Z:-0.62 [[ 9.93754744e-01 1.09902662e-01 1.93109582e-02 2.08185476e+01] [-1.09884422e-01 9.93942347e-01 -2.00630447e-03 -1.35108928e+00] [-1.94144773e-02 -1.28198900e-04 9.99811513e-01 -6.18538028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.46587156 meters 0.014230097408661904 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.35, Z:-0.62 [[ 9.93851652e-01 1.09063059e-01 1.90825429e-02 2.08492366e+01] [-1.09045082e-01 9.94034827e-01 -1.98318087e-03 -1.35278501e+00] [-1.91850040e-02 -1.09869882e-04 9.99815945e-01 -6.20533041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.49587156 meters 0.013995774298262384 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.36, Z:-0.62 [[ 9.93928398e-01 1.08283572e-01 1.95193967e-02 2.08796147e+01] [-1.08264607e-01 9.94120042e-01 -2.02883603e-03 -1.35549555e+00] [-1.96243130e-02 -9.67420609e-05 9.99807420e-01 -6.21791340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525871560000002 meters 0.012900639605551162 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.36, Z:-0.62 [[ 9.94306257e-01 1.04751021e-01 1.95522733e-02 2.09100060e+01] [-1.04731306e-01 9.94498478e-01 -2.03236723e-03 -1.36451253e+00] [-1.96575986e-02 -2.69396775e-05 9.99806770e-01 -6.22861459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.55587156 meters 0.012618906774828034 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.37, Z:-0.62 [[ 9.94538203e-01 1.02408276e-01 2.01570637e-02 2.09415912e+01] [-1.02386862e-01 9.94742451e-01 -2.09427159e-03 -1.37214210e+00] [-2.02655577e-02 1.90146091e-05 9.99794632e-01 -6.22940023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58587156 meters 0.013216932740502224 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.38, Z:-0.62 [[ 9.94776724e-01 9.99744545e-02 2.06004536e-02 2.09741048e+01] [-9.99514963e-02 9.94990001e-01 -2.14367283e-03 -1.37993247e+00] [-2.07115579e-02 7.34296720e-05 9.99785490e-01 -6.22694603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615871560000002 meters 0.016356401291468613 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.39, Z:-0.62 [[ 9.95319816e-01 9.43534903e-02 2.08778222e-02 2.10050183e+01] [-9.43285828e-02 9.95538739e-01 -2.17680844e-03 -1.39265244e+00] [-2.09900702e-02 1.97245196e-04 9.99779665e-01 -6.23017313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.64587156 meters 0.017570745072048383 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.40, Z:-0.62 [[ 9.95544823e-01 9.20074423e-02 2.06188370e-02 2.10367509e+01] [-9.19825767e-02 9.95758289e-01 -2.15313980e-03 -1.40002842e+00] [-2.07294827e-02 2.46973422e-04 9.99785091e-01 -6.23593870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.67587156 meters 0.017570745072048383 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.40, Z:-0.62 [[ 9.95526840e-01 9.22018910e-02 2.06184922e-02 2.10690673e+01] [-9.21769989e-02 9.95740303e-01 -2.15643504e-03 -1.40358541e+00] [-2.07294911e-02 2.46238228e-04 9.99785091e-01 -6.24584882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705871560000002 meters 0.020155141615335624 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.41, Z:-0.63 [[ 9.95703104e-01 9.03641872e-02 2.02396204e-02 2.10995767e+01] [-9.03397351e-02 9.95908747e-01 -2.12107883e-03 -1.41254685e+00] [-2.03484846e-02 2.83522826e-04 9.99792908e-01 -6.26991534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.73587156 meters 0.020879912460126604 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.42, Z:-0.63 [[ 9.95862482e-01 8.87874875e-02 1.93571588e-02 2.11306650e+01] [-8.87647704e-02 9.96050546e-01 -2.03133241e-03 -1.42103822e+00] [-1.94610655e-02 3.04693972e-04 9.99810569e-01 -6.27902669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76587156 meters 0.021858401195163864 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.43, Z:-0.63 [[ 9.95856956e-01 8.89254474e-02 1.90049408e-02 2.11618106e+01] [-8.89035166e-02 9.96038240e-01 -1.99740946e-03 -1.42733084e+00] [-1.91072683e-02 2.99528030e-04 9.99817395e-01 -6.30040703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795871560000002 meters 0.020054593623244268 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.43, Z:-0.63 [[ 9.95714476e-01 9.05996240e-02 1.85577730e-02 2.11941730e+01] [-9.05789392e-02 9.95887362e-01 -1.95387485e-03 -1.43082047e+00] [-1.86584719e-02 2.64558080e-04 9.99825881e-01 -6.31019156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82587156 meters 0.01963696957816964 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.43, Z:-0.63 [[ 9.95575119e-01 9.20649934e-02 1.88207132e-02 2.12252979e+01] [-9.20439149e-02 9.95752970e-01 -1.98500099e-03 -1.43440509e+00] [-1.89235301e-02 2.43885472e-04 9.99820904e-01 -6.32175531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.85587156 meters 0.018637421972075532 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.44, Z:-0.63 [[ 9.95389282e-01 9.40006708e-02 1.90801237e-02 2.12563237e+01] [-9.39793026e-02 9.95572111e-01 -2.01548944e-03 -1.43716788e+00] [-1.91850964e-02 2.13059866e-04 9.99815926e-01 -6.33396631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885871560000002 meters 0.01556698828631602 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.44, Z:-0.63 [[ 9.94962932e-01 9.84872768e-02 1.86820836e-02 2.12883072e+01] [-9.84675310e-02 9.95138302e-01 -1.97612093e-03 -1.43728070e+00] [-1.87858797e-02 1.26588436e-04 9.99823522e-01 -6.34806800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91587156 meters 0.014021967321807823 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.44, Z:-0.64 [[ 9.94691055e-01 1.01192084e-01 1.87047606e-02 2.13201854e+01] [-1.01172711e-01 9.94866904e-01 -1.98154571e-03 -1.43811132e+00] [-1.88092640e-02 7.86144524e-05 9.99823087e-01 -6.35698826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.94587156 meters 0.013332006637595832 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.43, Z:-0.64 [[ 9.94058763e-01 1.07331106e-01 1.80889192e-02 2.13523842e+01] [-1.07313921e-01 9.94223331e-01 -1.92087386e-03 -1.43258932e+00] [-1.81905950e-02 -3.17313543e-05 9.99834537e-01 -6.37148021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97587156 meters 0.014600108350119233 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.43, Z:-0.64 [[ 9.93709344e-01 1.10491998e-01 1.82553783e-02 2.13828019e+01] [-1.10475018e-01 9.93877010e-01 -1.93914150e-03 -1.43013607e+00] [-1.83578605e-02 -8.98202156e-05 9.99831476e-01 -6.39078695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00587156 meters 0.016505887443909538 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.43, Z:-0.64 [[ 9.93329410e-01 1.13826281e-01 1.84461779e-02 2.14133562e+01] [-1.13809511e-01 9.93500656e-01 -1.95977631e-03 -1.42770362e+00] [-1.85493639e-02 -1.52647052e-04 9.99827934e-01 -6.39824277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.03587156 meters 0.020794792153173723 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.42, Z:-0.64 [[ 9.92663968e-01 1.19436033e-01 1.87957456e-02 2.14434572e+01] [-1.19419621e-01 9.92841863e-01 -1.99719037e-03 -1.42237451e+00] [-1.88997396e-02 -2.62041904e-04 9.99821350e-01 -6.40021948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06587156 meters 0.022229830949328448 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.42, Z:-0.64 [[ 9.92367403e-01 1.21914974e-01 1.85385314e-02 2.14733952e+01] [-1.21899448e-01 9.92540501e-01 -1.96943454e-03 -1.42204831e+00] [-1.86403468e-02 -3.05434107e-04 9.99826207e-01 -6.40379243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09587156 meters 0.027654429257190843 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.41, Z:-0.64 [[ 9.91815877e-01 1.26359016e-01 1.82938520e-02 2.15026550e+01] [-1.26344660e-01 9.91984502e-01 -1.94302924e-03 -1.41397171e+00] [-1.83927369e-02 -3.84203256e-04 9.99830765e-01 -6.41979654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.12587156 meters 0.030340029912036957 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.41, Z:-0.64 [[ 9.91508988e-01 1.28706175e-01 1.85646792e-02 2.15321345e+01] [-1.28691810e-01 9.91682677e-01 -1.97138306e-03 -1.41096219e+00] [-1.86640000e-02 -4.34478153e-04 9.99825718e-01 -6.42549896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15587156 meters 0.031511096649783035 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.41, Z:-0.64 [[ 9.91197934e-01 1.31093260e-01 1.84719376e-02 2.15619457e+01] [-1.31079466e-01 9.91369925e-01 -1.96074601e-03 -1.40979795e+00] [-1.85695640e-02 -4.77804324e-04 9.99827457e-01 -6.42592219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185871560000002 meters 0.035683519111174615 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.40, Z:-0.64 [[ 9.90704496e-01 1.34815150e-01 1.81515001e-02 2.15917889e+01] [-1.34802460e-01 9.90870620e-01 -1.92644332e-03 -1.40244534e+00] [-1.82455019e-02 -5.38330803e-04 9.99833392e-01 -6.44447769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.21587156 meters 0.0381365422150532 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.40, Z:-0.65 [[ 9.90571501e-01 1.35778054e-01 1.82324468e-02 2.16197627e+01] [-1.35765420e-01 9.90739122e-01 -1.93467508e-03 -1.40008580e+00] [-1.83262847e-02 -5.58901807e-04 9.99831903e-01 -6.45748183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.24587156 meters 0.03862976347241048 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.40, Z:-0.65 [[ 9.90499169e-01 1.36220571e-01 1.88507817e-02 2.16485296e+01] [-1.36207171e-01 9.90678359e-01 -1.99895251e-03 -1.39995419e+00] [-1.89473600e-02 -5.87650852e-04 9.99820310e-01 -6.45825963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275871560000002 meters 0.03936885018132999 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.40, Z:-0.64 [[ 9.90451224e-01 1.36422303e-01 1.98828532e-02 2.16766653e+01] [-1.36407454e-01 9.90650577e-01 -2.10749984e-03 -1.39531224e+00] [-1.99844700e-02 -6.24793590e-04 9.99800095e-01 -6.44981803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.30587156 meters 0.03879320657250133 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.40, Z:-0.65 [[ 9.90515746e-01 1.35959100e-01 1.98413883e-02 2.17055561e+01] [-1.35944246e-01 9.90714260e-01 -2.10181679e-03 -1.39541740e+00] [-1.99429074e-02 -6.15439937e-04 9.99800931e-01 -6.45354788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.33587156 meters 0.03702803269283832 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.39, Z:-0.65 [[ 9.90721936e-01 1.34465601e-01 1.97242910e-02 2.17349991e+01] [-1.34450646e-01 9.90918091e-01 -2.08837722e-03 -1.39418423e+00] [-1.98259716e-02 -5.82942550e-04 9.99803276e-01 -6.46947962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365871560000002 meters 0.035855661985782605 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.40, Z:-0.65 [[ 9.90871748e-01 1.33419801e-01 1.92959930e-02 2.17635298e+01] [-1.33405301e-01 9.91059460e-01 -2.04250703e-03 -1.39606160e+00] [-1.93959872e-02 -5.50325239e-04 9.99811729e-01 -6.48129005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.39587156 meters 0.032108655092949516 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.40, Z:-0.65 [[ 9.91198037e-01 1.31034862e-01 1.88763339e-02 2.17918744e+01] [-1.31020569e-01 9.91377638e-01 -1.99724065e-03 -1.39870354e+00] [-1.89752835e-02 -4.93527003e-04 9.99819831e-01 -6.49259515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.42587156 meters 0.03265873285265966 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.40, Z:-0.65 [[ 9.91387697e-01 1.29594629e-01 1.88591203e-02 2.18200481e+01] [-1.29580116e-01 9.91566949e-01 -1.99464565e-03 -1.39791697e+00] [-1.89585757e-02 -4.66299841e-04 9.99820161e-01 -6.51136756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455871560000002 meters 0.033710727690497946 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.40, Z:-0.65 [[ 9.91595347e-01 1.28011821e-01 1.87520886e-02 2.18478073e+01] [-1.27997212e-01 9.91772547e-01 -1.98218812e-03 -1.39790014e+00] [-1.88515502e-02 -4.34686543e-04 9.99822199e-01 -6.52669620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.48587156 meters 0.028216424307071723 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.40, Z:-0.65 [[ 9.92046982e-01 1.24419587e-01 1.90408083e-02 2.18778679e+01] [-1.24403890e-01 9.92229624e-01 -2.01127432e-03 -1.40135281e+00] [-1.91430960e-02 -3.73472010e-04 9.99816684e-01 -6.53017561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.51587156 meters 0.02306586407162187 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.41, Z:-0.65 [[ 9.92293103e-01 1.22423877e-01 1.91518088e-02 2.19065668e+01] [-1.22407635e-01 9.92477849e-01 -2.02244103e-03 -1.40829402e+00] [-1.92553411e-02 -3.37473347e-04 9.99814542e-01 -6.51524752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545871560000002 meters 0.020118861923841033 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.41, Z:-0.65 [[ 9.92833363e-01 1.18017094e-01 1.88116833e-02 2.19346958e+01] [-1.18000644e-01 9.93011533e-01 -1.98598143e-03 -1.41082083e+00] [-1.89145982e-02 -2.48042115e-04 9.99821072e-01 -6.53443118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57587156 meters 0.016970079002160784 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.42, Z:-0.65 [[ 9.93121623e-01 1.15594388e-01 1.86380922e-02 2.19632948e+01] [-1.15577830e-01 9.93296480e-01 -1.96675822e-03 -1.41669945e+00] [-1.87404976e-02 -2.00920135e-04 9.99824361e-01 -6.52925592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.60587156 meters 0.024833500144095574 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.42, Z:-0.65 [[ 9.93422986e-01 1.13092280e-01 1.79138575e-02 2.19908849e+01] [-1.13076589e-01 9.93584478e-01 -1.88965295e-03 -1.42141313e+00] [-1.80126359e-02 -1.48413235e-04 9.99837748e-01 -6.53669296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635871560000002 meters 0.013949099213927724 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.43, Z:-0.66 [[ 9.93906659e-01 1.08744375e-01 1.80059634e-02 2.20186096e+01] [-1.08727832e-01 9.94069744e-01 -1.89807437e-03 -1.42753984e+00] [-1.81055883e-02 -7.12406052e-05 9.99836078e-01 -6.56948185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66587156 meters 0.01310251211803303 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.43, Z:-0.66 [[ 9.94154826e-01 1.06457617e-01 1.79710420e-02 2.20472141e+01] [-1.06440781e-01 9.94317241e-01 -1.89349495e-03 -1.43338502e+00] [-1.80704939e-02 -3.04246041e-05 9.99836715e-01 -6.57569428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.69587156 meters 0.01309602362292611 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.44, Z:-0.66 [[ 9.94638887e-01 1.01910348e-01 1.75432451e-02 2.20755442e+01] [-1.01893613e-01 9.94793586e-01 -1.84747847e-03 -1.44288637e+00] [-1.76401849e-02 5.00293071e-05 9.99844399e-01 -6.57978838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72587156 meters 0.013874130453447023 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.45, Z:-0.66 [[ 9.94835733e-01 1.00003716e-01 1.73528498e-02 2.21034854e+01] [-9.99870648e-02 9.94987060e-01 -1.82669336e-03 -1.44882744e+00] [-1.74485372e-02 8.21993103e-05 9.99847759e-01 -6.59709257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75587156 meters 0.01535287867042177 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.45, Z:-0.66 [[ 9.95128212e-01 9.70771270e-02 1.72009845e-02 2.21324024e+01] [-9.70603381e-02 9.95276853e-01 -1.81017454e-03 -1.45492579e+00] [-1.72954683e-02 1.31822374e-04 9.99850414e-01 -6.60215086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.78587156 meters 0.01580731126341676 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.46, Z:-0.66 [[ 9.95192049e-01 9.63827753e-02 1.74111200e-02 2.21622856e+01] [-9.63654749e-02 9.95344332e-01 -1.83186029e-03 -1.45859360e+00] [-1.75066194e-02 1.45221947e-04 9.99846737e-01 -6.60825884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81587156 meters 0.02825924373626632 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.46, Z:-0.66 [[ 9.95208542e-01 9.61996356e-02 1.74810834e-02 2.21909008e+01] [-9.61821745e-02 9.95362049e-01 -1.83883043e-03 -1.46158401e+00] [-1.75769018e-02 1.48651134e-04 9.99845503e-01 -6.60531551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845871560000003 meters 0.014856813697926963 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.46, Z:-0.66 [[ 9.95037144e-01 9.78809734e-02 1.78996219e-02 2.22210572e+01] [-9.78629502e-02 9.95198121e-01 -1.88218197e-03 -1.46230349e+00] [-1.79978999e-02 1.21131161e-04 9.99838017e-01 -6.61530235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.87587156 meters 0.025795488900958986 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.46, Z:-0.66 [[ 9.94891268e-01 9.94210969e-02 1.75160310e-02 2.22506631e+01] [-9.94040774e-02 9.95045445e-01 -1.84180257e-03 -1.46255655e+00] [-1.76123609e-02 9.12283976e-05 9.99844886e-01 -6.60995591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90587156 meters 0.02088508153400897 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.46, Z:-0.66 [[ 9.94449356e-01 1.03818731e-01 1.70924017e-02 2.22790795e+01] [-1.03803175e-01 9.94596235e-01 -1.79717782e-03 -1.45821563e+00] [-1.71866191e-02 1.29567624e-05 9.99852299e-01 -6.63561987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935871560000002 meters 0.028009334388422895 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.46, Z:-0.66 [[ 9.94212434e-01 1.06140273e-01 1.66096175e-02 2.23078917e+01] [-1.06125920e-01 9.94351166e-01 -1.74566081e-03 -1.45588584e+00] [-1.67010775e-02 -2.71532552e-05 9.99860527e-01 -6.64497694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.96587156 meters 0.013759142933286563 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.45, Z:-0.67 [[ 9.93953987e-01 1.08478823e-01 1.69651853e-02 2.23366888e+01] [-1.08464204e-01 9.94098758e-01 -1.78221379e-03 -1.45404396e+00] [-1.70584021e-02 -6.86768116e-05 9.99854493e-01 -6.65181615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.99587156 meters 0.017420637419787603 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.45, Z:-0.67 [[ 9.93746140e-01 1.10450366e-01 1.64111452e-02 2.23644954e+01] [-1.10436964e-01 9.93881636e-01 -1.72341957e-03 -1.45137573e+00] [-1.65010881e-02 -9.97555136e-05 9.99863843e-01 -6.68739436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025871560000002 meters 0.016507290301034105 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.45, Z:-0.67 [[ 9.93447230e-01 1.13043312e-01 1.68466636e-02 2.23935281e+01] [-1.13029584e-01 9.93590050e-01 -1.76790686e-03 -1.44897836e+00] [-1.69385273e-02 -1.47849202e-04 9.99856522e-01 -6.68919340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.05587156 meters 0.016738346148455315 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.45, Z:-0.67 [[ 9.93387720e-01 1.13546269e-01 1.69729984e-02 2.24219723e+01] [-1.13532421e-01 9.93532697e-01 -1.78033863e-03 -1.45005033e+00] [-1.70653797e-02 -1.58419069e-04 9.99854363e-01 -6.69510255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.08587156 meters 0.016710690419528256 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.45, Z:-0.67 [[ 9.93506079e-01 1.12410747e-01 1.75924393e-02 2.24496678e+01] [-1.12395706e-01 9.93661815e-01 -1.84454337e-03 -1.45042106e+00] [-1.76882817e-02 -1.44749589e-04 9.99843540e-01 -6.70871133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115871560000002 meters 0.015153464736767328 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.46, Z:-0.67 [[ 9.93703368e-01 1.10636058e-01 1.76997123e-02 2.24782559e+01] [-1.10620573e-01 9.93860981e-01 -1.85456099e-03 -1.45570435e+00] [-1.77962347e-02 -1.15068824e-04 9.99841628e-01 -6.71219823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.14587156 meters 0.01444786044455199 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.46, Z:-0.67 [[ 9.93973770e-01 1.08189279e-01 1.76415429e-02 2.25054444e+01] [-1.08173521e-01 9.94130311e-01 -1.84782653e-03 -1.46157763e+00] [-1.77379075e-02 -7.16567060e-05 9.99842668e-01 -6.73675221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.17587156 meters 0.013963625742897851 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.47, Z:-0.68 [[ 9.94657546e-01 1.01776671e-01 1.72590387e-02 2.25317919e+01] [-1.01760642e-01 9.94807272e-01 -1.80669353e-03 -1.47488882e+00] [-1.73532965e-02 4.07504840e-05 9.99849419e-01 -6.75555813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205871560000002 meters 0.01451239954247243 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.48, Z:-0.67 [[ 9.95010982e-01 9.83329323e-02 1.68457904e-02 2.25599293e+01] [-9.83171878e-02 9.95153569e-01 -1.76227546e-03 -1.48212577e+00] [-1.69374382e-02 9.72526980e-05 9.99856547e-01 -6.74725173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.23587156 meters 0.017885347565296066 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.49, Z:-0.68 [[ 9.95325125e-01 9.51472861e-02 1.65797694e-02 2.25877918e+01] [-9.51316086e-02 9.95463195e-01 -1.73350376e-03 -1.49239628e+00] [-1.66694884e-02 1.48139711e-04 9.99861043e-01 -6.79475360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.26587156 meters 0.024444918482368932 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.51, Z:-0.68 [[ 9.95898928e-01 8.90976303e-02 1.57142547e-02 2.26170085e+01] [-8.90828100e-02 9.96022870e-01 -1.64197859e-03 -1.50518293e+00] [-1.57980534e-02 2.35374758e-04 9.99875175e-01 -6.77673216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295871560000002 meters 0.023889028633024972 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.51, Z:-0.68 [[ 9.96119333e-01 8.65341426e-02 1.60659781e-02 2.26463637e+01] [-8.65183180e-02 9.96248846e-01 -1.67873008e-03 -1.51420475e+00] [-1.61509796e-02 2.82214094e-04 9.99869525e-01 -6.79668485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32587156 meters 0.029358959510935517 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.53, Z:-0.68 [[ 9.96400864e-01 8.31488984e-02 1.64796780e-02 2.26751397e+01] [-8.31317879e-02 9.96537075e-01 -1.72179627e-03 -1.53052914e+00] [-1.65657756e-02 3.45614199e-04 9.99862718e-01 -6.82439650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.35587156 meters 0.028431100525432 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.53, Z:-0.68 [[ 9.96470599e-01 8.22507755e-02 1.67676636e-02 2.27064316e+01] [-8.22329339e-02 9.96611597e-01 -1.75193140e-03 -1.53456957e+00] [-1.68549457e-02 3.66893961e-04 9.99857878e-01 -6.81301808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385871560000002 meters 0.028682316345409412 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.54, Z:-0.68 [[ 9.96492937e-01 8.19758553e-02 1.67864525e-02 2.27372360e+01] [-8.19579282e-02 9.96634246e-01 -1.75428396e-03 -1.53898383e+00] [-1.68737624e-02 3.72348705e-04 9.99857559e-01 -6.81456001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41587156 meters 0.02749115844263912 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.54, Z:-0.68 [[ 9.96350049e-01 8.36462277e-02 1.70261361e-02 2.27675527e+01] [-8.36280311e-02 9.96495453e-01 -1.77918459e-03 -1.54275464e+00] [-1.71152893e-02 3.48828415e-04 9.99853462e-01 -6.82262972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.44587156 meters 0.023902428893546403 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.54, Z:-0.68 [[ 9.96234553e-01 8.49688253e-02 1.72340856e-02 2.27996282e+01] [-8.49503563e-02 9.96383555e-01 -1.80223824e-03 -1.54311933e+00] [-1.73248935e-02 3.31410301e-04 9.99849858e-01 -6.80784552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47587156 meters 0.02245226859391064 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.55, Z:-0.68 [[ 9.96081059e-01 8.66927484e-02 1.75182943e-02 2.28306554e+01] [-8.66739098e-02 9.96235049e-01 -1.83320241e-03 -1.54676650e+00] [-1.76112641e-02 3.07639140e-04 9.99844862e-01 -6.82007389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50587156 meters 0.02122342460824249 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.55, Z:-0.69 [[ 9.95770203e-01 9.02702348e-02 1.71168890e-02 2.28609232e+01] [-9.02527710e-02 9.95917279e-01 -1.79159589e-03 -1.55257825e+00] [-1.72087333e-02 2.39171135e-04 9.99851890e-01 -6.85936761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.53587156 meters 0.019297671117213127 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.55, Z:-0.69 [[ 9.95604309e-01 9.21910041e-02 1.65190424e-02 2.28918953e+01] [-9.21749916e-02 9.95741321e-01 -1.72973057e-03 -1.55337029e+00] [-1.66081587e-02 1.99484611e-04 9.99862055e-01 -6.86741946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56587156 meters 0.01657151938393214 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.55, Z:-0.69 [[ 9.95202216e-01 9.64815027e-02 1.62440328e-02 2.29215154e+01] [-9.64665874e-02 9.95334770e-01 -1.70109953e-03 -1.55205094e+00] [-1.63323752e-02 1.25931616e-04 9.99866610e-01 -6.88859190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595871560000003 meters 0.01657151938393214 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.56, Z:-0.69 [[ 9.95204450e-01 9.64584538e-02 1.62440356e-02 2.29505149e+01] [-9.64435359e-02 9.95337004e-01 -1.70107220e-03 -1.55504206e+00] [-1.63323725e-02 1.26282393e-04 9.99866610e-01 -6.89747970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.62587156 meters 0.015074672811182119 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.56, Z:-0.69 [[ 9.94960565e-01 9.88773747e-02 1.66354466e-02 2.29805707e+01] [-9.88620738e-02 9.95099622e-01 -1.74165710e-03 -1.55526263e+00] [-1.67261371e-02 8.82653857e-05 9.99860104e-01 -6.89933197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65587156 meters 0.014291388516909588 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.56, Z:-0.69 [[ 9.94714649e-01 1.01272994e-01 1.69277127e-02 2.30094415e+01] [-1.01257504e-01 9.94858673e-01 -1.77183615e-03 -1.55574593e+00] [-1.70201209e-02 4.84134323e-05 9.99855146e-01 -6.90810096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685871560000002 meters 0.014328659417895098 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.55, Z:-0.69 [[ 9.94144572e-01 1.06677305e-01 1.72198188e-02 2.30378607e+01] [-1.06662086e-01 9.94293694e-01 -1.80246129e-03 -1.55207755e+00] [-1.73138390e-02 -4.47946769e-05 9.99850103e-01 -6.91808704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.71587156 meters 0.014943919136409778 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.55, Z:-0.69 [[ 9.93867750e-01 1.09236897e-01 1.71521240e-02 2.30671624e+01] [-1.09222198e-01 9.94015740e-01 -1.79425641e-03 -1.55162525e+00] [-1.72454803e-02 -9.01390969e-05 9.99851282e-01 -6.91175975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.74587156 meters 0.018690188152874248 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.54, Z:-0.69 [[ 9.93275476e-01 1.14405777e-01 1.77523679e-02 2.30960849e+01] [-1.14390868e-01 9.93434086e-01 -1.85635189e-03 -1.54465257e+00] [-1.78481847e-02 -1.86839962e-04 9.99840691e-01 -6.93360877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775871560000002 meters 0.020206362909111823 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.54, Z:-0.69 [[ 9.92974337e-01 1.16916849e-01 1.82322861e-02 2.31248475e+01] [-1.16901573e-01 9.93141678e-01 -1.90504923e-03 -1.54397611e+00] [-1.83299756e-02 -2.39717936e-04 9.99831963e-01 -6.93129221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.80587156 meters 0.022109674598622182 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.54, Z:-0.69 [[ 9.92726206e-01 1.18946818e-01 1.86100374e-02 2.31542055e+01] [-1.18931276e-01 9.92900586e-01 -1.94358806e-03 -1.54310939e+00] [-1.87091007e-02 -2.83864696e-04 9.99824929e-01 -6.93953046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.83587156 meters 0.02612017510422256 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.54, Z:-0.70 [[ 9.92509337e-01 1.20790315e-01 1.83006925e-02 2.31820649e+01] [-1.20775610e-01 9.92677995e-01 -1.91070653e-03 -1.53754344e+00] [-1.83974896e-02 -3.13883237e-04 9.99830703e-01 -6.98384047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865871560000002 meters 0.024111021510575786 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.54, Z:-0.70 [[ 9.92541736e-01 1.20599903e-01 1.77923052e-02 2.32104888e+01] [-1.20586000e-01 9.92701149e-01 -1.85610361e-03 -1.54199012e+00] [-1.78862877e-02 -3.03242618e-04 9.99839982e-01 -6.98557694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.89587156 meters 0.02228857758564295 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.55, Z:-0.70 [[ 9.92831334e-01 1.18327389e-01 1.68692574e-02 2.32391662e+01] [-1.18314576e-01 9.92974605e-01 -1.75907327e-03 -1.54635207e+00] [-1.69588908e-02 -2.49415975e-04 9.99856157e-01 -7.02076352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.92587156 meters 0.019618199033194887 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.55, Z:-0.70 [[ 9.93095051e-01 1.16145003e-01 1.65093341e-02 2.32670562e+01] [-1.16132442e-01 9.93232246e-01 -1.72080349e-03 -1.55269880e+00] [-1.65974657e-02 -2.08347855e-04 9.99862231e-01 -7.02633051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955871560000002 meters 0.018942129830646737 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.56, Z:-0.71 [[ 9.93356212e-01 1.13882387e-01 1.65601083e-02 2.32947845e+01] [-1.13869445e-01 9.93494224e-01 -1.72542945e-03 -1.55665554e+00] [-1.66488680e-02 -1.71724285e-04 9.99861383e-01 -7.05666901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.98587156 meters 0.01600251735846391 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.57, Z:-0.71 [[ 9.93864648e-01 1.09164409e-01 1.77818431e-02 2.33214963e+01] [-1.09148754e-01 9.94023703e-01 -1.85143832e-03 -1.56579667e+00] [-1.78776847e-02 -1.00786924e-04 9.99840176e-01 -7.06114299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.01587156 meters 0.014464362564635755 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.57, Z:-0.70 [[ 9.94092500e-01 1.06914990e-01 1.86892103e-02 2.33499742e+01] [-1.06897324e-01 9.94268163e-01 -1.94459207e-03 -1.57185681e+00] [-1.87899928e-02 -6.47221779e-05 9.99823450e-01 -7.03830998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045871560000002 meters 0.014048293848061203 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.58, Z:-0.70 [[ 9.94251449e-01 1.05284039e-01 1.94763114e-02 2.33787964e+01] [-1.05264563e-01 9.94442190e-01 -2.02533070e-03 -1.57584612e+00] [-1.95813008e-02 -3.64774332e-05 9.99808267e-01 -7.04303219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07587156 meters 0.013836902873959268 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.58, Z:-0.71 [[ 9.94504536e-01 1.02742499e-01 2.01173392e-02 2.34081733e+01] [-1.02721218e-01 9.94707987e-01 -2.09108291e-03 -1.58151336e+00] [-2.02257210e-02 1.31138505e-05 9.99795439e-01 -7.05223400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.10587156 meters 0.014005243895732192 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.59, Z:-0.71 [[ 9.94577079e-01 1.01954401e-01 2.05361863e-02 2.34363386e+01] [-1.01932065e-01 9.94789073e-01 -2.13422991e-03 -1.58566257e+00] [-2.06467679e-02 2.93602782e-05 9.99786832e-01 -7.06454498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135871560000002 meters 0.01384179107318142 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.59, Z:-0.71 [[ 9.94674847e-01 1.00923146e-01 2.08918059e-02 2.34662351e+01] [-1.00899825e-01 9.94894224e-01 -2.17009603e-03 -1.58926054e+00] [-2.10041500e-02 5.05603772e-05 9.99779387e-01 -7.05546212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16587156 meters 0.0140422272798808 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.59, Z:-0.71 [[ 9.94739767e-01 1.00340025e-01 2.06076660e-02 2.34958500e+01] [-1.00317207e-01 9.94953203e-01 -2.14070008e-03 -1.59229258e+00] [-2.07184612e-02 6.21360110e-05 9.99785348e-01 -7.07410642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.19587156 meters 0.014385064354068758 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.60, Z:-0.71 [[ 9.94814699e-01 9.96495613e-02 2.03390966e-02 2.35247247e+01] [-9.96271942e-02 9.95022592e-01 -2.11255613e-03 -1.59572055e+00] [-2.04483759e-02 7.52747600e-05 9.99790907e-01 -7.09585171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22587156 meters 0.019121301611592936 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.60, Z:-0.71 [[ 9.95055208e-01 9.75529661e-02 1.86695516e-02 2.35544438e+01] [-9.75337579e-02 9.95230329e-01 -1.93881024e-03 -1.60211724e+00] [-1.87696407e-02 1.08311693e-04 9.99823829e-01 -7.10031508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255871560000003 meters 0.016045845317658566 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.61, Z:-0.71 [[ 9.95166099e-01 9.62096370e-02 1.97012794e-02 2.35838996e+01] [-9.61879812e-02 9.95361083e-01 -2.04608176e-03 -1.60763072e+00] [-1.98067396e-02 1.41164909e-04 9.99803817e-01 -7.13512912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.28587156 meters 0.023884406195961914 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.62, Z:-0.71 [[ 9.95347117e-01 9.45345815e-02 1.86367825e-02 2.36134743e+01] [-9.45149184e-02 9.95521565e-01 -1.93504341e-03 -1.61543751e+00] [-1.87362474e-02 1.64585905e-04 9.99824448e-01 -7.11913319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31587156 meters 0.017395432635457425 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.62, Z:-0.71 [[ 9.95417948e-01 9.34203295e-02 2.03899505e-02 2.36436063e+01] [-9.33965507e-02 9.95626738e-01 -2.11746886e-03 -1.61955392e+00] [-2.04985945e-02 2.03415468e-04 9.99789861e-01 -7.14054408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345871560000003 meters 0.017991907449257293 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.63, Z:-0.71 [[ 9.95466002e-01 9.28031392e-02 2.08570571e-02 2.36732539e+01] [-9.27781252e-02 9.95684452e-01 -2.16586321e-03 -1.62520656e+00] [-2.09680464e-02 2.20964540e-04 9.99780122e-01 -7.14789087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.37587156 meters 0.03413473128233434 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.63, Z:-0.71 [[ 9.95530569e-01 9.22297068e-02 2.03117432e-02 2.37036930e+01] [-9.22058890e-02 9.95737732e-01 -2.10803957e-03 -1.63275984e+00] [-2.04195930e-02 2.25755488e-04 9.99791473e-01 -7.10731150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40587156 meters 0.019468976672682922 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.64, Z:-0.71 [[ 9.95531179e-01 9.16966427e-02 2.25698204e-02 2.37343291e+01] [-9.16670049e-02 9.95786952e-01 -2.34644603e-03 -1.63772415e+00] [-2.26898939e-02 2.67052344e-04 9.99742516e-01 -7.14825925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435871560000002 meters 0.019869255617540084 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.65, Z:-0.72 [[ 9.95636026e-01 9.05673085e-02 2.25047866e-02 2.37657894e+01] [-9.05374784e-02 9.95890293e-01 -2.34297552e-03 -1.64553451e+00] [-2.26244955e-02 2.95224202e-04 9.99743990e-01 -7.15428833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.46587156 meters 0.019045738887517275 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.64, Z:-0.71 [[ 9.95582332e-01 9.23347972e-02 1.70325079e-02 2.37972141e+01] [-9.20078159e-02 9.95575548e-01 -1.90759017e-02 -1.64053251e+00] [-1.87185179e-02 1.74245068e-02 9.99672948e-01 -7.13360737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.49587156 meters 0.02349675990417171 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.67, Z:-0.72 [[ 9.95751109e-01 8.89878551e-02 2.36831096e-02 2.38268679e+01] [-8.93549878e-02 9.95888065e-01 1.49214120e-02 -1.66812796e+00] [-2.22579018e-02 -1.69742165e-02 9.99608154e-01 -7.15686160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525871560000002 meters 0.021944039456896658 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.67, Z:-0.72 [[ 9.95869498e-01 8.79583621e-02 2.25226638e-02 2.38589100e+01] [-8.79276412e-02 9.96124086e-01 -2.35261817e-03 -1.66752172e+00] [-2.26423004e-02 3.62535971e-04 9.99743565e-01 -7.18972512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.55587156 meters 0.023803618300719396 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.68, Z:-0.72 [[ 9.95904563e-01 8.76350267e-02 2.22306894e-02 2.38895032e+01] [-8.76049317e-02 9.96152582e-01 -2.32592651e-03 -1.67606674e+00] [-2.23489912e-02 3.68882796e-04 9.99750162e-01 -7.21498230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.58587156 meters 0.02347582667244839 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.68, Z:-0.72 [[ 9.95963787e-01 8.70589293e-02 2.18375152e-02 2.39209610e+01] [-8.70296793e-02 9.96203092e-01 -2.28805919e-03 -1.68447443e+00] [-2.19537962e-02 3.78312148e-04 9.99758915e-01 -7.23194692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615871560000002 meters 0.023554424903129544 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.69, Z:-0.72 [[ 9.95917716e-01 8.76187077e-02 2.16994106e-02 2.39515668e+01] [-8.75898785e-02 9.96154018e-01 -2.27729226e-03 -1.69054244e+00] [-2.18154884e-02 3.67346966e-04 9.99761946e-01 -7.24342652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.64587156 meters 0.034265051269266655 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.70, Z:-0.72 [[ 9.95868503e-01 8.84666413e-02 2.04836026e-02 2.39825830e+01] [-8.84410645e-02 9.96079085e-01 -2.15296576e-03 -1.69921009e+00] [-2.05937538e-02 3.32479166e-04 9.99787871e-01 -7.23738261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.67587156 meters 0.022184010194435284 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.69, Z:-0.73 [[ 9.95651855e-01 9.16990482e-02 1.63911112e-02 2.40134804e+01] [-9.13865218e-02 9.95636195e-01 -1.88963057e-02 -1.69486467e+00] [-1.80523568e-02 1.73162152e-02 9.99687082e-01 -7.25181167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705871560000002 meters 0.027735900586234256 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.71, Z:-0.72 [[ 9.95587242e-01 9.19868792e-02 1.85595576e-02 2.40443052e+01] [-9.20687969e-02 9.95746116e-01 3.60687377e-03 -1.71494941e+00] [-1.81488223e-02 -5.29971365e-03 9.99821251e-01 -7.24843390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.73587156 meters 0.02037552017038832 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.72, Z:-0.73 [[ 9.95376392e-01 9.31370788e-02 2.34802782e-02 2.40742345e+01] [-9.33963765e-02 9.95576784e-01 1.01972762e-02 -1.72360401e+00] [-2.24266753e-02 -1.23431009e-02 9.99672292e-01 -7.30509437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.76587156 meters 0.017916406915434568 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.72, Z:-0.73 [[ 9.95218032e-01 9.52135834e-02 2.18046372e-02 2.41074450e+01] [-9.51859566e-02 9.95456843e-01 -2.30376611e-03 -1.71793266e+00] [-2.19249251e-02 2.17254329e-04 9.99759596e-01 -7.29808731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795871560000002 meters 0.017583871871614726 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.72, Z:-0.73 [[ 9.95040766e-01 9.70960540e-02 2.15923467e-02 2.41383974e+01] [-9.70693121e-02 9.95274999e-01 -2.28564576e-03 -1.72294783e+00] [-2.17122501e-02 1.78356465e-04 9.99764245e-01 -7.32572258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.82587156 meters 0.017225859356078163 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.72, Z:-0.73 [[ 9.94582667e-01 1.01740919e-01 2.13097251e-02 2.41701587e+01] [-1.01715908e-01 9.94810926e-01 -2.25712924e-03 -1.72499338e+00] [-2.14287897e-02 7.73635809e-05 9.99770374e-01 -7.32166100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.85587156 meters 0.014579728678115824 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.73, Z:-0.73 [[ 9.94304889e-01 1.04287409e-01 2.19527685e-02 2.42021267e+01] [-1.04261403e-01 9.94547201e-01 -2.32901823e-03 -1.72683692e+00] [-2.20759518e-02 2.69277713e-05 9.99756296e-01 -7.33220467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885871560000002 meters 0.014643622143088269 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.71, Z:-0.73 [[ 9.93891189e-01 1.09230830e-01 1.57775068e-02 2.42341463e+01] [-1.08654746e-01 9.93509854e-01 -3.36499001e-02 -1.70990674e+00] [-1.93507150e-02 3.17300382e-02 9.99309139e-01 -7.28728148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91587156 meters 0.018206205392799102 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.74, Z:-0.73 [[ 9.92901320e-01 1.15847143e-01 2.69519755e-02 2.42595411e+01] [-1.16486085e-01 9.92914722e-01 2.34807641e-02 -1.74074529e+00] [-2.40408338e-02 -2.64536117e-02 9.99360918e-01 -7.33871603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.94587156 meters 0.021665188797328937 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.71, Z:-0.73 [[ 9.92660444e-01 1.19501148e-01 1.85666187e-02 2.42945312e+01] [-1.19228803e-01 9.92751280e-01 -1.51455633e-02 -1.71437339e+00] [-2.02419467e-02 1.28207258e-02 9.99712905e-01 -7.32717254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97587156 meters 0.030611852118427794 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.71, Z:-0.74 [[ 9.91789765e-01 1.26253475e-01 2.03253896e-02 2.43249827e+01] [-1.26280082e-01 9.91994627e-01 2.57764656e-05 -1.71188594e+00] [-2.01594229e-02 -2.59225670e-03 9.99793418e-01 -7.36278471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005871560000003 meters 0.031068933820702964 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.72, Z:-0.74 [[ 9.91493884e-01 1.27855267e-01 2.43497129e-02 2.43550857e+01] [-1.28273687e-01 9.91602042e-01 1.64697234e-02 -1.72228045e+00] [-2.20394842e-02 -1.94530575e-02 9.99567826e-01 -7.40490828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.03587156 meters 0.035863937492742574 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.71, Z:-0.74 [[ 9.90799376e-01 1.33562316e-01 2.18564529e-02 2.43869687e+01] [-1.33543625e-01 9.91040222e-01 -2.31909049e-03 -1.70538190e+00] [-2.19703670e-02 -6.21036532e-04 9.99758429e-01 -7.41930291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06587156 meters 0.03047243668718103 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.71, Z:-0.74 [[ 9.90468053e-01 1.36245089e-01 2.02561743e-02 2.44147532e+01] [-1.35925733e-01 9.90583420e-01 -1.63915604e-02 -1.70621842e+00] [-2.22987000e-02 1.34819816e-02 9.99660444e-01 -7.38063920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095871560000003 meters 0.03969035539491792 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.71, Z:-0.75 [[ 9.90513458e-01 1.35410264e-01 2.33912346e-02 2.44448926e+01] [-1.35713112e-01 9.90676977e-01 1.18776658e-02 -1.71231034e+00] [-2.15647997e-02 -1.49394851e-02 9.99655826e-01 -7.45760297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.12587156 meters 0.03831240541717996 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.71, Z:-0.75 [[ 9.90617954e-01 1.34907298e-01 2.18195007e-02 2.44748544e+01] [-1.34889027e-01 9.90858011e-01 -2.31374698e-03 -1.70730807e+00] [-2.19321684e-02 -6.51171921e-04 9.99759249e-01 -7.45575751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15587156 meters 0.037067622903947446 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.71, Z:-0.75 [[ 9.90792199e-01 1.33600148e-01 2.19503798e-02 2.45039039e+01] [-1.33581378e-01 9.91035119e-01 -2.32579911e-03 -1.71183008e+00] [-2.20643244e-02 -6.27778361e-04 9.99756356e-01 -7.46298235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185871560000002 meters 0.03284158336570406 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.72, Z:-0.74 [[ 9.91229126e-01 1.30150502e-01 2.29273987e-02 2.45334964e+01] [-1.30129122e-01 9.91494082e-01 -2.42837231e-03 -1.71809707e+00] [-2.30484340e-02 -5.76448902e-04 9.99734183e-01 -7.44900514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.21587156 meters 0.028571166005270647 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.72, Z:-0.74 [[ 9.91506809e-01 1.27960228e-01 2.32471241e-02 2.45625411e+01] [-1.27937658e-01 9.91779157e-01 -2.46169926e-03 -1.72499344e+00] [-2.33710127e-02 -5.33391043e-04 9.99726718e-01 -7.44247751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.24587156 meters 0.03313517406646559 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.73, Z:-0.74 [[ 9.91765610e-01 1.25760781e-01 2.41909327e-02 2.45910113e+01] [-1.25735701e-01 9.92060469e-01 -2.56109590e-03 -1.72910025e+00] [-2.43209535e-02 -5.01657062e-04 9.99704076e-01 -7.42102503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275871560000002 meters 0.02167594514213208 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.73, Z:-0.74 [[ 9.92349698e-01 1.21036268e-01 2.43371894e-02 2.46214010e+01] [-1.20775518e-01 9.92608297e-01 -1.19181818e-02 -1.73369318e+00] [-2.55998284e-02 8.88766742e-03 9.99632762e-01 -7.43978792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.30587156 meters 0.020797863523613534 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.75, Z:-0.75 [[ 9.92644487e-01 1.18478868e-01 2.48933627e-02 2.46503144e+01] [-1.18679600e-01 9.92909713e-01 6.74204351e-03 -1.75082684e+00] [-2.39180719e-02 -9.64678665e-03 9.99667377e-01 -7.47357134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.33587156 meters 0.022312250770981753 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.76, Z:-0.75 [[ 9.93190578e-01 1.13906267e-01 2.44507288e-02 2.46803209e+01] [-1.13876990e-01 9.93491478e-01 -2.59101873e-03 -1.75532585e+00] [-2.45867240e-02 -2.11000002e-04 9.99697679e-01 -7.46368227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365871560000002 meters 0.028995975650711197 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.76, Z:-0.75 [[ 9.93472096e-01 1.11356638e-01 2.47566955e-02 2.47124388e+01] [-1.11325790e-01 9.93780497e-01 -2.62511094e-03 -1.76273650e+00] [-2.48950447e-02 -1.48084230e-04 9.99690059e-01 -7.46960856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.39587156 meters 0.015779083633078006 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.75, Z:-0.75 [[ 9.93770470e-01 1.10475236e-01 1.46790946e-02 2.47431074e+01] [-1.09848402e-01 9.93212569e-01 -3.82376854e-02 -1.74795021e+00] [-1.88037786e-02 3.63870075e-02 9.99160850e-01 -7.46845728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.42587156 meters 0.014543428952059742 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.79, Z:-0.75 [[ 9.94128920e-01 1.04924194e-01 2.64311027e-02 2.47706031e+01] [-1.05507719e-01 9.94180777e-01 2.17417496e-02 -1.79445530e+00] [-2.39960587e-02 -2.44027874e-02 9.99414175e-01 -7.52541319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455871560000002 meters 0.015460302530066328 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.79, Z:-0.75 [[ 9.94426357e-01 1.03316597e-01 2.10214417e-02 2.48061962e+01] [-1.03405981e-01 9.94634061e-01 3.20752597e-03 -1.79232717e+00] [-2.05772512e-02 -5.36339116e-03 9.99773880e-01 -7.54839167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.48587156 meters 0.015460302530066328 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.79, Z:-0.76 [[ 9.94402521e-01 1.03660932e-01 2.04459761e-02 2.48388533e+01] [-1.03637960e-01 9.94612693e-01 -2.18280622e-03 -1.79273121e+00] [-2.05620990e-02 5.16087536e-05 9.99788576e-01 -7.55643550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.51587156 meters 0.015594767814504347 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.80, Z:-0.76 [[ 9.94394793e-01 1.03826765e-01 1.99749398e-02 2.48713148e+01] [-1.03804801e-01 9.94595395e-01 -2.13614736e-03 -1.79744221e+00] [-2.00887724e-02 5.06791620e-05 9.99798199e-01 -7.57040783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545871560000002 meters 0.014778624748601086 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.80, Z:-0.76 [[ 9.94283028e-01 1.03657942e-01 2.56181967e-02 2.49014880e+01] [-1.03736176e-01 9.94603326e-01 1.74034494e-03 -1.80222111e+00] [-2.52995430e-02 -4.38792918e-03 9.99670285e-01 -7.55753490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.57587156 meters 0.01477109831702731 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.80, Z:-0.76 [[ 9.93930886e-01 1.07097197e-01 2.51313332e-02 2.49337047e+01] [-1.06896070e-01 9.94227465e-01 -9.21832710e-03 -1.79583271e+00] [-2.59735187e-02 6.47593927e-03 9.99641655e-01 -7.57331467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.60587156 meters 0.015538862348043445 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.80, Z:-0.76 [[ 9.93777639e-01 1.09268890e-01 2.15943109e-02 2.49672186e+01] [-1.09376048e-01 9.93993019e-01 3.84159041e-03 -1.80418667e+00] [-2.10448279e-02 -6.17958703e-03 9.99759435e-01 -7.59371537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635871560000002 meters 0.016384017145164884 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.80, Z:-0.76 [[ 9.93516648e-01 1.11800865e-01 2.06212894e-02 2.49989680e+01] [-1.11779048e-01 9.93730625e-01 -2.21120608e-03 -1.80083737e+00] [-2.07392215e-02 -1.08158056e-04 9.99784913e-01 -7.60041618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66587156 meters 0.018808260354188353 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.80, Z:-0.76 [[ 9.93084195e-01 1.15570327e-01 2.06707849e-02 2.50298449e+01] [-1.15549209e-01 9.93299283e-01 -2.21711454e-03 -1.79747016e+00] [-2.07885084e-02 -1.86711435e-04 9.99783878e-01 -7.61989568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.69587156 meters 0.019625005866252345 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.80, Z:-0.76 [[ 9.92923399e-01 1.16903095e-01 2.08995235e-02 2.50595148e+01] [-1.16881791e-01 9.93143303e-01 -2.24220316e-03 -1.79798288e+00] [-2.10183423e-02 -2.16437761e-04 9.99779067e-01 -7.62309678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72587156 meters 0.02130589776446372 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.79, Z:-0.76 [[ 9.92512092e-01 1.19746303e-01 2.40950339e-02 2.50895179e+01] [-1.19492575e-01 9.92765996e-01 -1.17132864e-02 -1.78912016e+00] [-2.53233530e-02 8.74640071e-03 9.99641050e-01 -7.61100966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755871560000003 meters 0.022495209680594694 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.80, Z:-0.76 [[ 9.92340827e-01 1.20216352e-01 2.84202827e-02 2.51189624e+01] [-1.20421275e-01 9.92707050e-01 5.60612238e-03 -1.79897997e+00] [-2.75390675e-02 -8.98559080e-03 9.99580341e-01 -7.63629735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.78587156 meters 0.02477307184579745 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.79, Z:-0.76 [[ 9.92299034e-01 1.21928554e-01 2.18186957e-02 2.51515738e+01] [-1.21927453e-01 9.92538048e-01 -1.38575398e-03 -1.79309440e+00] [-2.18248486e-02 -1.28521566e-03 9.99760984e-01 -7.64632050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81587156 meters 0.02621798950612972 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.79, Z:-0.77 [[ 9.91851783e-01 1.23697665e-01 3.04783373e-02 2.51794574e+01] [-1.23785189e-01 9.92308540e-01 9.94483865e-04 -1.79105792e+00] [-3.01208991e-02 -4.75914733e-03 9.99534933e-01 -7.66214463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845871560000003 meters 0.027396910616657714 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.79, Z:-0.77 [[ 9.91682852e-01 1.25391095e-01 2.90205723e-02 2.52105958e+01] [-1.25337289e-01 9.92107390e-01 -3.67295272e-03 -1.78736996e+00] [-2.92520798e-02 5.04437947e-06 9.99572066e-01 -7.68104021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.87587156 meters 0.02952233827557378 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.78, Z:-0.77 [[ 9.91749723e-01 1.26665699e-01 1.97050274e-02 2.52428508e+01] [-1.26575413e-01 9.91940214e-01 -5.76857235e-03 -1.78203089e+00] [-2.02768893e-02 3.22680806e-03 9.99789196e-01 -7.71499346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90587156 meters 0.027827783860172376 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.79, Z:-0.77 [[ 9.91817899e-01 1.26214149e-01 1.91636140e-02 2.52710000e+01] [-1.26197864e-01 9.92002948e-01 -2.06159454e-03 -1.78830876e+00] [-1.92705640e-02 -3.73680786e-04 9.99814236e-01 -7.73854183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935871560000002 meters 0.017762840246064737 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.82, Z:-0.77 [[ 9.92105781e-01 1.23194251e-01 2.34370638e-02 2.52997874e+01] [-1.23590850e-01 9.92199448e-01 1.62959500e-02 -1.81534123e+00] [-2.12466744e-02 -1.90639128e-02 9.99592490e-01 -7.67640443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.96587156 meters 0.02485245108641981 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.78, Z:-0.78 [[ 9.92336119e-01 1.22074153e-01 1.91553650e-02 2.53295510e+01] [-1.21592316e-01 9.92275808e-01 -2.45770284e-02 -1.77854933e+00] [-2.20076252e-02 2.20595278e-02 9.99514403e-01 -7.76328374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.99587156 meters 0.02256860971092787 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.81, Z:-0.78 [[ 9.92541088e-01 1.19584883e-01 2.36990376e-02 2.53574669e+01] [-1.20023002e-01 9.92607684e-01 1.80128733e-02 -1.81132780e+00] [-2.13697795e-02 -2.07229465e-02 9.99556848e-01 -7.81064401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025871560000002 meters 0.01717112400124479 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.81, Z:-0.78 [[ 9.93136757e-01 1.12963440e-01 3.03091122e-02 2.53878007e+01] [-1.13121801e-01 9.93574763e-01 3.55654785e-03 -1.81338811e+00] [-2.97126090e-02 -6.96075977e-03 9.99534246e-01 -7.78262917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.05587156 meters 0.015116964937181045 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.82, Z:-0.77 [[ 9.93503246e-01 1.09624782e-01 3.05566248e-02 2.54205488e+01] [-1.09901029e-01 9.93914182e-01 7.50749689e-03 -1.82463526e+00] [-2.95476550e-02 -1.08169270e-02 9.99504842e-01 -7.74841256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.08587156 meters 0.015907658853402177 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.82, Z:-0.78 [[ 9.93549008e-01 1.08677487e-01 3.23971101e-02 2.54499549e+01] [-1.08232129e-01 9.94009400e-01 -1.52025762e-02 -1.81538156e+00] [-3.38552097e-02 1.15980963e-02 9.99359449e-01 -7.82578638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115871560000002 meters 0.015704562296321063 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.83, Z:-0.78 [[ 9.94357574e-01 1.03512999e-01 2.31964026e-02 2.54827704e+01] [-1.03405202e-01 9.94622387e-01 -5.80263894e-03 -1.83230544e+00] [-2.36723099e-02 3.37126928e-03 9.99714087e-01 -7.81898842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.14587156 meters 0.017611366442506653 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.86, Z:-0.79 [[ 9.94162440e-01 9.99490977e-02 4.06352076e-02 2.55107024e+01] [-1.00875781e-01 9.94668252e-01 2.14276847e-02 -1.85599656e+00] [-3.82768731e-02 -2.54017076e-02 9.98944260e-01 -7.88283031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.17587156 meters 0.019474126355106876 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.85, Z:-0.79 [[ 9.94529722e-01 9.70966465e-02 3.85080965e-02 2.55441511e+01] [-9.71009120e-02 9.95272978e-01 -1.76392805e-03 -1.84817459e+00] [-3.84973394e-02 -1.98489242e-03 9.99256731e-01 -7.89419856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205871560000002 meters 0.018798076114602623 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.84, Z:-0.78 [[ 9.94928154e-01 9.83840856e-02 2.09413580e-02 2.55788077e+01] [-9.77472451e-02 9.94773124e-01 -2.95280820e-02 -1.83585145e+00] [-2.37369935e-02 2.73313601e-02 9.99344561e-01 -7.84664466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.23587156 meters 0.018533864534026948 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.87, Z:-0.79 [[ 9.94770475e-01 9.50633864e-02 3.73450631e-02 2.56057254e+01] [-9.58639753e-02 9.95188194e-01 2.02621828e-02 -1.86943543e+00] [-3.52391742e-02 -2.37362675e-02 9.99096987e-01 -7.89218713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.26587156 meters 0.019885137700634454 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.84, Z:-0.79 [[ 9.94901424e-01 9.86805807e-02 2.08158309e-02 2.56417824e+01] [-9.81185812e-02 9.94822225e-01 -2.64855497e-02 -1.84418643e+00] [-2.33216606e-02 2.43080914e-02 9.99432447e-01 -7.86841338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295871560000002 meters 0.015521258126431674 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.85, Z:-0.78 [[ 9.94882757e-01 9.77886794e-02 2.54101066e-02 2.56761223e+01] [-9.78426036e-02 9.95201508e-01 8.84608295e-04 -1.85466128e+00] [-2.52016718e-02 -3.36627253e-03 9.99676720e-01 -7.83981119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.32587156 meters 0.016026774161913206 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.86, Z:-0.79 [[ 9.94675076e-01 9.92056715e-02 2.79236230e-02 2.57050800e+01] [-9.91471258e-02 9.95066711e-01 -3.47685650e-03 -1.85547864e+00] [-2.81307916e-02 6.89795539e-04 9.99604013e-01 -7.87450569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.35587156 meters 0.0175673333213243 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.87, Z:-0.79 [[ 9.94327862e-01 9.97557824e-02 3.68901872e-02 2.57333472e+01] [-1.00286549e-01 9.94875948e-01 1.28240331e-02 -1.87059077e+00] [-3.54218885e-02 -1.64508830e-02 9.99237038e-01 -7.93177654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385871560000002 meters 0.01586846417761263 Centerline is valid? [True, True] Translation: X:25.77, Y:-1.85, Z:-0.79 [[ 9.94502877e-01 1.01194740e-01 2.69008007e-02 2.57703605e+01] [-1.00629215e-01 9.94689318e-01 -2.16083869e-02 -1.85120989e+00] [-2.89445942e-02 1.87825965e-02 9.99404535e-01 -7.89532758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415871560000003 meters 0.015658028709873203 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.86, Z:-0.79 [[ 9.94484291e-01 1.01313482e-01 2.71398857e-02 2.58015271e+01] [-1.01186502e-01 9.94849288e-01 -6.01546582e-03 -1.86453948e+00] [-2.76095438e-02 3.23609616e-03 9.99613546e-01 -7.91714831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.44587156 meters 0.01543801363453227 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.87, Z:-0.79 [[ 9.94387379e-01 1.02103550e-01 2.77237459e-02 2.58317514e+01] [-1.02081277e-01 9.94773582e-01 -2.22121520e-03 -1.86903412e+00] [-2.78056440e-02 -6.21327019e-04 9.99613155e-01 -7.93506043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47587156 meters 0.015877155081426716 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.87, Z:-0.80 [[ 9.94356056e-01 1.02721363e-01 2.65397046e-02 2.58622632e+01] [-1.02624001e-01 9.94707610e-01 -5.00854656e-03 -1.87153910e+00] [-2.69137309e-02 2.25666794e-03 9.99635213e-01 -7.97225256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505871560000003 meters 0.015782174997316583 Centerline is valid? [True, True] Translation: X:25.90, Y:-1.88, Z:-0.80 [[ 9.94375662e-01 1.02885123e-01 2.51335314e-02 2.58951515e+01] [-1.02809987e-01 9.94691861e-01 -4.26702022e-03 -1.87549137e+00] [-2.54391321e-02 1.65904300e-03 9.99674996e-01 -7.98929400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.53587156 meters 0.015696822559131587 Centerline is valid? [True, True] Translation: X:25.93, Y:-1.88, Z:-0.80 [[ 9.94303958e-01 1.03460235e-01 2.56050525e-02 2.59269306e+01] [-1.03388481e-01 9.94632544e-01 -4.11404840e-03 -1.88003696e+00] [-2.58932589e-02 1.44334712e-03 9.99663671e-01 -7.99989131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56587156 meters 0.015579658225533328 Centerline is valid? [True, True] Translation: X:25.96, Y:-1.89, Z:-0.80 [[ 9.94157853e-01 1.05124765e-01 2.44734096e-02 2.59584015e+01] [-1.05300705e-01 9.94422257e-01 6.01130308e-03 -1.89086589e+00] [-2.37049664e-02 -8.55325146e-03 9.99682408e-01 -8.00649391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595871560000003 meters 0.022375688173175746 Centerline is valid? [True, True] Translation: X:25.99, Y:-1.89, Z:-0.80 [[ 9.94149619e-01 1.05148443e-01 2.47050522e-02 2.59908579e+01] [-1.05113576e-01 9.94456533e-01 -2.70934671e-03 -1.89258925e+00] [-2.48529842e-02 9.66596077e-05 9.99691112e-01 -8.01273663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.62587156 meters 0.015797570597604716 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.89, Z:-0.80 [[ 9.94320769e-01 1.03371061e-01 2.53107259e-02 2.60232779e+01] [-1.03216541e-01 9.94631822e-01 -7.34064524e-03 -1.89358310e+00] [-2.59336637e-02 4.68647045e-03 9.99652681e-01 -8.02424253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65587156 meters 0.015941993742915998 Centerline is valid? [True, True] Translation: X:26.06, Y:-1.90, Z:-0.80 [[ 9.94355089e-01 1.01807089e-01 2.98876950e-02 2.60574964e+01] [-1.01961030e-01 9.94781629e-01 3.66863260e-03 -1.90443895e+00] [-2.93582371e-02 -6.69530365e-03 9.99546531e-01 -8.03727913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685871560000002 meters 0.016038445229154038 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.91, Z:-0.81 [[ 9.94205365e-01 1.01589343e-01 3.51468096e-02 2.60884353e+01] [-1.02105049e-01 9.94686061e-01 1.31984809e-02 -1.91484599e+00] [-3.36192165e-02 -1.67106672e-02 9.99295002e-01 -8.07265040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.71587156 meters 0.015740049609296817 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.90, Z:-0.81 [[ 9.94354203e-01 1.02683653e-01 2.67541797e-02 2.61228019e+01] [-1.02192335e-01 9.94580704e-01 -1.91297971e-02 -1.90009857e+00] [-2.85735083e-02 1.62877221e-02 9.99458986e-01 -8.06527079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74587156 meters 0.01647282787016446 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.92, Z:-0.81 [[ 9.94443334e-01 1.01630166e-01 2.74547753e-02 2.61522314e+01] [-1.01555619e-01 9.94821415e-01 -4.09973752e-03 -1.91880071e+00] [-2.77292555e-02 1.28876994e-03 9.99614639e-01 -8.11854232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775871560000002 meters 0.016426509114981325 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.93, Z:-0.81 [[ 9.94433657e-01 1.01663085e-01 2.76824486e-02 2.61835774e+01] [-1.01627315e-01 9.94818878e-01 -2.69970780e-03 -1.92593798e+00] [-2.78134831e-02 -1.28612615e-04 9.99613122e-01 -8.13618218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.80587156 meters 0.016094008543320708 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.94, Z:-0.81 [[ 9.94466860e-01 1.00467888e-01 3.06898497e-02 2.62178423e+01] [-1.00649462e-01 9.94912104e-01 4.42610611e-03 -1.93564686e+00] [-3.00890214e-02 -7.49053270e-03 9.99519156e-01 -8.12984100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83587156 meters 0.015839675935780992 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.94, Z:-0.81 [[ 9.94395675e-01 1.01125064e-01 3.08376835e-02 2.62501433e+01] [-1.01082879e-01 9.94873700e-01 -2.92789165e-03 -1.93602543e+00] [-3.09756835e-02 -2.05679021e-04 9.99520117e-01 -8.13361980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865871560000002 meters 0.03117995879679383 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.93, Z:-0.82 [[ 9.94174021e-01 1.05085033e-01 2.39823260e-02 2.62764001e+01] [-1.04726497e-01 9.94376345e-01 -1.57494554e-02 -1.93443392e+00] [-2.55024897e-02 1.31461145e-02 9.99588317e-01 -8.15193693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.89587156 meters 0.018715083053973354 Centerline is valid? [True, True] Translation: X:26.31, Y:-1.97, Z:-0.83 [[ 0.99389682 0.10112533 0.04407685 26.30867302] [-0.10249347 0.99428221 0.02996628 -1.96671747] [-0.04079448 -0.03430098 0.99857862 -0.82579802] [ 0. 0. 0. 1. ]] SLAMing on 30.92587156 meters 0.014980480800930961 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.94, Z:-0.82 [[ 9.93896943e-01 1.06313902e-01 2.94316209e-02 2.63431522e+01] [-1.05653346e-01 9.94133273e-01 -2.31604516e-02 -1.93531391e+00] [-3.17212315e-02 1.99095528e-02 9.99298440e-01 -8.20810901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955871560000002 meters 0.01580388543939539 Centerline is valid? [True, True] Translation: X:26.37, Y:-1.95, Z:-0.83 [[ 9.93663166e-01 1.07195697e-01 3.38023011e-02 2.63722967e+01] [-1.07273126e-01 9.94229473e-01 4.80215494e-04 -1.95157011e+00] [-3.35557670e-02 -4.10325094e-03 9.99428424e-01 -8.27395703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.98587156 meters 0.016866993349673686 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.94, Z:-0.82 [[ 9.92948244e-01 1.16253449e-01 2.32146585e-02 2.64007325e+01] [-1.15775514e-01 9.93053979e-01 -2.09719929e-02 -1.93704847e+00] [-2.54914755e-02 1.81364145e-02 9.99510508e-01 -8.23186455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.01587156 meters 0.017633975387076707 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.95, Z:-0.83 [[ 9.92892912e-01 1.14214524e-01 3.34470943e-02 2.64342884e+01] [-1.14471397e-01 9.93409248e-01 5.86219871e-03 -1.95314263e+00] [-3.25571045e-02 -9.64927114e-03 9.99423297e-01 -8.25768214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045871560000002 meters 0.023788331257273976 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.93, Z:-0.82 [[ 9.91876345e-01 1.24424984e-01 2.64525844e-02 2.64607418e+01] [-1.24120786e-01 9.92183871e-01 -1.28528583e-02 -1.93479831e+00] [-2.78450443e-02 9.46513053e-03 9.99567439e-01 -8.22444663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.07587156 meters 0.0260908529116333 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.94, Z:-0.82 [[ 9.91521198e-01 1.27004909e-01 2.74857734e-02 2.64906488e+01] [-1.26969548e-01 9.91901972e-01 -3.03508819e-03 -1.93929081e+00] [-2.76486640e-02 -4.80501947e-04 9.99617587e-01 -8.23575164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.10587156 meters 0.029196113763182468 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.94, Z:-0.83 [[ 9.91167615e-01 1.29797393e-01 2.71918320e-02 2.65209430e+01] [-1.29763827e-01 9.91540383e-01 -3.00286226e-03 -1.93711087e+00] [-2.73515632e-02 -5.52176364e-04 9.99625724e-01 -8.25289478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135871560000002 meters 0.03296513670278904 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.93, Z:-0.83 [[ 9.90491126e-01 1.34765908e-01 2.76672917e-02 2.65512550e+01] [-1.34733116e-01 9.90877216e-01 -3.05460486e-03 -1.93362794e+00] [-2.78265456e-02 -7.02141411e-04 9.99612520e-01 -8.25796408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165871560000003 meters 0.03697531157253257 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.94, Z:-0.83 [[ 9.90350305e-01 1.31883030e-01 4.25809795e-02 2.65845399e+01] [-1.32887463e-01 9.90894055e-01 2.16770213e-02 -1.94390996e+00] [-3.93344082e-02 -2.71263230e-02 9.98857831e-01 -8.33225943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.19587156 meters 0.03927636063960455 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.91, Z:-0.83 [[ 9.89661887e-01 1.41351937e-01 2.42688852e-02 2.66145600e+01] [-1.40633996e-01 9.89633555e-01 -2.91119477e-02 -1.90969627e+00] [-2.81323334e-02 2.53979548e-02 9.99281500e-01 -8.27075409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22587156 meters 0.04033006385396158 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.93, Z:-0.83 [[ 9.89570577e-01 1.41640937e-01 2.62282051e-02 2.66420432e+01] [-1.41613937e-01 9.89917734e-01 -2.89346600e-03 -1.92501462e+00] [-2.63735986e-02 -8.50990558e-04 9.99651794e-01 -8.31772017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255871560000003 meters 0.041791531995014564 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.92, Z:-0.83 [[ 9.89466404e-01 1.42481153e-01 2.55999460e-02 2.66701141e+01] [-1.42455739e-01 9.89797147e-01 -2.82311693e-03 -1.92423037e+00] [-2.57409945e-02 -8.53479863e-04 9.99668281e-01 -8.33834518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.28587156 meters 0.04076508690773836 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.92, Z:-0.84 [[ 9.89477838e-01 1.42467719e-01 2.52300915e-02 2.66987043e+01] [-1.42443070e-01 9.89799090e-01 -2.78071931e-03 -1.92460880e+00] [-2.53688844e-02 -8.42391562e-04 9.99677803e-01 -8.35311060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31587156 meters 0.045270164211586444 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.93, Z:-0.84 [[ 9.89640974e-01 1.41358255e-01 2.50716146e-02 2.67267053e+01] [-1.41333585e-01 9.89958175e-01 -2.76220576e-03 -1.92530049e+00] [-2.52103104e-02 -8.09869167e-04 9.99681842e-01 -8.37983631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345871560000003 meters 0.03939708038729122 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.93, Z:-0.84 [[ 9.89848664e-01 1.39582750e-01 2.67633806e-02 2.67552112e+01] [-1.39554041e-01 9.90210072e-01 -2.94670142e-03 -1.92614553e+00] [-2.69126777e-02 -8.18149440e-04 9.99637453e-01 -8.35877383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.37587156 meters 0.03939708038729122 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.93, Z:-0.84 [[ 9.89855105e-01 1.39537043e-01 2.67635157e-02 2.67833703e+01] [-1.39508350e-01 9.90216514e-01 -2.94547393e-03 -1.92915320e+00] [-2.69126779e-02 -8.18141509e-04 9.99637453e-01 -8.36942445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40587156 meters 0.04693116498255081 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.93, Z:-0.84 [[ 9.90181679e-01 1.37301203e-01 2.62416000e-02 2.68109921e+01] [-1.37272863e-01 9.90529064e-01 -2.88696880e-03 -1.92845774e+00] [-2.63894518e-02 -7.43635945e-04 9.99651461e-01 -8.41176431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435871560000002 meters 0.033097880016293345 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.94, Z:-0.84 [[ 9.90338938e-01 1.36046354e-01 2.68361266e-02 2.68387335e+01] [-1.36016300e-01 9.90702205e-01 -2.95067393e-03 -1.93928694e+00] [-2.69880383e-02 -7.27983380e-04 9.99635491e-01 -8.36993189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.46587156 meters 0.02963748751941194 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.94, Z:-0.84 [[ 9.90860239e-01 1.32156453e-01 2.70307082e-02 2.68686065e+01] [-1.32124562e-01 9.91228671e-01 -2.97034221e-03 -1.94342771e+00] [-2.71861628e-02 -6.28226482e-04 9.99630191e-01 -8.37964124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.49587156 meters 0.0265725072253644 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.95, Z:-0.84 [[ 9.91244030e-01 1.29158597e-01 2.74468484e-02 2.69016888e+01] [-1.29000669e-01 9.91616474e-01 -7.45621447e-03 -1.94595463e+00] [-2.81797813e-02 3.85026628e-03 9.99595456e-01 -8.38520299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525871560000002 meters 0.024646555169460536 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.95, Z:-0.84 [[ 9.91752234e-01 1.25262482e-01 2.71443734e-02 2.69273357e+01] [-1.25342929e-01 9.92112656e-01 1.27600433e-03 -1.95407542e+00] [-2.67704409e-02 -4.66783542e-03 9.99630709e-01 -8.41699279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.55587156 meters 0.022450350731833123 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.96, Z:-0.84 [[ 9.92014581e-01 1.23172931e-01 2.71200902e-02 2.69568015e+01] [-1.23137496e-01 9.92385148e-01 -2.97918264e-03 -1.95647940e+00] [-2.72805293e-02 -3.84107372e-04 9.99627743e-01 -8.41915674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.58587156 meters 0.020504758808195928 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.96, Z:-0.84 [[ 9.92244752e-01 1.21181789e-01 2.76645367e-02 2.69862985e+01] [-1.21144162e-01 9.92630274e-01 -3.03831173e-03 -1.96158131e+00] [-2.78288447e-02 -3.36648255e-04 9.99612646e-01 -8.41669779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615871560000002 meters 0.02254941321521895 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.97, Z:-0.84 [[ 9.92774958e-01 1.16960544e-01 2.67976547e-02 2.70147655e+01] [-1.16923721e-01 9.93136539e-01 -2.94236510e-03 -1.96911413e+00] [-2.69578707e-02 -2.12175106e-04 9.99636548e-01 -8.44058692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.64587156 meters 0.031618042766332476 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.97, Z:-0.85 [[ 9.93030848e-01 1.15022784e-01 2.56806132e-02 2.70447794e+01] [-1.14988330e-01 9.93362842e-01 -2.81928990e-03 -1.97440325e+00] [-2.58344494e-02 -1.53328974e-04 9.99666223e-01 -8.46632806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.67587156 meters 0.01557165045661874 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.98, Z:-0.85 [[ 9.93363643e-01 1.11926180e-01 2.64802425e-02 2.70745639e+01] [-1.11888445e-01 9.93716521e-01 -2.90707546e-03 -1.98042005e+00] [-2.66392323e-02 -7.50501007e-05 9.99645110e-01 -8.46999441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705871560000002 meters 0.015496434398940044 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.99, Z:-0.85 [[ 9.93585628e-01 1.09909618e-01 2.65984141e-02 2.71046175e+01] [-1.09870827e-01 9.93941586e-01 -2.91992364e-03 -1.98609483e+00] [-2.67581975e-02 -2.11955809e-05 9.99641935e-01 -8.49556579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.73587156 meters 0.015009489160140142 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.99, Z:-0.85 [[ 9.93813840e-01 1.07688303e-01 2.71529334e-02 2.71387828e+01] [-1.07462574e-01 9.94162355e-01 -9.64403840e-03 -1.98731902e+00] [-2.80329743e-02 6.66645472e-03 9.99584769e-01 -8.48411490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76587156 meters 0.015533976296762814 Centerline is valid? [True, True] Translation: X:27.16, Y:-2.00, Z:-0.85 [[ 9.93903117e-01 1.06949157e-01 2.68043169e-02 2.71649702e+01] [-1.07081848e-01 9.94243833e-01 3.56070076e-03 -1.99994141e+00] [-2.62692128e-02 -6.40924737e-03 9.99634358e-01 -8.50895216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795871560000002 meters 0.02729582373617463 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.00, Z:-0.85 [[ 9.94270061e-01 1.04113657e-01 2.42361583e-02 2.71955398e+01] [-1.04079701e-01 9.94565398e-01 -2.66171984e-03 -2.00284433e+00] [-2.43815658e-02 1.23976240e-04 9.99702718e-01 -8.54517946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825871560000003 meters 0.016768793606666287 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.01, Z:-0.85 [[ 9.94276088e-01 1.03942468e-01 2.47188979e-02 2.72271889e+01] [-1.03906962e-01 9.94583302e-01 -2.72000785e-03 -2.00666663e+00] [-2.48677274e-02 1.35973194e-04 9.99690741e-01 -8.53733936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.85587156 meters 0.018050459807420278 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.01, Z:-0.86 [[ 9.94474066e-01 1.02233885e-01 2.38655563e-02 2.72579635e+01] [-1.02200316e-01 9.94760375e-01 -2.62532262e-03 -2.01279202e+00] [-2.40089067e-02 1.71747879e-04 9.99711730e-01 -8.56621313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885871560000002 meters 0.018192084240051462 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.01, Z:-0.86 [[ 9.94549746e-01 1.00778486e-01 2.67301422e-02 2.72914745e+01] [-1.00649385e-01 9.94903039e-01 -6.13543537e-03 -2.01486216e+00] [-2.72122196e-02 3.41162331e-03 9.99623857e-01 -8.56453455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915871560000003 meters 0.02806540163663266 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.02, Z:-0.86 [[ 9.94748098e-01 9.95241442e-02 2.38990986e-02 2.73187279e+01] [-9.95623256e-02 9.95031243e-01 4.10099101e-04 -2.02381227e+00] [-2.37395350e-02 -2.78739514e-03 9.99714292e-01 -8.58541680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.94587156 meters 0.02219960328938412 Centerline is valid? [True, True] Translation: X:27.35, Y:-2.03, Z:-0.86 [[ 9.94835561e-01 9.83368013e-02 2.51411973e-02 2.73502361e+01] [-9.82980951e-02 9.95153149e-01 -2.77381287e-03 -2.02825929e+00] [-2.52921096e-02 2.88155877e-04 9.99680062e-01 -8.56229338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97587156 meters 0.019255206372939152 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.03, Z:-0.85 [[ 9.94740527e-01 9.83176098e-02 2.87216067e-02 2.73829722e+01] [-9.81100657e-02 9.95138828e-01 -8.55148893e-03 -2.02834475e+00] [-2.94227479e-02 5.68863389e-03 9.99550870e-01 -8.52743013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00587156 meters 0.02106835324567543 Centerline is valid? [True, True] Translation: X:27.41, Y:-2.04, Z:-0.86 [[ 9.94868178e-01 9.76655615e-02 2.64338245e-02 2.74127675e+01] [-9.77636698e-02 9.95206663e-01 2.44181159e-03 -2.04067421e+00] [-2.60686374e-02 -5.01354834e-03 9.99647583e-01 -8.56842664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035871560000004 meters 0.019443617277607596 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.03, Z:-0.85 [[ 9.94746356e-01 9.93119150e-02 2.48360619e-02 2.74472727e+01] [-9.88736718e-02 9.94931814e-01 -1.82943229e-02 -2.02980614e+00] [-2.65270323e-02 1.57425784e-02 9.99524131e-01 -8.54801563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06587156 meters 0.019662067289700484 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.04, Z:-0.86 [[ 9.94658071e-01 1.00072792e-01 2.53131899e-02 2.74777125e+01] [-1.00017278e-01 9.94979709e-01 -3.45292322e-03 -2.04338497e+00] [-2.55316540e-02 9.02721598e-04 9.99673607e-01 -8.60381857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09587156 meters 0.02032933849073515 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.06, Z:-0.86 [[ 9.94743171e-01 9.93987483e-02 2.46152927e-02 2.75063713e+01] [-9.97734077e-02 9.94904697e-01 1.44883283e-02 -2.05818599e+00] [-2.30497486e-02 -1.68681173e-02 9.99592005e-01 -8.64332369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12587156 meters 0.018836529714245594 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.04, Z:-0.86 [[ 9.94396041e-01 1.03193065e-01 2.29718471e-02 2.75400939e+01] [-1.02826961e-01 9.94560928e-01 -1.65884663e-02 -2.04273006e+00] [-2.45587162e-02 1.41333800e-02 9.99598478e-01 -8.63623439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15587156 meters 0.024845944837513696 Centerline is valid? [True, True] Translation: X:27.57, Y:-2.06, Z:-0.87 [[ 9.94668139e-01 1.00803183e-01 2.17718133e-02 2.75676919e+01] [-1.01072276e-01 9.94811084e-01 1.16319442e-02 -2.06473985e+00] [-2.04863042e-02 -1.37704510e-02 9.99695297e-01 -8.68759394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18587156 meters 0.02093223525595948 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.06, Z:-0.87 [[ 9.94529619e-01 1.02182502e-01 2.16696155e-02 2.75985780e+01] [-1.02154200e-01 9.94765652e-01 -2.41193096e-03 -2.06209464e+00] [-2.18026463e-02 1.85094542e-04 9.99762277e-01 -8.69996018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215871560000004 meters 0.018243637663163247 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.06, Z:-0.87 [[ 9.94230921e-01 1.04080177e-01 2.59266812e-02 2.76300132e+01] [-1.03891969e-01 9.94552204e-01 -8.50714944e-03 -2.06215450e+00] [-2.66708635e-02 5.76449707e-03 9.99627648e-01 -8.65174608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245871560000005 meters 0.018885878396222334 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.07, Z:-0.87 [[ 9.94288073e-01 1.03882204e-01 2.44890921e-02 2.76606719e+01] [-1.03642654e-01 9.94555312e-01 -1.08596712e-02 -2.06815536e+00] [-2.54838832e-02 8.25952704e-03 9.99641112e-01 -8.66579055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27587156 meters 0.028186519216825426 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.09, Z:-0.87 [[ 9.94768036e-01 9.94716479e-02 2.32797462e-02 2.76886069e+01] [-9.98234249e-02 9.94899975e-01 1.44680453e-02 -2.09120454e+00] [-2.17218586e-02 -1.67162130e-02 9.99624294e-01 -8.71261895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30587156 meters 0.01878563498097129 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.08, Z:-0.87 [[ 9.94336513e-01 1.02924281e-01 2.64856631e-02 2.77210304e+01] [-1.02702497e-01 9.94665737e-01 -9.60567482e-03 -2.08251915e+00] [-2.73330388e-02 6.83112947e-03 9.99603042e-01 -8.66628463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33587156 meters 0.03334983977892877 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.10, Z:-0.87 [[ 9.94895436e-01 9.84920419e-02 2.19633635e-02 2.77500771e+01] [-9.86085062e-02 9.95117094e-01 4.28159417e-03 -2.10402518e+00] [-2.14344155e-02 -6.42551296e-03 9.99749608e-01 -8.73184871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36587156 meters 0.019624932360725968 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.09, Z:-0.87 [[ 9.94426409e-01 1.02589436e-01 2.43212850e-02 2.77825166e+01] [-1.02177058e-01 9.94609902e-01 -1.76349435e-02 -2.09489106e+00] [-2.59993498e-02 1.50515762e-02 9.99548640e-01 -8.68578107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39587156 meters 0.02155708631439863 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.12, Z:-0.88 [[ 9.94618792e-01 1.01110333e-01 2.25866828e-02 2.78105328e+01] [-1.01408146e-01 9.94766988e-01 1.24509807e-02 -2.12153484e+00] [-2.12095636e-02 -1.46744530e-02 9.99667352e-01 -8.75024958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425871560000004 meters 0.018354114105237 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.11, Z:-0.87 [[ 9.94064096e-01 1.05637689e-01 2.60240541e-02 2.78421888e+01] [-1.05389078e-01 9.94372957e-01 -1.07501371e-02 -2.11038859e+00] [-2.70132352e-02 7.94367430e-03 9.99603513e-01 -8.71396950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45587156 meters 0.018254534970058786 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.12, Z:-0.88 [[ 9.93746660e-01 1.08216888e-01 2.75078429e-02 2.78718457e+01] [-1.08186779e-01 9.94127225e-01 -2.58485120e-03 -2.11915092e+00] [-2.76260201e-02 -4.07297687e-04 9.99618246e-01 -8.75107257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48587156 meters 0.0272118320105026 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.12, Z:-0.88 [[ 9.93813096e-01 1.09489765e-01 1.86419424e-02 2.79036640e+01] [-1.09622442e-01 9.93953666e-01 6.24746885e-03 -2.12436343e+00] [-1.78451930e-02 -8.25239160e-03 9.99806705e-01 -8.78170240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51587156 meters 0.01918786448020291 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.12, Z:-0.88 [[ 9.93360483e-01 1.13635887e-01 1.79398106e-02 2.79337374e+01] [-1.13618071e-01 9.93522463e-01 -2.01254988e-03 -2.12036251e+00] [-1.80523027e-02 -3.90991575e-05 9.99837043e-01 -8.79489784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54587156 meters 0.02013050387713627 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.12, Z:-0.88 [[ 9.92991033e-01 1.16865474e-01 1.76428532e-02 2.79632101e+01] [-1.16848751e-01 9.93147749e-01 -1.97927469e-03 -2.12096968e+00] [-1.77532688e-02 -9.61433568e-05 9.99842394e-01 -8.79753529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.57587156 meters 0.022709696998523314 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.14, Z:-0.88 [[ 0.99137806 0.12559466 0.03735675 27.9870804 ] [-0.12667257 0.99154839 0.02803292 -2.14093504] [-0.03352024 -0.0325233 0.99890872 -0.8800842 ] [ 0. 0. 0. 1. ]] SLAMing on 32.605871560000004 meters 0.025494289315514684 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.10, Z:-0.88 [[ 9.91134393e-01 1.30463749e-01 2.51361292e-02 2.80248602e+01] [-1.29748036e-01 9.91143901e-01 -2.82704012e-02 -2.10462561e+00] [-2.86017837e-02 2.47584035e-02 9.99284224e-01 -8.78655003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63587156 meters 0.029945580718740213 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.13, Z:-0.88 [[ 9.90254256e-01 1.34104030e-01 3.75848142e-02 2.80517294e+01] [-1.34864181e-01 9.90692012e-01 1.84659053e-02 -2.13128963e+00] [-3.47586229e-02 -2.33547865e-02 9.99122811e-01 -8.83461680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66587156 meters 0.030775208448952162 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.12, Z:-0.88 [[ 9.89828754e-01 1.37662718e-01 3.58889111e-02 2.80836303e+01] [-1.37668609e-01 9.90475632e-01 -2.31881083e-03 -2.12152465e+00] [-3.58663057e-02 -2.64555083e-03 9.99353095e-01 -8.83062792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69587156 meters 0.03465875507497596 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.12, Z:-0.89 [[ 9.89565865e-01 1.40137292e-01 3.34804047e-02 2.81159959e+01] [-1.39851909e-01 9.90114287e-01 -1.07304581e-02 -2.11500288e+00] [-3.46531644e-02 5.93619659e-03 9.99381769e-01 -8.85981566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72587156 meters 0.0369303718824586 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.10, Z:-0.88 [[ 9.89956843e-01 1.40608784e-01 1.46498827e-02 2.81500863e+01] [-1.40242363e-01 9.89835907e-01 -2.35999168e-02 -2.10382579e+00] [-1.78193355e-02 2.13083650e-02 9.99614138e-01 -8.82878398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75587156 meters 0.04071011630140883 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.14, Z:-0.89 [[ 9.88792352e-01 1.43681011e-01 4.05641728e-02 2.81704698e+01] [-1.44871450e-01 9.89051371e-01 2.81006739e-02 -2.13655201e+00] [-3.60825175e-02 -3.36623220e-02 9.98781708e-01 -8.93297125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785871560000004 meters 0.03996181122559902 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.10, Z:-0.89 [[ 9.89611660e-01 1.43259897e-01 1.20567413e-02 2.82097938e+01] [-1.42787162e-01 9.89180323e-01 -3.36766195e-02 -2.09806880e+00] [-1.67508003e-02 3.16052275e-02 9.99360055e-01 -8.85671827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81587156 meters 0.040948693414537975 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.12, Z:-0.89 [[ 9.89615430e-01 1.42851810e-01 1.59581218e-02 2.82349894e+01] [-1.42841411e-01 9.89743961e-01 -1.79544990e-03 -2.11758438e+00] [-1.60509380e-02 -5.02675707e-04 9.99871049e-01 -8.89631460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84587156 meters 0.042828944145203725 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.12, Z:-0.90 [[ 9.89727903e-01 1.42245533e-01 1.43138228e-02 2.82629333e+01] [-1.42237121e-01 9.89831305e-01 -1.60921853e-03 -2.11640729e+00] [-1.43971741e-02 -4.43268465e-04 9.99896257e-01 -8.95232220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87587156 meters 0.0445348740040349 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.12, Z:-0.90 [[ 9.89924829e-01 1.40955150e-01 1.34342444e-02 2.82908825e+01] [-1.40947617e-01 9.90015903e-01 -1.51060072e-03 -2.11721921e+00] [-1.35130425e-02 -3.98143573e-04 9.99908615e-01 -9.00411703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90587156 meters 0.03496082879127432 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.15, Z:-0.89 [[ 9.89834303e-01 1.38688150e-01 3.15222194e-02 2.83155235e+01] [-1.39340337e-01 9.90052118e-01 1.95211152e-02 -2.14603250e+00] [-2.85012928e-02 -2.37149861e-02 9.99312401e-01 -8.93807132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93587156 meters 0.032897594899330466 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.12, Z:-0.89 [[ 9.90866883e-01 1.34276470e-01 1.23551737e-02 2.83499432e+01] [-1.33950126e-01 9.90691047e-01 -2.42613411e-02 -2.12366768e+00] [-1.54978872e-02 2.23847823e-02 9.99629300e-01 -8.92760782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965871560000004 meters 0.029644891256977987 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.15, Z:-0.89 [[ 9.91432205e-01 1.29719886e-01 1.53275307e-02 2.83772360e+01] [-1.29708798e-01 9.91550640e-01 -1.71952215e-03 -2.14519030e+00] [-1.54210791e-02 -2.83325941e-04 9.99881048e-01 -8.94963268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995871560000005 meters 0.022006803257180227 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.18, Z:-0.90 [[ 0.99170698 0.12263119 0.03845584 28.40017754] [-0.12386113 0.99180218 0.03141439 -2.18477693] [-0.0342882 -0.03591706 0.99876638 -0.89582888] [ 0. 0. 0. 1. ]] SLAMing on 33.02587156 meters 0.027452786644132577 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.15, Z:-0.90 [[ 9.92979205e-01 1.17654726e-01 1.22336810e-02 2.84382732e+01] [-1.17133414e-01 9.92426702e-01 -3.70000575e-02 -2.15041718e+00] [-1.64942633e-02 3.53073149e-02 9.99240378e-01 -8.95340173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05587156 meters 0.019846507627700165 Centerline is valid? [True, True] Translation: X:28.46, Y:-2.19, Z:-0.90 [[ 9.93950226e-01 1.08745515e-01 1.54065311e-02 2.84641252e+01] [-1.08731782e-01 9.94069621e-01 -1.72871643e-03 -2.18889208e+00] [-1.55031547e-02 4.30784935e-05 9.99879818e-01 -8.97900810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08587156 meters 0.019239630969606476 Centerline is valid? [True, True] Translation: X:28.49, Y:-2.22, Z:-0.90 [[ 0.99353717 0.10700342 0.03787025 28.48810461] [-0.10830385 0.9935317 0.03413272 -2.22035736] [-0.03397297 -0.03801362 0.99869956 -0.89960345] [ 0. 0. 0. 1. ]] SLAMing on 33.11587156 meters 0.028690077225960602 Centerline is valid? [True, True] Translation: X:28.52, Y:-2.21, Z:-0.90 [[ 9.94160336e-01 1.02054388e-01 3.50731746e-02 2.85216996e+01] [-1.02205794e-01 9.94760016e-01 2.54670924e-03 -2.21451978e+00] [-3.46294888e-02 -6.11651896e-03 9.99381502e-01 -9.02468664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14587156 meters 0.022195352205670413 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.22, Z:-0.90 [[ 9.94172605e-01 1.01693521e-01 3.57667239e-02 2.85490036e+01] [-1.01829960e-01 9.94799790e-01 2.00922587e-03 -2.22247280e+00] [-3.53764042e-02 -5.63964139e-03 9.99358146e-01 -9.00117543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175871560000004 meters 0.026789082325273883 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.20, Z:-0.90 [[ 9.95178265e-01 9.74055505e-02 1.15056156e-02 2.85879097e+01] [-9.67399728e-02 9.94121378e-01 -4.86216282e-02 -2.20143952e+00] [-1.61739949e-02 4.72741347e-02 9.98750999e-01 -9.01977643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20587156 meters 0.031028747407389572 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.24, Z:-0.91 [[ 9.95417541e-01 9.39268346e-02 1.79351293e-02 2.86153833e+01] [-9.39056413e-02 9.95579048e-01 -2.02207156e-03 -2.24172469e+00] [-1.80457657e-02 3.28595683e-04 9.99837108e-01 -9.08380514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23587156 meters 0.032065143311087174 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.25, Z:-0.91 [[ 9.95774577e-01 9.02662338e-02 1.68819051e-02 2.86459611e+01] [-9.02468601e-02 9.95917600e-01 -1.90748109e-03 -2.25142542e+00] [-1.69851675e-02 3.75882253e-04 9.99855671e-01 -9.05979072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26587156 meters 0.03176273668837701 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.26, Z:-0.91 [[ 9.95843650e-01 8.95094037e-02 1.68371903e-02 2.86780318e+01] [-8.94900790e-02 9.95985903e-01 -1.89921314e-03 -2.25767266e+00] [-1.69396017e-02 3.84557854e-04 9.99856441e-01 -9.05473799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29587156 meters 0.032892106573672975 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.27, Z:-0.91 [[ 9.95842046e-01 8.94604210e-02 1.71887517e-02 2.87095390e+01] [-8.94402251e-02 9.95990299e-01 -1.94166174e-03 -2.26543545e+00] [-1.72935318e-02 3.96222579e-04 9.99850377e-01 -9.07161257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32587156 meters 0.032892106573672975 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.27, Z:-0.91 [[ 9.95825207e-01 8.96477326e-02 1.71884257e-02 2.87418169e+01] [-8.96275149e-02 9.95973457e-01 -1.94454007e-03 -2.26928170e+00] [-1.72935394e-02 3.95866130e-04 9.99850377e-01 -9.08520503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355871560000004 meters 0.032059698029462874 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.28, Z:-0.91 [[ 9.95673616e-01 9.12627799e-02 1.74687058e-02 2.87722948e+01] [-9.12420696e-02 9.95826773e-01 -1.98058594e-03 -2.27667330e+00] [-1.75765588e-02 3.78136292e-04 9.99845449e-01 -9.08642958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38587156 meters 0.028571707152762624 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.28, Z:-0.91 [[ 9.95520607e-01 9.29223476e-02 1.74401250e-02 2.88044933e+01] [-9.29019207e-02 9.95673297e-01 -1.97955861e-03 -2.27793308e+00] [-1.75486120e-02 3.50470274e-04 9.99845950e-01 -9.06991078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41587156 meters 0.02932380423937896 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.28, Z:-0.91 [[ 9.95312155e-01 9.51067021e-02 1.75621487e-02 2.88345474e+01] [-9.50862679e-02 9.95467033e-01 -1.99681194e-03 -2.28434704e+00] [-1.76724503e-02 3.17532015e-04 9.99843780e-01 -9.12197049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44587156 meters 0.025783114438838652 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.29, Z:-0.91 [[ 9.94822474e-01 1.00154680e-01 1.72419810e-02 2.88666010e+01] [-1.00135650e-01 9.94971853e-01 -1.96566398e-03 -2.28521376e+00] [-1.73521562e-02 2.28949719e-04 9.99849414e-01 -9.13993765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47587156 meters 0.024121205698306416 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.29, Z:-0.92 [[ 9.94470567e-01 1.03520373e-01 1.76585176e-02 2.88975031e+01] [-1.03500943e-01 9.94627318e-01 -2.01312071e-03 -2.28661658e+00] [-1.77720430e-02 1.74316062e-04 9.99842050e-01 -9.16261348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50587156 meters 0.023117914494625566 Centerline is valid? [True, True] Translation: X:28.92, Y:-2.31, Z:-0.92 [[ 0.99272743 0.11153675 0.04529679 28.91585154] [-0.11312901 0.99298981 0.03425003 -2.31208601] [-0.04115911 -0.03912532 0.99838627 -0.92325287] [ 0. 0. 0. 1. ]] SLAMing on 33.535871560000004 meters 0.029409672184515605 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.29, Z:-0.92 [[ 9.92029046e-01 1.17858032e-01 4.45853832e-02 2.89521647e+01] [-1.18521927e-01 9.92872212e-01 1.25428860e-02 -2.29395037e+00] [-4.27893082e-02 -1.77272528e-02 9.98926834e-01 -9.20596361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56587156 meters 0.0202166443366085 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.25, Z:-0.92 [[ 9.92498404e-01 1.21268049e-01 1.55234773e-02 2.89933837e+01] [-1.20297870e-01 9.91328116e-01 -5.28865603e-02 -2.25241586e+00] [-2.18023095e-02 5.06223855e-02 9.98479861e-01 -9.17701222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59587156 meters 0.02343937952825722 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.31, Z:-0.92 [[ 0.99064695 0.12873967 0.04521862 29.0113353 ] [-0.13068633 0.99048628 0.04310464 -2.30647249] [-0.03923915 -0.04861094 0.99804673 -0.91816857] [ 0. 0. 0. 1. ]] SLAMing on 33.62587156 meters 0.02726991406575401 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.25, Z:-0.92 [[ 9.91008775e-01 1.32718806e-01 1.69507072e-02 2.90583162e+01] [-1.31738511e-01 9.90037463e-01 -4.97070015e-02 -2.24564791e+00] [-2.33788890e-02 4.70270137e-02 9.98619992e-01 -9.20498860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65587156 meters 0.029853375074221228 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.27, Z:-0.92 [[ 9.90717205e-01 1.34078448e-01 2.24140687e-02 2.90857998e+01] [-1.34054052e-01 9.90970626e-01 -2.59423101e-03 -2.27174704e+00] [-2.25595141e-02 -4.34547444e-04 9.99745407e-01 -9.22989082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68587156 meters 0.029158861315240505 Centerline is valid? [True, True] Translation: X:29.11, Y:-2.30, Z:-0.92 [[ 0.98940704 0.13873528 0.04273452 29.10647825] [-0.1404756 0.98924196 0.04082833 -2.30237599] [-0.03661045 -0.046399 0.99825188 -0.92199693] [ 0. 0. 0. 1. ]] SLAMing on 33.715871560000004 meters 0.033846594082140476 Centerline is valid? [True, True] Translation: X:29.14, Y:-2.27, Z:-0.93 [[ 9.88671755e-01 1.44473620e-01 4.06882646e-02 2.91444263e+01] [-1.44758713e-01 9.89458348e-01 4.13439368e-03 -2.27387733e+00] [-3.96620322e-02 -9.97753906e-03 9.99163336e-01 -9.25849275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745871560000005 meters 0.03921177381403638 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.23, Z:-0.92 [[ 9.89135225e-01 1.46084099e-01 1.64603131e-02 2.91866615e+01] [-1.44951824e-01 9.87827805e-01 -5.64375503e-02 -2.22971590e+00] [-2.45045837e-02 5.34384166e-02 9.98270435e-01 -9.23452412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77587156 meters 0.03919480065220031 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.26, Z:-0.93 [[ 9.89367796e-01 1.43691431e-01 2.24530142e-02 2.92103878e+01] [-1.43669277e-01 9.89622328e-01 -2.60509593e-03 -2.26426213e+00] [-2.25943341e-02 -6.48410299e-04 9.99744505e-01 -9.28567419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80587156 meters 0.037214399084265715 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.30, Z:-0.93 [[ 0.98852739 0.1436108 0.04679242 29.23057959] [-0.1458438 0.98812211 0.04841775 -2.30280406] [-0.03928331 -0.05468665 0.99773052 -0.9324619 ] [ 0. 0. 0. 1. ]] SLAMing on 33.83587156 meters 0.03714183708824866 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.24, Z:-0.93 [[ 9.89364818e-01 1.44448043e-01 1.70885962e-02 2.92762201e+01] [-1.43311886e-01 9.88129360e-01 -5.53359824e-02 -2.24113717e+00] [-2.48789180e-02 5.22984752e-02 9.98321546e-01 -9.26542984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86587156 meters 0.031067162464817763 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.31, Z:-0.93 [[ 0.98921159 0.14070553 0.04077228 29.29257693] [-0.14217264 0.98920027 0.03563391 -2.30624144] [-0.03531806 -0.04104618 0.99853285 -0.92940763] [ 0. 0. 0. 1. ]] SLAMing on 33.89587156 meters 0.03207110479523334 Centerline is valid? [True, True] Translation: X:29.34, Y:-2.26, Z:-0.93 [[ 9.89997323e-01 1.39886389e-01 1.83602441e-02 2.93367308e+01] [-1.39021989e-01 9.89396811e-01 -4.20337636e-02 -2.25940417e+00] [-2.40455183e-02 3.90608358e-02 9.98947478e-01 -9.29101906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925871560000004 meters 0.030475237194149567 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.29, Z:-0.93 [[ 9.90337342e-01 1.36756971e-01 2.30104137e-02 2.93635110e+01] [-1.36731786e-01 9.90604503e-01 -2.67171279e-03 -2.28686150e+00] [-2.31595948e-02 -5.00358027e-04 9.99731655e-01 -9.32589290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95587156 meters 0.02900521583204679 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.29, Z:-0.94 [[ 9.90803902e-01 1.33333842e-01 2.30155314e-02 2.93923216e+01] [-1.33307742e-01 9.91071092e-01 -2.67146672e-03 -2.29150518e+00] [-2.31662247e-02 -4.21248866e-04 9.99731538e-01 -9.36578066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98587156 meters 0.025850956043734594 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.33, Z:-0.94 [[ 0.99028364 0.1310394 0.04655097 29.41215913] [-0.13336834 0.98975126 0.05104233 -2.33318296] [-0.03938532 -0.05675481 0.99761099 -0.94020374] [ 0. 0. 0. 1. ]] SLAMing on 34.01587156 meters 0.023579328311734708 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.27, Z:-0.94 [[ 9.91504646e-01 1.28983141e-01 1.67894962e-02 2.94573980e+01] [-1.27820027e-01 9.90104179e-01 -5.79288790e-02 -2.27262562e+00] [-2.40951991e-02 5.52907188e-02 9.98179522e-01 -9.36721290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04587156 meters 0.019876597815993154 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.34, Z:-0.94 [[ 0.99145506 0.12348052 0.04206462 29.47647231] [-0.1253135 0.99113463 0.04414381 -2.34365933] [-0.0362408 -0.04903786 0.99813921 -0.94069628] [ 0. 0. 0. 1. ]] SLAMing on 34.07587156 meters 0.018935988347965265 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.32, Z:-0.94 [[ 9.91751892e-01 1.22720780e-01 3.69837109e-02 2.95119990e+01] [-1.22724803e-01 9.92438368e-01 -2.17000252e-03 -2.32369681e+00] [-3.69703581e-02 -2.38671454e-03 9.99313512e-01 -9.43692979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105871560000004 meters 0.023558183589300435 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.30, Z:-0.94 [[ 9.92711336e-01 1.19398506e-01 1.63768423e-02 2.95505159e+01] [-1.18367714e-01 9.91513853e-01 -5.37528079e-02 -2.29907414e+00] [-2.26558710e-02 5.14225323e-02 9.98419969e-01 -9.41142636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13587156 meters 0.019891460558356583 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.34, Z:-0.94 [[ 9.93584361e-01 1.10737961e-01 2.29612954e-02 2.95775476e+01] [-1.10705911e-01 9.93849633e-01 -2.66620794e-03 -2.34353083e+00] [-2.31153254e-02 1.07151384e-04 9.99732799e-01 -9.44961254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16587156 meters 0.021313051889510333 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.35, Z:-0.95 [[ 9.93900669e-01 1.07830829e-01 2.31078442e-02 2.96081039e+01] [-1.07797470e-01 9.94169241e-01 -2.68806165e-03 -2.35251756e+00] [-2.32629638e-02 1.80699125e-04 9.99729364e-01 -9.46855569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19587156 meters 0.03773649563691642 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.36, Z:-0.95 [[ 9.94426883e-01 1.02850176e-01 2.31735934e-02 2.96387034e+01] [-1.02815191e-01 9.94696813e-01 -2.69930414e-03 -2.36381635e+00] [-2.33283234e-02 3.01663176e-04 9.99727812e-01 -9.46846894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22587156 meters 0.024381239752351118 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.39, Z:-0.95 [[ 0.99374454 0.10377545 0.0412608 29.65894819] [-0.1051724 0.99389767 0.03325954 -2.394674 ] [-0.03755749 -0.03739099 0.99859469 -0.95260241] [ 0. 0. 0. 1. ]] SLAMing on 34.25587156 meters 0.02575406456275531 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.36, Z:-0.95 [[ 9.94507520e-01 1.02699572e-01 2.01888643e-02 2.97028507e+01] [-1.01814420e-01 9.93964689e-01 -4.08414102e-02 -2.35510156e+00] [-2.42614136e-02 3.85615721e-02 9.98961655e-01 -9.47436510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285871560000004 meters 0.02324029056972111 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.40, Z:-0.95 [[ 0.99384643 0.10292252 0.04094184 29.72344977] [-0.10422082 0.99407258 0.03094717 -2.40143134] [-0.037514 -0.03502372 0.99868215 -0.94891515] [ 0. 0. 0. 1. ]] SLAMing on 34.31587156 meters 0.023554821869773767 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.36, Z:-0.95 [[ 9.94265864e-01 1.04640922e-01 2.20379151e-02 2.97661921e+01] [-1.03759794e-01 9.93879341e-01 -3.79178125e-02 -2.36248877e+00] [-2.58707834e-02 3.54137370e-02 9.99037822e-01 -9.47090901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34587156 meters 0.021959994843413273 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.38, Z:-0.95 [[ 9.94119550e-01 1.05058159e-01 2.62507674e-02 2.97959535e+01] [-1.05013811e-01 9.94466037e-01 -3.06615267e-03 -2.38377956e+00] [-2.64276210e-02 2.91429185e-04 9.99650687e-01 -9.47862007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37587156 meters 0.01894802276052483 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.38, Z:-0.95 [[ 9.93570695e-01 1.10218197e-01 2.58693351e-02 2.98291948e+01] [-1.10176768e-01 9.93907402e-01 -3.02575528e-03 -2.37950024e+00] [-2.60452170e-02 1.56102044e-04 9.99660754e-01 -9.49349130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40587156 meters 0.018030306974900302 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.38, Z:-0.95 [[ 9.93208067e-01 1.13451862e-01 2.58149133e-02 2.98619599e+01] [-1.13411585e-01 9.93543491e-01 -3.02373628e-03 -2.37892552e+00] [-2.59912876e-02 7.54890130e-05 9.99662167e-01 -9.51591420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43587156 meters 0.01792442642225505 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.38, Z:-0.95 [[ 9.92827937e-01 1.16744909e-01 2.57548886e-02 2.98940950e+01] [-1.16705821e-01 9.93161934e-01 -3.02080217e-03 -2.37756016e+00] [-2.59314383e-02 -6.60863418e-06 9.99663724e-01 -9.54103923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465871560000004 meters 0.01947467339659147 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.37, Z:-0.96 [[ 9.92082922e-01 1.23080806e-01 2.49517662e-02 2.99276851e+01] [-1.23046006e-01 9.92396639e-01 -2.93110672e-03 -2.36907125e+00] [-2.51228119e-02 -1.62314257e-04 9.99684359e-01 -9.56763107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495871560000005 meters 0.027704689363877735 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.37, Z:-0.96 [[ 9.91727454e-01 1.26011626e-01 2.44484712e-02 2.99594598e+01] [-1.25978938e-01 9.92028739e-01 -2.87881742e-03 -2.36664971e+00] [-2.46163505e-02 -2.24990167e-04 9.99696946e-01 -9.59065115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52587156 meters 0.024587496989806806 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.36, Z:-0.96 [[ 9.91132724e-01 1.30766945e-01 2.35781725e-02 2.99891103e+01] [-1.30737875e-01 9.91413081e-01 -2.77687672e-03 -2.36126552e+00] [-2.37388323e-02 -3.30306789e-04 9.99718140e-01 -9.63307905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55587156 meters 0.02741829587624416 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.36, Z:-0.97 [[ 9.90956895e-01 1.32129913e-01 2.33691902e-02 3.00183565e+01] [-1.32101703e-01 9.91232343e-01 -2.75360884e-03 -2.36005104e+00] [-2.35281312e-02 -3.58402159e-04 9.99723111e-01 -9.68236712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58587156 meters 0.02696696954601432 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.36, Z:-0.97 [[ 9.90879315e-01 1.32697473e-01 2.34427794e-02 3.00484131e+01] [-1.32669245e-01 9.91156517e-01 -2.76224318e-03 -2.36273649e+00] [-2.36020062e-02 -3.73086215e-04 9.99721364e-01 -9.67746847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61587156 meters 0.027757375434871737 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.36, Z:-0.97 [[ 9.90865225e-01 1.32673032e-01 2.41655398e-02 3.00767589e+01] [-1.32643038e-01 9.91159785e-01 -2.84704165e-03 -2.36335982e+00] [-2.43296369e-02 -3.84356052e-04 9.99703917e-01 -9.69661560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64587156 meters 0.024660571774918795 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.37, Z:-0.97 [[ 9.90941454e-01 1.31926388e-01 2.51090078e-02 3.01067306e+01] [-1.31893790e-01 9.91259443e-01 -2.95727498e-03 -2.36837561e+00] [-2.52796837e-02 -3.81235828e-04 9.99680345e-01 -9.65789770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675871560000004 meters 0.024998449684630105 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.37, Z:-0.97 [[ 9.91033000e-01 1.31183795e-01 2.53851356e-02 3.01358920e+01] [-1.31150281e-01 9.91357996e-01 -2.98786856e-03 -2.37041721e+00] [-2.55577171e-02 -3.68191323e-04 9.99673280e-01 -9.68781677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70587156 meters 0.02341333616819326 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.37, Z:-0.97 [[ 9.91192206e-01 1.29880103e-01 2.58682951e-02 3.01662824e+01] [-1.29844839e-01 9.91529648e-01 -3.04542796e-03 -2.37446795e+00] [-2.60447220e-02 -3.40260156e-04 9.99660721e-01 -9.68971244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73587156 meters 0.023499012058126753 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.38, Z:-0.97 [[ 9.91225857e-01 1.29669239e-01 2.56356783e-02 3.01961216e+01] [-1.29634536e-01 9.91557249e-01 -3.01804240e-03 -2.37754966e+00] [-2.58105899e-02 -3.31707592e-04 9.99666796e-01 -9.70832441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76587156 meters 0.022884045413529088 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.38, Z:-0.97 [[ 9.91201804e-01 1.29869304e-01 2.55528298e-02 3.02268416e+01] [-1.29834892e-01 9.91531064e-01 -3.00828879e-03 -2.38168145e+00] [-2.57271089e-02 -3.35827611e-04 9.99668947e-01 -9.71146044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79587156 meters 0.024935212225764884 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.38, Z:-0.97 [[ 9.90953615e-01 1.31706107e-01 2.57766275e-02 3.02568938e+01] [-1.31671704e-01 9.91288733e-01 -3.03486797e-03 -2.37918534e+00] [-2.59517911e-02 -3.86639087e-04 9.99663121e-01 -9.73062370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82587156 meters 0.02633750219357386 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.38, Z:-0.97 [[ 9.90776394e-01 1.33039542e-01 2.57413497e-02 3.02855677e+01] [-1.33005679e-01 9.91110641e-01 -3.03084324e-03 -2.37852594e+00] [-2.59157476e-02 -4.20857769e-04 9.99664042e-01 -9.74904318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855871560000004 meters 0.027500807476216384 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.38, Z:-0.98 [[ 9.90628966e-01 1.34110336e-01 2.58586350e-02 3.03153671e+01] [-1.34076559e-01 9.90966303e-01 -3.04348927e-03 -2.37861734e+00] [-2.60331993e-02 -4.52068177e-04 9.99660977e-01 -9.76460813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88587156 meters 0.028026793852371282 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.38, Z:-0.98 [[ 9.90501538e-01 1.34809916e-01 2.70737896e-02 3.03440631e+01] [-1.34773165e-01 9.90871356e-01 -3.18602029e-03 -2.37869870e+00] [-2.72561497e-02 -4.93062308e-04 9.99628361e-01 -9.76082649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91587156 meters 0.03576072958651191 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.38, Z:-0.98 [[ 9.90524581e-01 1.34436822e-01 2.80676891e-02 3.03740192e+01] [-1.34397202e-01 9.90922040e-01 -3.30193208e-03 -2.38216538e+00] [-2.82567930e-02 -5.01573997e-04 9.99600571e-01 -9.75675050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94587156 meters 0.026805646564938817 Centerline is valid? [True, True] Translation: X:30.40, Y:-2.39, Z:-0.98 [[ 9.90645083e-01 1.33429409e-01 2.86166312e-02 3.04020998e+01] [-1.33387835e-01 9.91058202e-01 -3.36542965e-03 -2.38596530e+00] [-2.88097943e-02 -4.83164144e-04 9.99584795e-01 -9.76827787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97587156 meters 0.02418483456945806 Centerline is valid? [True, True] Translation: X:30.43, Y:-2.39, Z:-0.98 [[ 9.90888418e-01 1.31385785e-01 2.96296871e-02 3.04321201e+01] [-1.31340350e-01 9.91331217e-01 -3.48292397e-03 -2.39276779e+00] [-2.98304404e-02 -4.40384456e-04 9.99554876e-01 -9.75442190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00587156 meters 0.023862043754859147 Centerline is valid? [True, True] Translation: X:30.46, Y:-2.40, Z:-0.98 [[ 9.90987602e-01 1.30663677e-01 2.95055185e-02 3.04619105e+01] [-1.30618302e-01 9.91426664e-01 -3.46832814e-03 -2.39601031e+00] [-2.97057423e-02 -4.16890540e-04 9.99558600e-01 -9.77239849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035871560000004 meters 0.024057355918261105 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.40, Z:-0.98 [[ 9.91082040e-01 1.30068665e-01 2.89574299e-02 3.04916717e+01] [-1.30024702e-01 9.91504911e-01 -3.40408436e-03 -2.39652143e+00] [-2.91541987e-02 -3.91454327e-04 9.99574849e-01 -9.81347145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065871560000005 meters 0.022544175365261862 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.40, Z:-0.98 [[ 9.91116885e-01 1.29871727e-01 2.86470796e-02 3.05213432e+01] [-1.29828628e-01 9.91530730e-01 -3.36727851e-03 -2.40152900e+00] [-2.88417740e-02 -3.81844458e-04 9.99583917e-01 -9.80938897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09587156 meters 0.0227997212601638 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.40, Z:-0.98 [[ 9.91145512e-01 1.29715118e-01 2.83648088e-02 3.05505895e+01] [-1.29672810e-01 9.91551233e-01 -3.33375800e-03 -2.40435667e+00] [-2.85576000e-02 -3.73905187e-04 9.99592079e-01 -9.83806177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12587156 meters 0.02285566728173516 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.41, Z:-0.99 [[ 9.91189843e-01 1.29471361e-01 2.79259947e-02 3.05795248e+01] [-1.29430265e-01 9.91583096e-01 -3.28185210e-03 -2.40625905e+00] [-2.81158502e-02 -3.61530442e-04 9.99604606e-01 -9.86580658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15587156 meters 0.023276721869166107 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.41, Z:-0.99 [[ 9.91183457e-01 1.29471438e-01 2.81513981e-02 3.06089368e+01] [-1.29429685e-01 9.91583085e-01 -3.30799766e-03 -2.40757924e+00] [-2.83427414e-02 -3.64794039e-04 9.99598197e-01 -9.88034959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18587156 meters 0.02276232836677359 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.41, Z:-0.99 [[ 9.91099595e-01 1.29685688e-01 3.00535441e-02 3.06386589e+01] [-1.29638207e-01 9.91555074e-01 -3.53129377e-03 -2.40741459e+00] [-3.02577024e-02 -3.96223730e-04 9.99542052e-01 -9.85846997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215871560000004 meters 0.02276232836677359 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.41, Z:-0.99 [[ 9.91099597e-01 1.29685641e-01 3.00536663e-02 3.06684297e+01] [-1.29638192e-01 9.91555080e-01 -3.53025330e-03 -2.41091223e+00] [-3.02576886e-02 -3.97270317e-04 9.99542052e-01 -9.87194464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245871560000005 meters 0.022620261651085983 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.41, Z:-0.99 [[ 9.91042047e-01 1.29995370e-01 3.06082628e-02 3.06986391e+01] [-1.29946300e-01 9.91514514e-01 -3.59539898e-03 -2.41259679e+00] [-3.08159221e-02 -4.14238935e-04 9.99524991e-01 -9.86960556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27587156 meters 0.022344862712825347 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.41, Z:-0.99 [[ 9.90998789e-01 1.30220058e-01 3.10505470e-02 3.07295931e+01] [-1.30169670e-01 9.91485025e-01 -3.64735188e-03 -2.41183778e+00] [-3.12611108e-02 -4.27318154e-04 9.99511161e-01 -9.86738175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30587156 meters 0.02293313638641528 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.41, Z:-0.99 [[ 9.90913533e-01 1.30665795e-01 3.18876239e-02 3.07590711e+01] [-1.30612888e-01 9.91426369e-01 -3.74552866e-03 -2.41200767e+00] [-3.21036437e-02 -4.53439632e-04 9.99484442e-01 -9.88014816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33587156 meters 0.02995228259007101 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.41, Z:-0.99 [[ 9.90890783e-01 1.30764466e-01 3.21886857e-02 3.07881458e+01] [-1.30710576e-01 9.91413356e-01 -3.78186553e-03 -2.41176274e+00] [-3.24068265e-02 -4.59985951e-04 9.99474655e-01 -9.89042312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36587156 meters 0.023440268267892847 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.41, Z:-0.99 [[ 9.90828126e-01 1.31133271e-01 3.26142584e-02 3.08173725e+01] [-1.31078189e-01 9.91364633e-01 -3.83054200e-03 -2.41297097e+00] [-3.28349338e-02 -4.79609173e-04 9.99460673e-01 -9.90196063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39587156 meters 0.029329408296089297 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.41, Z:-0.99 [[ 9.90787304e-01 1.31419753e-01 3.27011648e-02 3.08472200e+01] [-1.31364558e-01 9.91326691e-01 -3.83998618e-03 -2.41072487e+00] [-3.29221875e-02 -4.91164509e-04 9.99457797e-01 -9.89958481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425871560000004 meters 0.023732431336292926 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.41, Z:-0.99 [[ 9.90774396e-01 1.31412222e-01 3.31198476e-02 3.08754652e+01] [-1.31355623e-01 9.91327685e-01 -3.88846487e-03 -2.41078114e+00] [-3.33436136e-02 -4.97886792e-04 9.99443823e-01 -9.93975638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45587156 meters 0.022493449683866507 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.41, Z:-1.00 [[ 9.90891027e-01 1.30494429e-01 3.32592461e-02 3.09055463e+01] [-1.30436887e-01 9.91448931e-01 -3.90333501e-03 -2.41323921e+00] [-3.34842075e-02 -4.70452878e-04 9.99439136e-01 -9.95152188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48587156 meters 0.021495730513266944 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.42, Z:-1.00 [[ 9.90997770e-01 1.29717023e-01 3.31196871e-02 3.09351917e+01] [-1.29659537e-01 9.91550956e-01 -3.88670378e-03 -2.41616624e+00] [-3.33440290e-02 -4.42568510e-04 9.99443835e-01 -9.96644283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51587156 meters 0.030201661141930135 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.42, Z:-1.00 [[ 9.91178368e-01 1.28575579e-01 3.21521884e-02 3.09651251e+01] [-1.28520826e-01 9.91699635e-01 -3.77242035e-03 -2.41768118e+00] [-3.23703547e-02 -3.93084374e-04 9.99475865e-01 -9.99067965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54587156 meters 0.01925667891073134 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.42, Z:-1.00 [[ 9.91404752e-01 1.26635489e-01 3.28644154e-02 3.09932011e+01] [-1.26577240e-01 9.91949262e-01 -3.85531526e-03 -2.42174817e+00] [-3.30880523e-02 -3.37709109e-04 9.99452383e-01 -1.00120370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.57587156 meters 0.018464840929006954 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.43, Z:-1.00 [[ 9.91547468e-01 1.25440892e-01 3.31391357e-02 3.10230527e+01] [-1.25381047e-01 9.92101049e-01 -3.88606428e-03 -2.42572493e+00] [-3.33648427e-02 -3.01802339e-04 9.99443193e-01 -1.00233691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605871560000004 meters 0.017636098031459345 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.43, Z:-1.00 [[ 9.91714278e-01 1.24115933e-01 3.31364784e-02 3.10536103e+01] [-1.24055376e-01 9.92267690e-01 -3.88522585e-03 -2.43000779e+00] [-3.33624753e-02 -2.57724338e-04 9.99443284e-01 -1.00422645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63587156 meters 0.016289527397493116 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.44, Z:-1.01 [[ 9.92032572e-01 1.21575605e-01 3.30264684e-02 3.10823189e+01] [-1.21514037e-01 9.92582159e-01 -3.87246324e-03 -2.43563775e+00] [-3.32522804e-02 -1.71569833e-04 9.99446975e-01 -1.00645396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66587156 meters 0.01611941058824698 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.44, Z:-1.01 [[ 9.92139678e-01 1.20728913e-01 3.29148735e-02 3.11115644e+01] [-1.20667307e-01 9.92685504e-01 -3.85899217e-03 -2.44020322e+00] [-3.31400097e-02 -1.43089898e-04 9.99450709e-01 -1.00887046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69587156 meters 0.03123997444285262 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.45, Z:-1.01 [[ 9.92398933e-01 1.18849924e-01 3.19226119e-02 3.11410710e+01] [-1.18791026e-01 9.92912226e-01 -3.74203209e-03 -2.44522122e+00] [-3.21410919e-02 -7.85311549e-05 9.99483339e-01 -1.01089322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72587156 meters 0.025187655355576065 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.45, Z:-1.01 [[ 9.92450506e-01 1.18336204e-01 3.22263277e-02 3.11714539e+01] [-1.18275895e-01 9.92973584e-01 -3.77806551e-03 -2.44933422e+00] [-3.24469741e-02 -6.20547307e-05 9.99473456e-01 -1.01255376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75587156 meters 0.015422469825128736 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.45, Z:-1.01 [[ 9.92382572e-01 1.18543732e-01 3.35293107e-02 3.12003315e+01] [-1.18478560e-01 9.92948830e-01 -3.93094781e-03 -2.45358042e+00] [-3.37588791e-02 -7.15003589e-05 9.99430004e-01 -1.01379765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785871560000004 meters 0.015487110869652284 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.45, Z:-1.01 [[ 9.92220951e-01 1.19657687e-01 3.43456442e-02 3.12312333e+01] [-1.19589987e-01 9.92815202e-01 -4.02613144e-03 -2.45354603e+00] [-3.45806352e-02 -1.12583164e-04 9.99401905e-01 -1.01348627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815871560000005 meters 0.015756652382558224 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.45, Z:-1.01 [[ 9.92070070e-01 1.20791048e-01 3.47346824e-02 3.12621803e+01] [-1.20722500e-01 9.92677943e-01 -4.07173602e-03 -2.45448209e+00] [-3.49721823e-02 -1.53810246e-04 9.99388274e-01 -1.01392516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84587156 meters 0.01763816655619784 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.45, Z:-1.01 [[ 9.91646982e-01 1.23935134e-01 3.57259704e-02 3.12918812e+01] [-1.23864651e-01 9.92290284e-01 -4.18803938e-03 -2.45211027e+00] [-3.59695786e-02 -2.72128245e-04 9.99352848e-01 -1.01415585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87587156 meters 0.017737441837703136 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.46, Z:-1.01 [[ 9.91435251e-01 1.25679106e-01 3.55092208e-02 3.13220935e+01] [-1.25610612e-01 9.92070890e-01 -4.16212749e-03 -2.45514195e+00] [-3.57507567e-02 -3.33855028e-04 9.99360682e-01 -1.01342575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90587156 meters 0.018976532447391274 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.46, Z:-1.02 [[ 9.91230087e-01 1.27376957e-01 3.51855797e-02 3.13530369e+01] [-1.27310775e-01 9.91854303e-01 -4.12419268e-03 -2.45610494e+00] [-3.54242957e-02 -3.91479542e-04 9.99372286e-01 -1.01528577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93587156 meters 0.02229642595265967 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.45, Z:-1.02 [[ 9.90729767e-01 1.30934494e-01 3.62034108e-02 3.13826555e+01] [-1.30866789e-01 9.91390878e-01 -4.24379933e-03 -2.45312517e+00] [-3.64473909e-02 -5.33365795e-04 9.99335431e-01 -1.01600375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965871560000004 meters 0.023546508107519407 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.45, Z:-1.02 [[ 9.90496509e-01 1.32564913e-01 3.66498232e-02 3.14120737e+01] [-1.32496696e-01 9.91174143e-01 -4.29468331e-03 -2.45336636e+00] [-3.68956814e-02 -6.02111647e-04 9.99318941e-01 -1.01645194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995871560000005 meters 0.024665112485107946 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.45, Z:-1.02 [[ 9.90277453e-01 1.34079758e-01 3.70565132e-02 3.14416482e+01] [-1.34011111e-01 9.90970319e-01 -4.34144239e-03 -2.45394683e+00] [-3.73040043e-02 -6.66751998e-04 9.99303741e-01 -1.01719150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02587156 meters 0.03179603167267984 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.45, Z:-1.02 [[ 9.89799707e-01 1.37334493e-01 3.78916544e-02 3.14710752e+01] [-1.37265132e-01 9.90524399e-01 -4.43838515e-03 -2.44527987e+00] [-3.81421516e-02 -8.08090637e-04 9.99271997e-01 -1.01935402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05587156 meters 0.02989526214639434 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.45, Z:-1.02 [[ 9.89567790e-01 1.38782562e-01 3.86650859e-02 3.14991655e+01] [-1.38711485e-01 9.90322484e-01 -4.52795330e-03 -2.45027857e+00] [-3.89193048e-02 -8.82574727e-04 9.99241967e-01 -1.01818697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08587156 meters 0.03635343770323315 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.44, Z:-1.02 [[ 9.89300345e-01 1.40542908e-01 3.91473951e-02 3.15280339e+01] [-1.40471514e-01 9.90074117e-01 -4.58211933e-03 -2.44290030e+00] [-3.94028071e-02 -9.66001646e-04 9.99222941e-01 -1.02028356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11587156 meters 0.0319764426326723 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.45, Z:-1.02 [[ 9.89249169e-01 1.40959739e-01 3.89414162e-02 3.15563820e+01] [-1.40889530e-01 9.90014844e-01 -4.55512511e-03 -2.45088935e+00] [-3.91946693e-02 -9.80284100e-04 9.99231113e-01 -1.02063442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14587156 meters 0.030627226869724824 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.45, Z:-1.02 [[ 9.89303221e-01 1.40633992e-01 3.87455348e-02 3.15847962e+01] [-1.40564311e-01 9.90061185e-01 -4.53036064e-03 -2.45425484e+00] [-3.89975728e-02 -9.64339016e-04 9.99238840e-01 -1.02232443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175871560000004 meters 0.03032761957202556 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.46, Z:-1.02 [[ 9.89400896e-01 1.40024664e-01 3.84572617e-02 3.16135532e+01] [-1.39955629e-01 9.90147574e-01 -4.49477886e-03 -2.45660146e+00] [-3.87077443e-02 -9.35172018e-04 9.99250137e-01 -1.02452169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20587156 meters 0.03459548484760199 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.45, Z:-1.03 [[ 9.89763070e-01 1.37788670e-01 3.71933892e-02 3.16416067e+01] [-1.37722583e-01 9.90461311e-01 -4.34540391e-03 -2.45277514e+00] [-3.74373605e-02 -8.21449322e-04 9.99298639e-01 -1.03151800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23587156 meters 0.03003189634600146 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.46, Z:-1.03 [[ 9.89976491e-01 1.36494650e-01 3.62733886e-02 3.16692404e+01] [-1.36431007e-01 9.90640520e-01 -4.23565210e-03 -2.46207443e+00] [-3.65120324e-02 -7.55618932e-04 9.99332928e-01 -1.03309779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26587156 meters 0.025251700941047183 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.47, Z:-1.04 [[ 9.90414349e-01 1.33591491e-01 3.51102611e-02 3.16969517e+01] [-1.33530095e-01 9.91036285e-01 -4.09832065e-03 -2.47219117e+00] [-3.53430435e-02 -6.29240920e-04 9.99375041e-01 -1.03606242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29587156 meters 0.02467505913973674 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.48, Z:-1.04 [[ 9.90607171e-01 1.32246464e-01 3.47606804e-02 3.17240993e+01] [-1.32185510e-01 9.91216697e-01 -4.05598824e-03 -2.47616193e+00] [-3.49917569e-02 -5.76967224e-04 9.99387434e-01 -1.03802573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32587156 meters 0.02339284650805688 Centerline is valid? [True, True] Translation: X:31.75, Y:-2.48, Z:-1.04 [[ 9.90732086e-01 1.31294134e-01 3.48106821e-02 3.17529879e+01] [-1.31232484e-01 9.91343307e-01 -4.05989966e-03 -2.48141615e+00] [-3.50423777e-02 -5.46019434e-04 9.99385678e-01 -1.03913542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355871560000004 meters 0.023403897760400846 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.48, Z:-1.04 [[ 9.90787925e-01 1.30968814e-01 3.44449926e-02 3.17811196e+01] [-1.30908348e-01 9.91386346e-01 -4.01460637e-03 -2.48264282e+00] [-3.46740836e-02 -5.31513582e-04 9.99398532e-01 -1.04093072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38587156 meters 0.02416440037473725 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.48, Z:-1.04 [[ 9.90759893e-01 1.31108580e-01 3.47184998e-02 3.18085692e+01] [-1.31047309e-01 9.91367866e-01 -4.04438072e-03 -2.48357865e+00] [-3.49490581e-02 -5.42755768e-04 9.99388948e-01 -1.04265322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41587156 meters 0.024437861774736443 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.49, Z:-1.04 [[ 9.90690864e-01 1.31488391e-01 3.52479140e-02 3.18373802e+01] [-1.31425557e-01 9.91317548e-01 -4.10381104e-03 -2.48562515e+00] [-3.54814792e-02 -5.66868615e-04 9.99370173e-01 -1.04338591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44587156 meters 0.024750241438785035 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.49, Z:-1.04 [[ 9.90538699e-01 1.32511393e-01 3.56905794e-02 3.18666698e+01] [-1.32447694e-01 9.91181293e-01 -4.15366800e-03 -2.48649665e+00] [-3.59262430e-02 -6.12766056e-04 9.99354256e-01 -1.04341857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47587156 meters 0.03602752807654055 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.48, Z:-1.05 [[ 9.90611277e-01 1.32192837e-01 3.48475598e-02 3.18950216e+01] [-1.32131966e-01 9.91223843e-01 -4.05411831e-03 -2.48421885e+00] [-3.50776575e-02 -5.88421281e-04 9.99384416e-01 -1.04531451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50587156 meters 0.02655447574092902 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.49, Z:-1.05 [[ 9.90657618e-01 1.31780243e-01 3.50920353e-02 3.19232709e+01] [-1.31718343e-01 9.91278786e-01 -4.08012848e-03 -2.48882534e+00] [-3.53236704e-02 -5.80254363e-04 9.99375756e-01 -1.04741712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535871560000004 meters 0.02361737888271616 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.49, Z:-1.05 [[ 9.90766190e-01 1.30959598e-01 3.50989995e-02 3.19518411e+01] [-1.30897215e-01 9.91387552e-01 -4.07931037e-03 -2.49387656e+00] [-3.53309360e-02 -5.52718503e-04 9.99375515e-01 -1.04901527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565871560000005 meters 0.021856166794185825 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.50, Z:-1.05 [[ 9.90929745e-01 1.29729139e-01 3.50512505e-02 3.19805151e+01] [-1.29666214e-01 9.91549339e-01 -4.07211382e-03 -2.49922063e+00] [-3.52833161e-02 -5.09784251e-04 9.99377220e-01 -1.05040538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59587156 meters 0.020263485131593015 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.51, Z:-1.05 [[ 9.91395058e-01 1.26085244e-01 3.51902018e-02 3.20085163e+01] [-1.26019590e-01 9.92019337e-01 -4.08642053e-03 -2.50520210e+00] [-3.54245980e-02 -3.83397682e-04 9.99372278e-01 -1.05358024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62587156 meters 0.018513116707171425 Centerline is valid? [True, True] Translation: X:32.04, Y:-2.51, Z:-1.05 [[ 9.91638683e-01 1.24077804e-01 3.54601345e-02 3.20371788e+01] [-1.24009906e-01 9.92272442e-01 -4.11634416e-03 -2.51170043e+00] [-3.56968612e-02 -3.15481836e-04 9.99362614e-01 -1.05419861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65587156 meters 0.015592091003098248 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.52, Z:-1.05 [[ 9.92056364e-01 1.20954143e-01 3.45581486e-02 3.20669983e+01] [-1.20671099e-01 9.92640451e-01 -1.01696276e-02 -2.51945814e+00] [-3.55338748e-02 5.91867397e-03 9.99350946e-01 -1.05315184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68587156 meters 0.015482243150519343 Centerline is valid? [True, True] Translation: X:32.10, Y:-2.53, Z:-1.06 [[ 9.92370935e-01 1.17856803e-01 3.61898027e-02 3.20950871e+01] [-1.18002640e-01 9.93011438e-01 1.91316010e-03 -2.53246016e+00] [-3.57114091e-02 -6.16905673e-03 9.99343103e-01 -1.05817973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715871560000004 meters 0.015097725372678042 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.54, Z:-1.06 [[ 9.92609376e-01 1.16094222e-01 3.53377669e-02 3.21251071e+01] [-1.16021601e-01 9.93238205e-01 -4.10574031e-03 -2.53634886e+00] [-3.55754729e-02 -2.45479564e-05 9.99366992e-01 -1.05802211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745871560000005 meters 0.014983440299921234 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.54, Z:-1.06 [[ 9.92741222e-01 1.15202849e-01 3.45422835e-02 3.21560270e+01] [-1.14994330e-01 9.93334172e-01 -7.97038933e-03 -2.54191909e+00] [-3.52302421e-02 3.94036732e-03 9.99371454e-01 -1.05764074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77587156 meters 0.02491609792795744 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.55, Z:-1.06 [[ 9.92992164e-01 1.12978505e-01 3.46759149e-02 3.21859145e+01] [-1.13041026e-01 9.93590309e-01 -1.58462730e-04 -2.55047647e+00] [-3.44715558e-02 -3.76244873e-03 9.99398597e-01 -1.06054481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80587156 meters 0.015166599745249674 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.56, Z:-1.06 [[ 9.92887111e-01 1.13473332e-01 3.60414777e-02 3.22169205e+01] [-1.13395802e-01 9.93541039e-01 -4.19466941e-03 -2.55523472e+00] [-3.62846703e-02 7.78809191e-05 9.99341492e-01 -1.06103597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83587156 meters 0.014837576956902484 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.56, Z:-1.06 [[ 9.92778891e-01 1.14312846e-01 3.63682220e-02 3.22491755e+01] [-1.14234480e-01 9.93444800e-01 -4.23232217e-03 -2.55814309e+00] [-3.66136298e-02 4.72551765e-05 9.99329495e-01 -1.06028037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86587156 meters 0.02475991316836914 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.56, Z:-1.06 [[ 9.92712142e-01 1.15213470e-01 3.53335573e-02 3.22800391e+01] [-1.15139854e-01 9.93340755e-01 -4.11800628e-03 -2.55925715e+00] [-3.55727123e-02 1.96942014e-05 9.99367091e-01 -1.06140555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89587156 meters 0.01486702558242261 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.56, Z:-1.06 [[ 9.92361727e-01 1.17941418e-01 3.61666260e-02 3.23108009e+01] [-1.17865838e-01 9.93020552e-01 -4.22226464e-03 -2.56109120e+00] [-3.64121828e-02 -7.27958569e-05 9.99336854e-01 -1.06428715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925871560000004 meters 0.015314211908709146 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.56, Z:-1.07 [[ 9.92165274e-01 1.19577002e-01 3.61857527e-02 3.23407435e+01] [-1.19502394e-01 9.92824921e-01 -4.22548084e-03 -2.56200715e+00] [-3.64313874e-02 -1.31908722e-04 9.99336148e-01 -1.06619742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95587156 meters 0.015633043212186403 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.56, Z:-1.07 [[ 9.91860100e-01 1.22038583e-01 3.63335402e-02 3.23722085e+01] [-1.21753494e-01 9.92510329e-01 -9.96657951e-03 -2.56000120e+00] [-3.72777212e-02 5.46171707e-03 9.99290019e-01 -1.06712688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98587156 meters 0.017461377762938973 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.57, Z:-1.07 [[ 9.91708895e-01 1.23269660e-01 3.63050769e-02 3.23996083e+01] [-1.23402278e-01 9.92355704e-01 1.42640810e-03 -2.56525292e+00] [-3.58517173e-02 -5.89471077e-03 9.99339735e-01 -1.07241820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01587156 meters 0.03141818958134773 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.56, Z:-1.07 [[ 9.91705941e-01 1.23835543e-01 3.44105346e-02 3.24289274e+01] [-1.23770491e-01 9.92302719e-01 -4.02244113e-03 -2.56254317e+00] [-3.46437882e-02 -2.69929999e-04 9.99399687e-01 -1.07270542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04587156 meters 0.017733755995329864 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.57, Z:-1.07 [[ 9.91587932e-01 1.24234608e-01 3.63198883e-02 3.24581039e+01] [-1.24162448e-01 9.92252826e-01 -4.24438683e-03 -2.56508846e+00] [-3.65658115e-02 -3.00883486e-04 9.99331202e-01 -1.07259349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.07587156 meters 0.018091955387661802 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.57, Z:-1.07 [[ 9.91593784e-01 1.23951894e-01 3.71173351e-02 3.24869543e+01] [-1.23876402e-01 9.92288183e-01 -4.33568826e-03 -2.56623303e+00] [-3.73685098e-02 -2.98720403e-04 9.99301509e-01 -1.07363544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105871560000004 meters 0.017523743256039396 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.57, Z:-1.07 [[ 9.91228310e-01 1.26415750e-01 3.85421313e-02 3.25139680e+01] [-1.26163726e-01 9.91969397e-01 -8.91230244e-03 -2.56902059e+00] [-3.93592701e-02 3.97150761e-03 9.99217231e-01 -1.07232613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13587156 meters 0.017523743256039396 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.57, Z:-1.07 [[ 9.91228456e-01 1.26260872e-01 3.90427993e-02 3.25425878e+01] [-1.26175699e-01 9.91997021e-01 -4.64785309e-03 -2.57494160e+00] [-3.93171826e-02 -3.19168268e-04 9.99226730e-01 -1.07424501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16587156 meters 0.01708699028476035 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.58, Z:-1.07 [[ 9.91182898e-01 1.26460549e-01 3.95498735e-02 3.25718966e+01] [-1.26438129e-01 9.91969721e-01 -3.07774157e-03 -2.58025992e+00] [-3.96214899e-02 -1.95000720e-03 9.99212858e-01 -1.07473146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19587156 meters 0.01688273709180008 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.58, Z:-1.08 [[ 9.91596278e-01 1.23761653e-01 3.76812353e-02 3.26045435e+01] [-1.23750070e-01 9.92309884e-01 -2.64860039e-03 -2.58304912e+00] [-3.77192574e-02 -2.03671324e-03 9.99286300e-01 -1.07617199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22587156 meters 0.01663437895314845 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.59, Z:-1.08 [[ 9.91675859e-01 1.23047449e-01 3.79251379e-02 3.26337165e+01] [-1.22967407e-01 9.92400756e-01 -4.44485825e-03 -2.58653250e+00] [-3.81838640e-02 -2.55697247e-04 9.99270698e-01 -1.07704023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25587156 meters 0.016105841582860714 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.59, Z:-1.08 [[ 9.91739430e-01 1.22576534e-01 3.77875249e-02 3.26625743e+01] [-1.22496745e-01 9.92459036e-01 -4.42836126e-03 -2.59085758e+00] [-3.80453837e-02 -2.37068315e-04 9.99275984e-01 -1.07825975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285871560000004 meters 0.01632674797148236 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.59, Z:-1.08 [[ 9.91797773e-01 1.22038889e-01 3.79958826e-02 3.26908544e+01] [-1.21957858e-01 9.92525295e-01 -4.45185666e-03 -2.59311860e+00] [-3.82551742e-02 -2.18554951e-04 9.99267979e-01 -1.08062072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315871560000005 meters 0.022530851209055163 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.60, Z:-1.08 [[ 9.91997819e-01 1.20584965e-01 3.74111465e-02 3.27210849e+01] [-1.20505418e-01 9.92702997e-01 -4.38224646e-03 -2.59810133e+00] [-3.76665903e-02 -1.61066914e-04 9.99290349e-01 -1.08094235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34587156 meters 0.014974177941576449 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.60, Z:-1.08 [[ 9.92111060e-01 1.19390558e-01 3.82300929e-02 3.27514445e+01] [-1.19306602e-01 9.92847360e-01 -4.47817575e-03 -2.60482348e+00] [-3.84912987e-02 -1.18254796e-04 9.99258928e-01 -1.08223459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37587156 meters 0.01476087676038296 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.62, Z:-1.09 [[ 9.92030490e-01 1.17773028e-01 4.47774507e-02 3.27811919e+01] [-1.18109936e-01 9.92988212e-01 4.94510306e-03 -2.61772649e+00] [-4.38810809e-02 -1.01943548e-02 9.98984748e-01 -1.08530355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40587156 meters 0.02186202714053325 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.62, Z:-1.09 [[ 9.92136381e-01 1.17267014e-01 4.37475638e-02 3.28122316e+01] [-1.17246479e-01 9.93098181e-01 -3.04385624e-03 -2.61785357e+00] [-4.38025700e-02 -2.10932731e-03 9.99037980e-01 -1.08634348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43587156 meters 0.014868994601540744 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.62, Z:-1.09 [[ 9.92619600e-01 1.15653569e-01 3.64771376e-02 3.28458922e+01] [-1.15116458e-01 9.93214901e-01 -1.65033789e-02 -2.61603190e+00] [-3.81383113e-02 1.21824585e-02 9.99198207e-01 -1.08619212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465871560000004 meters 0.014856530800877156 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.64, Z:-1.09 [[ 9.92318666e-01 1.15339761e-01 4.47258874e-02 3.28739205e+01] [-1.15835520e-01 9.93230769e-01 8.64709834e-03 -2.63634232e+00] [-4.34257733e-02 -1.37615235e-02 9.98961872e-01 -1.08919180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495871560000005 meters 0.015065815492413384 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.62, Z:-1.09 [[ 9.92715958e-01 1.14899525e-01 3.62370755e-02 3.29095722e+01] [-1.14306499e-01 9.93281726e-01 -1.80398704e-02 -2.62383933e+00] [-3.80663974e-02 1.37663340e-02 9.99180383e-01 -1.08838084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52587156 meters 0.014822929543543724 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.63, Z:-1.09 [[ 9.92543102e-01 1.15947114e-01 3.76092606e-02 3.29397897e+01] [-1.15862658e-01 9.93255388e-01 -4.42480255e-03 -2.63247177e+00] [-3.78686438e-02 3.42983334e-05 9.99282725e-01 -1.09132932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55587156 meters 0.014854832359055513 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.63, Z:-1.09 [[ 9.92405026e-01 1.17234118e-01 3.72615826e-02 3.29697276e+01] [-1.17152086e-01 9.93104305e-01 -4.38488686e-03 -2.63418365e+00] [-3.75186965e-02 -1.36883736e-05 9.99295926e-01 -1.09340328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58587156 meters 0.017095256094168534 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.63, Z:-1.10 [[ 9.92119442e-01 1.19823836e-01 3.66232461e-02 3.30005232e+01] [-1.19746335e-01 9.92795163e-01 -4.31030021e-03 -2.63232866e+00] [-3.68758583e-02 -1.09166865e-04 9.99319848e-01 -1.09501038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61587156 meters 0.015379226055143386 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.63, Z:-1.10 [[ 9.92031072e-01 1.20571794e-01 3.65622145e-02 3.30298453e+01] [-1.20495056e-01 9.92704601e-01 -4.30321611e-03 -2.63417815e+00] [-3.68143251e-02 -1.36641986e-04 9.99322114e-01 -1.09725151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64587156 meters 0.015843489503426282 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.64, Z:-1.10 [[ 9.91989068e-01 1.20957067e-01 3.64290577e-02 3.30581676e+01] [-1.20881159e-01 9.92657728e-01 -4.28721506e-03 -2.63537328e+00] [-3.66801546e-02 -1.50716229e-04 9.99327045e-01 -1.10012334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675871560000004 meters 0.015468330822348346 Centerline is valid? [True, True] Translation: X:33.08, Y:-2.65, Z:-1.10 [[ 9.91585251e-01 1.21242138e-01 4.53765795e-02 3.30845633e+01] [-1.21975193e-01 9.92438035e-01 1.37404111e-02 -2.64948553e+00] [-4.33675266e-02 -1.91596060e-02 9.98875451e-01 -1.10273483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70587156 meters 0.028685670475817198 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.63, Z:-1.10 [[ 9.92206137e-01 1.19767656e-01 3.43902749e-02 3.31204402e+01] [-1.19023798e-01 9.92626686e-01 -2.29259307e-02 -2.62942896e+00] [-3.68824896e-02 1.86539880e-02 9.99145490e-01 -1.09748126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73587156 meters 0.020697951083720967 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.65, Z:-1.10 [[ 9.92696734e-01 1.14418656e-01 3.82304326e-02 3.31480480e+01] [-1.14330070e-01 9.93432615e-01 -4.50264335e-03 -2.64997601e+00] [-3.84945450e-02 9.88713262e-05 9.99258805e-01 -1.09958481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76587156 meters 0.015874303785670205 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.66, Z:-1.10 [[ 9.92964906e-01 1.11830284e-01 3.89189321e-02 3.31791819e+01] [-1.11736505e-01 9.93727300e-01 -4.58331857e-03 -2.65911605e+00] [-3.91873591e-02 2.02409024e-04 9.99231860e-01 -1.10035172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79587156 meters 0.03112198075704711 Centerline is valid? [True, True] Translation: X:33.21, Y:-2.67, Z:-1.10 [[ 9.93247186e-01 1.09281442e-01 3.89563058e-02 3.32099770e+01] [-1.09185262e-01 9.94010800e-01 -4.59436448e-03 -2.66787953e+00] [-3.92250674e-02 3.09885159e-04 9.99230353e-01 -1.10178622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82587156 meters 0.022566041027990643 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.68, Z:-1.10 [[ 9.93927649e-01 1.03103212e-01 3.84389940e-02 3.32405643e+01] [-1.03004695e-01 9.94670509e-01 -4.53991709e-03 -2.68241009e+00] [-3.87022137e-02 5.52952269e-04 9.99250636e-01 -1.10362733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855871560000004 meters 0.02428519724663979 Centerline is valid? [True, True] Translation: X:33.27, Y:-2.69, Z:-1.11 [[ 9.94257024e-01 9.99172403e-02 3.83342647e-02 3.32718648e+01] [-9.98168212e-02 9.94995521e-01 -4.52939423e-03 -2.69324069e+00] [-3.85949863e-02 6.76977578e-04 9.99254707e-01 -1.10600051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88587156 meters 0.03265650702983011 Centerline is valid? [True, True] Translation: X:33.30, Y:-2.71, Z:-1.11 [[ 9.94786612e-01 9.43698442e-02 3.86513751e-02 3.33004713e+01] [-9.42634890e-02 9.95536800e-01 -4.56894086e-03 -2.70832075e+00] [-3.89100365e-02 9.01707737e-04 9.99242311e-01 -1.10741835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91587156 meters 0.03284238220410328 Centerline is valid? [True, True] Translation: X:33.33, Y:-2.72, Z:-1.11 [[ 9.95019336e-01 9.17985881e-02 3.88528087e-02 3.33301450e+01] [-9.16891465e-02 9.95777085e-01 -4.59315020e-03 -2.71925861e+00] [-3.91103813e-02 1.00789239e-03 9.99234388e-01 -1.10913427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94587156 meters 0.04174998147430507 Centerline is valid? [True, True] Translation: X:33.36, Y:-2.73, Z:-1.11 [[ 9.95229527e-01 8.98049136e-02 3.81217298e-02 3.33600991e+01] [-8.96980908e-02 9.95958805e-01 -4.50677365e-03 -2.72993795e+00] [-3.83724028e-02 1.06582783e-03 9.99262940e-01 -1.11134319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97587156 meters 0.043488490818539075 Centerline is valid? [True, True] Translation: X:33.39, Y:-2.74, Z:-1.11 [[ 9.95516285e-01 8.69943667e-02 3.71390170e-02 3.33900537e+01] [-8.68907893e-02 9.96208139e-01 -4.39700488e-03 -2.73951892e+00] [-3.73807057e-02 1.15025146e-03 9.99300435e-01 -1.11291026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00587156 meters 0.03891915375428701 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.75, Z:-1.12 [[ 9.95580429e-01 8.65064540e-02 3.65546491e-02 3.34202450e+01] [-8.64058103e-02 9.96250627e-01 -4.32709238e-03 -2.75200571e+00] [-3.67919135e-02 1.14943441e-03 9.99322287e-01 -1.11697307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035871560000004 meters 0.03455997338837413 Centerline is valid? [True, True] Translation: X:33.45, Y:-2.76, Z:-1.12 [[ 9.95519980e-01 8.77281104e-02 3.52668178e-02 3.34523916e+01] [-8.76349844e-02 9.96143881e-01 -4.18076687e-03 -2.75725767e+00] [-3.54975955e-02 1.07142993e-03 9.99369187e-01 -1.11898288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065871560000005 meters 0.03518035062373059 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.77, Z:-1.12 [[ 9.95361117e-01 8.95500811e-02 3.51714467e-02 3.34831694e+01] [-8.94585550e-02 9.95981814e-01 -4.17057316e-03 -2.76565457e+00] [-3.54035964e-02 1.00483957e-03 9.99372591e-01 -1.12128971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09587156 meters 0.03321419228984291 Centerline is valid? [True, True] Translation: X:33.51, Y:-2.77, Z:-1.12 [[ 9.95116058e-01 9.20817427e-02 3.55666016e-02 3.35133114e+01] [-9.19894911e-02 9.95751015e-01 -4.22500013e-03 -2.77036017e+00] [-3.58045250e-02 9.32611892e-04 9.99358377e-01 -1.12294548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12587156 meters 0.026967521051214003 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.77, Z:-1.12 [[ 9.94553994e-01 9.79923016e-02 3.54945266e-02 3.35442876e+01] [-9.79041674e-02 9.95186913e-01 -4.21685767e-03 -2.77337472e+00] [-3.57369080e-02 7.18830561e-04 9.99360974e-01 -1.12448153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15587156 meters 0.030328441813796334 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.78, Z:-1.13 [[ 9.94211350e-01 1.01693441e-01 3.46732595e-02 3.35749032e+01] [-1.01611578e-01 9.94815619e-01 -4.11957033e-03 -2.77685180e+00] [-3.49124334e-02 5.72518965e-04 9.99390211e-01 -1.12601742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18587156 meters 0.03315669354821433 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.78, Z:-1.13 [[ 9.93804489e-01 1.05634247e-01 3.45549455e-02 3.36069503e+01] [-1.05555344e-01 9.94404957e-01 -4.10489492e-03 -2.77762997e+00] [-3.47952266e-02 4.32003833e-04 9.99394369e-01 -1.12677029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215871560000004 meters 0.016828781763370777 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.78, Z:-1.13 [[ 9.93027895e-01 1.12885706e-01 3.39472750e-02 3.36389571e+01] [-1.12813554e-01 9.93607963e-01 -4.03953119e-03 -2.77652528e+00] [-3.41862881e-02 1.81654421e-04 9.99415462e-01 -1.13032540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245871560000005 meters 0.016123136436660936 Centerline is valid? [True, True] Translation: X:33.67, Y:-2.78, Z:-1.13 [[ 9.92594844e-01 1.16712473e-01 3.36700765e-02 3.36698140e+01] [-1.16643658e-01 9.93165745e-01 -4.00760447e-03 -2.77819133e+00] [-3.39077040e-02 5.05266371e-05 9.99424967e-01 -1.13356825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27587156 meters 0.016959627009960336 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.78, Z:-1.13 [[ 9.91722026e-01 1.23728504e-01 3.43319155e-02 3.37033467e+01] [-1.23661073e-01 9.92316089e-01 -4.08878983e-03 -2.77867154e+00] [-3.45740120e-02 -1.90578559e-04 9.99402122e-01 -1.13333682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30587156 meters 0.018754193642342796 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.78, Z:-1.13 [[ 9.91273354e-01 1.27129455e-01 3.48602847e-02 3.37347765e+01] [-1.27061780e-01 9.91886086e-01 -4.15890979e-03 -2.78093080e+00] [-3.51061513e-02 -3.06793350e-04 9.99383542e-01 -1.13447775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33587156 meters 0.020308813001918256 Centerline is valid? [True, True] Translation: X:33.77, Y:-2.78, Z:-1.14 [[ 9.90894347e-01 1.30083003e-01 3.47390979e-02 3.37665112e+01] [-1.30017427e-01 9.91503025e-01 -4.14971409e-03 -2.78387623e+00] [-3.49837279e-02 -4.04759902e-04 9.99387800e-01 -1.13526176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36587156 meters 0.025839226364659545 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.80, Z:-1.14 [[ 9.89368770e-01 1.36868210e-01 4.91582161e-02 3.37919439e+01] [-1.37979752e-01 9.90233854e-01 1.99625269e-02 -2.79823481e+00] [-4.59458944e-02 -2.65331391e-02 9.98591492e-01 -1.14111325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39587156 meters 0.030884694691105517 Centerline is valid? [True, True] Translation: X:33.82, Y:-2.78, Z:-1.14 [[ 9.88620537e-01 1.42292469e-01 4.88086741e-02 3.38224948e+01] [-1.42222675e-01 9.89822472e-01 -4.91770547e-03 -2.78252757e+00] [-4.90116749e-02 -2.07995555e-03 9.98796040e-01 -1.14101820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425871560000004 meters 0.03453714259854821 Centerline is valid? [True, True] Translation: X:33.86, Y:-2.76, Z:-1.14 [[ 9.88882562e-01 1.45268802e-01 3.17530072e-02 3.38628171e+01] [-1.44250350e-01 9.89013398e-01 -3.23161752e-02 -2.76166017e+00] [-3.60986817e-02 2.73765197e-02 9.98973178e-01 -1.13715887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45587156 meters 0.03631931425925698 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.78, Z:-1.14 [[ 9.88610034e-01 1.46482387e-01 3.45414316e-02 3.38901735e+01] [-1.46427429e-01 9.89212797e-01 -4.12914383e-03 -2.77940094e+00] [-3.47736730e-02 -9.75699989e-04 9.99394737e-01 -1.14147711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48587156 meters 0.036744409850178975 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.78, Z:-1.14 [[ 9.88305306e-01 1.48655227e-01 3.39741958e-02 3.39191203e+01] [-1.48603364e-01 9.88888543e-01 -4.06067304e-03 -2.78252406e+00] [-3.42003333e-02 -1.03549507e-03 9.99414461e-01 -1.14249246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51587156 meters 0.04078513509411186 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.78, Z:-1.14 [[ 9.88004040e-01 1.50592340e-01 3.42047465e-02 3.39478085e+01] [-1.50540969e-01 9.88595323e-01 -4.08707181e-03 -2.78037605e+00] [-3.44301341e-02 -1.11117225e-03 9.99406489e-01 -1.14466714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54587156 meters 0.045569885420467096 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.78, Z:-1.15 [[ 9.87471827e-01 1.54125750e-01 3.38325929e-02 3.39779436e+01] [-1.54077629e-01 9.88050483e-01 -4.04060312e-03 -2.77563809e+00] [-3.40510708e-02 -1.22286396e-03 9.99419346e-01 -1.14692106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.57587156 meters 0.05184843123942177 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.77, Z:-1.15 [[ 9.87154772e-01 1.56302728e-01 3.30894832e-02 3.40068162e+01] [-1.56257919e-01 9.87708381e-01 -3.95184720e-03 -2.76831950e+00] [-3.33004443e-02 -1.26940895e-03 9.99444580e-01 -1.15115137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605871560000004 meters 0.049737260176481606 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.77, Z:-1.15 [[ 9.87084709e-01 1.56780310e-01 3.29197914e-02 3.40352127e+01] [-1.56736274e-01 9.87632672e-01 -3.93006566e-03 -2.77401087e+00] [-3.31288185e-02 -1.28041773e-03 9.99450270e-01 -1.15206850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635871560000005 meters 0.04759659900580828 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.78, Z:-1.15 [[ 9.87122973e-01 1.56539505e-01 3.29183801e-02 3.40636647e+01] [-1.56495390e-01 9.87670877e-01 -3.92839364e-03 -2.77853598e+00] [-3.31274741e-02 -1.27376711e-03 9.99450323e-01 -1.15244912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66587156 meters 0.05044104162696022 Centerline is valid? [True, True] Translation: X:34.09, Y:-2.78, Z:-1.15 [[ 9.87219983e-01 1.55830609e-01 3.33695495e-02 3.40927083e+01] [-1.55784925e-01 9.87782978e-01 -3.98063112e-03 -2.77895992e+00] [-3.35821771e-02 -1.26871418e-03 9.99435154e-01 -1.15209179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69587156 meters 0.04607973572304913 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.81, Z:-1.16 [[ 9.86520141e-01 1.54408284e-01 5.41857364e-02 3.41126101e+01] [-1.56302728e-01 9.87169749e-01 3.26396123e-02 -2.80643839e+00] [-4.84506933e-02 -4.06690133e-02 9.97997275e-01 -1.16033651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72587156 meters 0.040340170665892267 Centerline is valid? [True, True] Translation: X:34.15, Y:-2.77, Z:-1.15 [[ 9.88021629e-01 1.51366751e-01 3.00227696e-02 3.41543294e+01] [-1.50052024e-01 9.87782920e-01 -4.20629586e-02 -2.76699976e+00] [-3.60229124e-02 3.70541356e-02 9.98663778e-01 -1.14848257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75587156 meters 0.03765361349560505 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.79, Z:-1.15 [[ 9.88464644e-01 1.47306721e-01 3.51905846e-02 3.41805420e+01] [-1.47250599e-01 9.89090319e-01 -4.19546460e-03 -2.79490094e+00] [-3.54246867e-02 -1.03476624e-03 9.99371813e-01 -1.15396662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785871560000004 meters 0.033885251722555576 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.80, Z:-1.15 [[ 9.88869858e-01 1.44495375e-01 3.54611225e-02 3.42099799e+01] [-1.44436614e-01 9.89505027e-01 -4.22677500e-03 -2.80237094e+00] [-3.56997084e-02 -9.42154076e-04 9.99362118e-01 -1.15446781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815871560000005 meters 0.029343155116478954 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.81, Z:-1.15 [[ 9.89584430e-01 1.39184863e-01 3.67454669e-02 3.42381280e+01] [-1.39118121e-01 9.90266110e-01 -4.37948705e-03 -2.81091979e+00] [-3.69973488e-02 -7.78088113e-04 9.99315061e-01 -1.15420066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84587156 meters 0.026590160696129534 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.82, Z:-1.16 [[ 9.89962663e-01 1.36401082e-01 3.69955515e-02 3.42673490e+01] [-1.36331518e-01 9.90653463e-01 -4.40839982e-03 -2.81755650e+00] [-3.72510817e-02 -6.79508466e-04 9.99305707e-01 -1.15535528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87587156 meters 0.02224651316304805 Centerline is valid? [True, True] Translation: X:34.30, Y:-2.83, Z:-1.16 [[ 9.90692209e-01 1.31317997e-01 3.58403352e-02 3.42969336e+01] [-1.31249424e-01 9.91340183e-01 -4.26964455e-03 -2.82521243e+00] [-3.60906456e-02 -4.74119766e-04 9.99348408e-01 -1.15825431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90587156 meters 0.020429766240657447 Centerline is valid? [True, True] Translation: X:34.33, Y:-2.83, Z:-1.16 [[ 9.90993756e-01 1.29221746e-01 3.51157545e-02 3.43265917e+01] [-1.29154584e-01 9.91615646e-01 -4.18383407e-03 -2.83058999e+00] [-3.53619740e-02 -3.89207245e-04 9.99374494e-01 -1.16121498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93587156 meters 0.019254565497617393 Centerline is valid? [True, True] Translation: X:34.36, Y:-2.84, Z:-1.16 [[ 9.91268587e-01 1.27301177e-01 3.43656754e-02 3.43562682e+01] [-1.27235704e-01 9.91864059e-01 -4.09435521e-03 -2.83608744e+00] [-3.46072945e-02 -3.13935209e-04 9.99400939e-01 -1.16415097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965871560000004 meters 0.017237140163798455 Centerline is valid? [True, True] Translation: X:34.39, Y:-2.84, Z:-1.17 [[ 9.91634905e-01 1.24633372e-01 3.35669256e-02 3.43868926e+01] [-1.24569371e-01 9.92202840e-01 -3.99944111e-03 -2.84298543e+00] [-3.38036628e-02 -2.15425418e-04 9.99428470e-01 -1.16508615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995871560000005 meters 0.02893852665020001 Centerline is valid? [True, True] Translation: X:34.42, Y:-2.85, Z:-1.17 [[ 9.91618543e-01 1.24683474e-01 3.38629152e-02 3.44174764e+01] [-1.24618352e-01 9.92196545e-01 -4.03519577e-03 -2.84524573e+00] [-3.41017897e-02 -2.18565752e-04 9.99418341e-01 -1.16755162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02587156 meters 0.02893852665020001 Centerline is valid? [True, True] Translation: X:34.45, Y:-2.85, Z:-1.17 [[ 9.91615596e-01 1.24706982e-01 3.38626281e-02 3.44480640e+01] [-1.24641791e-01 9.92193591e-01 -4.03760390e-03 -2.84893717e+00] [-3.41018000e-02 -2.16947619e-04 9.99418341e-01 -1.16891246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05587156 meters 0.01712307550140838 Centerline is valid? [True, True] Translation: X:34.48, Y:-2.85, Z:-1.17 [[ 9.91709384e-01 1.24127302e-01 3.32401986e-02 3.44789145e+01] [-1.24064135e-01 9.92266283e-01 -3.96416086e-03 -2.85071457e+00] [-3.34751889e-02 -1.92620957e-04 9.99439530e-01 -1.16971931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08587156 meters 0.017354089234745424 Centerline is valid? [True, True] Translation: X:34.51, Y:-2.85, Z:-1.17 [[ 9.91651453e-01 1.24545936e-01 3.34021859e-02 3.45096691e+01] [-1.24482358e-01 9.92213821e-01 -3.98442762e-03 -2.85199993e+00] [-3.36383548e-02 -2.06819411e-04 9.99434049e-01 -1.17114446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11587156 meters 0.018187436583166378 Centerline is valid? [True, True] Translation: X:34.54, Y:-2.85, Z:-1.17 [[ 9.91397475e-01 1.26326185e-01 3.42453050e-02 3.45410763e+01] [-1.26260398e-01 9.91988720e-01 -4.08554572e-03 -2.84793246e+00] [-3.44870677e-02 -2.73426136e-04 9.99405107e-01 -1.17051547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14587156 meters 0.0183454772378035 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.85, Z:-1.17 [[ 9.91249832e-01 1.27300393e-01 3.49053184e-02 3.45706200e+01] [-1.27232641e-01 9.91864160e-01 -4.16450564e-03 -2.84831504e+00] [-3.51514775e-02 -3.13030338e-04 9.99381947e-01 -1.16960332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175871560000004 meters 0.03108369256402244 Centerline is valid? [True, True] Translation: X:34.60, Y:-2.85, Z:-1.17 [[ 9.91085137e-01 1.28506938e-01 3.51598982e-02 3.45996868e+01] [-1.28438980e-01 9.91708545e-01 -4.19411420e-03 -2.84836161e+00] [-3.54073442e-02 -3.59177215e-04 9.99372899e-01 -1.17096427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20587156 meters 0.019915112212824833 Centerline is valid? [True, True] Translation: X:34.63, Y:-2.85, Z:-1.17 [[ 9.90997304e-01 1.28845192e-01 3.63766447e-02 3.46299754e+01] [-1.28772737e-01 9.91664645e-01 -4.33759095e-03 -2.84765457e+00] [-3.66323102e-02 -3.85779150e-04 9.99328737e-01 -1.17137579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23587156 meters 0.02045479800971402 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.85, Z:-1.17 [[ 9.91014968e-01 1.28732241e-01 3.62952325e-02 3.46596180e+01] [-1.28660030e-01 9.91679316e-01 -4.32797057e-03 -2.84864020e+00] [-3.65503807e-02 -3.80662107e-04 9.99331739e-01 -1.17386230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26587156 meters 0.01821228094785575 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.85, Z:-1.18 [[ 9.91295678e-01 1.26894611e-01 3.50804338e-02 3.46897312e+01] [-1.26826021e-01 9.91916159e-01 -4.18262247e-03 -2.85498360e+00] [-3.53276013e-02 -3.02896256e-04 9.99375740e-01 -1.17624629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29587156 meters 0.01734226657144309 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.86, Z:-1.18 [[ 9.91513420e-01 1.25121482e-01 3.52952247e-02 3.47187042e+01] [-1.25050923e-01 9.92141399e-01 -4.20833494e-03 -2.85995473e+00] [-3.55444067e-02 -2.41079867e-04 9.99368069e-01 -1.17793841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32587156 meters 0.016336507052851154 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.87, Z:-1.18 [[ 9.91734112e-01 1.23383128e-01 3.52144067e-02 3.47489423e+01] [-1.23311815e-01 9.92359094e-01 -4.19817038e-03 -2.86566094e+00] [-3.54633201e-02 -1.78883632e-04 9.99370963e-01 -1.17887153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355871560000004 meters 0.015802889446512276 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.87, Z:-1.18 [[ 9.91965394e-01 1.21575027e-01 3.49881442e-02 3.47794836e+01] [-1.21503511e-01 9.92582238e-01 -4.17098209e-03 -2.87085468e+00] [-3.52356978e-02 -1.13712463e-04 9.99379024e-01 -1.18070539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385871560000005 meters 0.015491734962529174 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.88, Z:-1.18 [[ 9.92228054e-01 1.19461415e-01 3.48203734e-02 3.48096218e+01] [-1.19389249e-01 9.92838843e-01 -4.15192903e-03 -2.87689773e+00] [-3.50670146e-02 -3.75177485e-05 9.99384962e-01 -1.18220383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41587156 meters 0.01542816600022298 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.88, Z:-1.18 [[ 9.92176877e-01 1.19804185e-01 3.50998837e-02 3.48409589e+01] [-1.19731058e-01 9.92797540e-01 -4.18558529e-03 -2.87967324e+00] [-3.53485288e-02 -4.97052527e-05 9.99375044e-01 -1.18291155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44587156 meters 0.01564466961332444 Centerline is valid? [True, True] Translation: X:34.87, Y:-2.88, Z:-1.18 [[ 9.92050115e-01 1.20951451e-01 3.47464362e-02 3.48719164e+01] [-1.20880464e-01 9.92658420e-01 -4.14424686e-03 -2.88102655e+00] [-3.49925951e-02 -8.88647692e-05 9.99387568e-01 -1.18421276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47587156 meters 0.016182651696724015 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.88, Z:-1.19 [[ 9.91897761e-01 1.22319113e-01 3.43054753e-02 3.49023678e+01] [-1.22250699e-01 9.92490814e-01 -4.09267828e-03 -2.88095792e+00] [-3.45484819e-02 -1.34349924e-04 9.99403014e-01 -1.18611854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50587156 meters 0.017535798885519167 Centerline is valid? [True, True] Translation: X:34.93, Y:-2.88, Z:-1.19 [[ 9.91531658e-01 1.25377534e-01 3.38444310e-02 3.49332303e+01] [-1.25312728e-01 9.92109075e-01 -4.03767522e-03 -2.87652071e+00] [-3.40836009e-02 -2.37655161e-04 9.99418957e-01 -1.18794353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535871560000004 meters 0.018211167571069282 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.88, Z:-1.19 [[ 9.91369167e-01 1.26696033e-01 3.36940607e-02 3.49634147e+01] [-1.26632554e-01 9.91941549e-01 -4.01997904e-03 -2.87604750e+00] [-3.39318542e-02 -2.81481676e-04 9.99424109e-01 -1.18937445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565871560000005 meters 0.019391312158297744 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.87, Z:-1.19 [[ 9.91174916e-01 1.28143888e-01 3.39327174e-02 3.49915247e+01] [-1.28080370e-01 9.91755531e-01 -4.04798630e-03 -2.87238815e+00] [-3.41716848e-02 -3.33852512e-04 9.99415922e-01 -1.19114878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59587156 meters 0.03027635207965519 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.87, Z:-1.19 [[ 9.91097190e-01 1.28777981e-01 3.38022558e-02 3.50206761e+01] [-1.28715392e-01 9.91673386e-01 -4.03027919e-03 -2.87299790e+00] [-3.40398087e-02 -3.56472241e-04 9.99420414e-01 -1.19337299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62587156 meters 0.019232146237668005 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.87, Z:-1.19 [[ 9.91215997e-01 1.28030914e-01 3.31501644e-02 3.50494463e+01] [-1.27970351e-01 9.91770124e-01 -3.95100497e-03 -2.87398960e+00] [-3.33831934e-02 -3.25938828e-04 9.99442573e-01 -1.19474527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65587156 meters 0.01867467477773762 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.88, Z:-1.20 [[ 9.91298628e-01 1.27543499e-01 3.25528059e-02 3.50776613e+01] [-1.27484887e-01 9.91832931e-01 -3.87829331e-03 -2.87652356e+00] [-3.27815960e-02 -3.05443941e-04 9.99462492e-01 -1.19612965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68587156 meters 0.01881570187455725 Centerline is valid? [True, True] Translation: X:35.11, Y:-2.88, Z:-1.20 [[ 9.91400142e-01 1.26837160e-01 3.22194650e-02 3.51054991e+01] [-1.26779414e-01 9.91923513e-01 -3.83720232e-03 -2.87763917e+00] [-3.24459448e-02 -2.80561951e-04 9.99473452e-01 -1.19882852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715871560000004 meters 0.01752483422846781 Centerline is valid? [True, True] Translation: X:35.13, Y:-2.88, Z:-1.20 [[ 9.91597980e-01 1.25322091e-01 3.20596233e-02 3.51346598e+01] [-1.25264199e-01 9.92116082e-01 -3.81585735e-03 -2.88023607e+00] [-3.22850791e-02 -2.32126610e-04 9.99478674e-01 -1.19961214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745871560000005 meters 0.017249772766852117 Centerline is valid? [True, True] Translation: X:35.16, Y:-2.88, Z:-1.20 [[ 9.91723703e-01 1.24354768e-01 3.19372629e-02 3.51620273e+01] [-1.24296860e-01 9.92237800e-01 -3.79991884e-03 -2.88307550e+00] [-3.21618975e-02 -2.01231908e-04 9.99482652e-01 -1.20171665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77587156 meters 0.01657389713099389 Centerline is valid? [True, True] Translation: X:35.19, Y:-2.89, Z:-1.20 [[ 9.91917160e-01 1.22709667e-01 3.22906255e-02 3.51899565e+01] [-1.22649670e-01 9.92442600e-01 -3.83975920e-03 -2.88717516e+00] [-3.25177679e-02 -1.51711512e-04 9.99471146e-01 -1.20316517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80587156 meters 0.029100283220862864 Centerline is valid? [True, True] Translation: X:35.22, Y:-2.89, Z:-1.21 [[ 9.92113664e-01 1.21172462e-01 3.20579364e-02 3.52181104e+01] [-1.21112591e-01 9.92631464e-01 -3.81003276e-03 -2.89162710e+00] [-3.22833874e-02 -1.02634166e-04 9.99478750e-01 -1.20515426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83587156 meters 0.015745364876162602 Centerline is valid? [True, True] Translation: X:35.25, Y:-2.90, Z:-1.20 [[ 9.92701010e-01 1.16105071e-01 3.26238709e-02 3.52467866e+01] [-1.16040391e-01 9.93236935e-01 -3.87543926e-03 -2.90240999e+00] [-3.28531917e-02 6.14657310e-05 9.99460186e-01 -1.20452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86587156 meters 0.025405314037359832 Centerline is valid? [True, True] Translation: X:35.28, Y:-2.91, Z:-1.21 [[ 9.93371000e-01 1.10359662e-01 3.21683370e-02 3.52760826e+01] [-1.10293795e-01 9.93891686e-01 -3.82030448e-03 -2.91431909e+00] [-3.23934502e-02 2.47011716e-04 9.99475164e-01 -1.20659452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89587156 meters 0.02766033968773686 Centerline is valid? [True, True] Translation: X:35.31, Y:-2.92, Z:-1.21 [[ 9.93657893e-01 1.07888680e-01 3.16863476e-02 3.53062899e+01] [-1.07823525e-01 9.94162929e-01 -3.76277867e-03 -2.92251748e+00] [-3.19073534e-02 3.22381017e-04 9.99490779e-01 -1.20899080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925871560000004 meters 0.021305972479969428 Centerline is valid? [True, True] Translation: X:35.34, Y:-2.93, Z:-1.21 [[ 9.93896761e-01 1.05678691e-01 3.16424056e-02 3.53371870e+01] [-1.05612624e-01 9.94400252e-01 -3.75673350e-03 -2.93144656e+00] [-3.18622228e-02 3.91967760e-04 9.99492194e-01 -1.20983124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95587156 meters 0.021945020050254095 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.94, Z:-1.21 [[ 9.94023066e-01 1.04434762e-01 3.18044677e-02 3.53689840e+01] [-1.04367229e-01 9.94531643e-01 -3.78066552e-03 -2.93771313e+00] [-3.20253824e-02 4.38724563e-04 9.99486960e-01 -1.21003291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98587156 meters 0.028412579987541615 Centerline is valid? [True, True] Translation: X:35.40, Y:-2.94, Z:-1.21 [[ 9.93992725e-01 1.04876889e-01 3.12937834e-02 3.53994771e+01] [-1.04811561e-01 9.94485123e-01 -3.72524276e-03 -2.94300624e+00] [-3.15118939e-02 4.22913912e-04 9.99503287e-01 -1.21205563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01587156 meters 0.019054354054516186 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.94, Z:-1.21 [[ 9.93644151e-01 1.08001880e-01 3.17316238e-02 3.54308962e+01] [-1.07936091e-01 9.94150633e-01 -3.78396914e-03 -2.94332736e+00] [-3.19546897e-02 3.34931360e-04 9.99489262e-01 -1.21049496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04587156 meters 0.01792023443570346 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.94, Z:-1.21 [[ 9.93330168e-01 1.10751416e-01 3.20827305e-02 3.54610750e+01] [-1.10685571e-01 9.93848108e-01 -3.82663357e-03 -2.94446363e+00] [-3.23091661e-02 2.50015228e-04 9.99477891e-01 -1.21249036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.07587156 meters 0.01634024762888934 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.94, Z:-1.21 [[ 9.92977993e-01 1.13764322e-01 3.24404789e-02 3.54922839e+01] [-1.13698571e-01 9.93507753e-01 -3.87037702e-03 -2.94380186e+00] [-3.26701781e-02 1.54763116e-04 9.99466175e-01 -1.21251742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105871560000004 meters 0.015492260022519092 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.94, Z:-1.21 [[ 9.92602723e-01 1.16826408e-01 3.30367192e-02 3.55217057e+01] [-1.16759908e-01 9.93152349e-01 -3.94164057e-03 -2.94319122e+00] [-3.32709830e-02 5.51188719e-05 9.99446366e-01 -1.21345661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135871560000005 meters 0.015837951063621413 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.94, Z:-1.21 [[ 9.91927122e-01 1.22080807e-01 3.43053990e-02 3.55510701e+01] [-1.22012246e-01 9.92520156e-01 -4.09280357e-03 -2.93950425e+00] [-3.45484527e-02 -1.25915930e-04 9.99403016e-01 -1.21243172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16587156 meters 0.0171673223537445 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.94, Z:-1.21 [[ 9.91395080e-01 1.26152802e-01 3.49466049e-02 3.55801074e+01] [-1.26084226e-01 9.92010784e-01 -4.16805674e-03 -2.93778623e+00] [-3.51932210e-02 -2.74024668e-04 9.99380489e-01 -1.21121691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19587156 meters 0.018371719136498023 Centerline is valid? [True, True] Translation: X:35.61, Y:-2.94, Z:-1.21 [[ 9.91197232e-01 1.27845782e-01 3.44020899e-02 3.56085961e+01] [-1.27780388e-01 9.91794004e-01 -4.10186886e-03 -2.93862223e+00] [-3.46441931e-02 -3.30151340e-04 9.99399655e-01 -1.21365143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22587156 meters 0.01998764996715528 Centerline is valid? [True, True] Translation: X:35.64, Y:-2.94, Z:-1.22 [[ 9.91030895e-01 1.29261494e-01 3.39003170e-02 3.56371063e+01] [-1.29198864e-01 9.91610471e-01 -4.04080974e-03 -2.93968657e+00] [-3.41382304e-02 -3.75315149e-04 9.99417050e-01 -1.21670882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25587156 meters 0.02140523282392143 Centerline is valid? [True, True] Translation: X:35.67, Y:-2.94, Z:-1.22 [[ 9.90753267e-01 1.31738263e-01 3.24498768e-02 3.56667271e+01] [-1.31682248e-01 9.91284437e-01 -3.86666810e-03 -2.94243932e+00] [-3.26764460e-02 -4.42158669e-04 9.99465885e-01 -1.22035965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285871560000004 meters 0.02291259023145544 Centerline is valid? [True, True] Translation: X:35.69, Y:-2.94, Z:-1.22 [[ 9.90608380e-01 1.32906295e-01 3.21084806e-02 3.56947161e+01] [-1.32852077e-01 9.91128493e-01 -3.82564142e-03 -2.94374826e+00] [-3.23320819e-02 -4.75965888e-04 9.99477068e-01 -1.22287482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315871560000005 meters 0.026318908576875726 Centerline is valid? [True, True] Translation: X:35.72, Y:-2.94, Z:-1.22 [[ 9.90245624e-01 1.35713081e-01 3.15525655e-02 3.57232486e+01] [-1.35662208e-01 9.90748024e-01 -3.75751288e-03 -2.94267219e+00] [-3.17705856e-02 -5.59630028e-04 9.99495031e-01 -1.22424646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34587156 meters 0.027026952593082017 Centerline is valid? [True, True] Translation: X:35.75, Y:-2.94, Z:-1.23 [[ 9.90056965e-01 1.37002326e-01 3.18993682e-02 3.57508794e+01] [-1.36951061e-01 9.90570538e-01 -3.79681847e-03 -2.94219145e+00] [-3.21187473e-02 -6.09585739e-04 9.99483874e-01 -1.22570334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37587156 meters 0.026982505697338087 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.94, Z:-1.23 [[ 9.89942981e-01 1.38005383e-01 3.11031919e-02 3.57797508e+01] [-1.37957202e-01 9.90431280e-01 -3.70006986e-03 -2.94442799e+00] [-3.13162037e-02 -6.28051137e-04 9.99509330e-01 -1.22653278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40587156 meters 0.029350428586323998 Centerline is valid? [True, True] Translation: X:35.81, Y:-2.94, Z:-1.23 [[ 9.89847665e-01 1.38788473e-01 3.06489619e-02 3.58079516e+01] [-1.38742106e-01 9.90321839e-01 -3.64469543e-03 -2.94205257e+00] [-3.08581780e-02 -6.44608256e-04 9.99523565e-01 -1.23063170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43587156 meters 0.030469633467881715 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.94, Z:-1.23 [[ 9.89894978e-01 1.38383692e-01 3.09497430e-02 3.58355541e+01] [-1.38336274e-01 9.90378485e-01 -3.67848056e-03 -2.94311246e+00] [-3.11610013e-02 -6.40162715e-04 9.99514173e-01 -1.23305763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465871560000004 meters 0.027995453429649375 Centerline is valid? [True, True] Translation: X:35.86, Y:-2.95, Z:-1.23 [[ 9.90040450e-01 1.37237242e-01 3.13981859e-02 3.58635773e+01] [-1.37187929e-01 9.90538016e-01 -3.72971919e-03 -2.94949186e+00] [-3.16129532e-02 -6.14879245e-04 9.99499997e-01 -1.23291598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495871560000005 meters 0.024430611407454256 Centerline is valid? [True, True] Translation: X:35.89, Y:-2.96, Z:-1.23 [[ 9.90574076e-01 1.33291012e-01 3.15674809e-02 3.58910621e+01] [-1.33239211e-01 9.91076820e-01 -3.74829330e-03 -2.95887621e+00] [-3.17854124e-02 -4.93064072e-04 9.99494595e-01 -1.23469889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52587156 meters 0.021580787930984672 Centerline is valid? [True, True] Translation: X:35.92, Y:-2.97, Z:-1.23 [[ 9.90894038e-01 1.30904659e-01 3.15115308e-02 3.59190920e+01] [-1.30851882e-01 9.91394874e-01 -3.74016507e-03 -2.96696567e+00] [-3.17299751e-02 -4.17235852e-04 9.99496390e-01 -1.23497450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55587156 meters 0.027369829640213214 Centerline is valid? [True, True] Translation: X:35.95, Y:-2.98, Z:-1.24 [[ 9.91361685e-01 1.27369754e-01 3.12882517e-02 3.59473153e+01] [-1.27316009e-01 9.91855258e-01 -3.71214873e-03 -2.97532800e+00] [-3.15062325e-02 -3.03413329e-04 9.99503509e-01 -1.23694462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58587156 meters 0.018263692868429493 Centerline is valid? [True, True] Translation: X:35.98, Y:-2.98, Z:-1.24 [[ 9.91522309e-01 1.26072934e-01 3.14503639e-02 3.59760096e+01] [-1.26018027e-01 9.92020940e-01 -3.72985221e-03 -2.98044001e+00] [-3.16696530e-02 -2.65081121e-04 9.99498356e-01 -1.23719052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61587156 meters 0.01793340779897064 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.98, Z:-1.24 [[ 9.91611948e-01 1.25330440e-01 3.15915501e-02 3.60036698e+01] [-1.25274705e-01 9.92115024e-01 -3.74524894e-03 -2.98424746e+00] [-3.18118452e-02 -2.43788521e-04 9.99493845e-01 -1.23845821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64587156 meters 0.01829692032558474 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.99, Z:-1.24 [[ 9.91534061e-01 1.25883144e-01 3.18377152e-02 3.60319717e+01] [-1.25826890e-01 9.92045041e-01 -3.77231381e-03 -2.98568882e+00] [-3.20593182e-02 -2.65663060e-04 9.99485933e-01 -1.23893656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675871560000004 meters 0.01928051904742183 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.99, Z:-1.24 [[ 9.91372193e-01 1.27169838e-01 3.17648811e-02 3.60611333e+01] [-1.27114566e-01 9.91880909e-01 -3.76164953e-03 -2.98634255e+00] [-3.19853475e-02 -3.08584354e-04 9.99488290e-01 -1.24041553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70587156 meters 0.027921213948221106 Centerline is valid? [True, True] Translation: X:36.09, Y:-2.98, Z:-1.24 [[ 9.90987655e-01 1.30082912e-01 3.19672325e-02 3.60907720e+01] [-1.29915428e-01 9.91498423e-01 -7.27046665e-03 -2.98172491e+00] [-3.26412241e-02 3.05190601e-03 9.99462474e-01 -1.24402799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73587156 meters 0.023339881325531657 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.99, Z:-1.25 [[ 9.90749263e-01 1.31919711e-01 3.18290404e-02 3.61186066e+01] [-1.31978998e-01 9.91252484e-01 -2.40214361e-04 -2.98566899e+00] [-3.15823044e-02 -3.96277266e-03 9.99493299e-01 -1.24502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76587156 meters 0.024388871720948075 Centerline is valid? [True, True] Translation: X:36.15, Y:-2.98, Z:-1.25 [[ 9.90570029e-01 1.33406569e-01 3.12042630e-02 3.61479895e+01] [-1.33356455e-01 9.91061266e-01 -3.69101802e-03 -2.98436287e+00] [-3.14177425e-02 -5.05078073e-04 9.99506213e-01 -1.24580027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79587156 meters 0.025495677523171514 Centerline is valid? [True, True] Translation: X:36.18, Y:-2.98, Z:-1.25 [[ 9.90349194e-01 1.34855098e-01 3.19777551e-02 3.61775470e+01] [-1.34803274e-01 9.90865168e-01 -3.78092962e-03 -2.98393805e+00] [-3.21955213e-02 -5.66265473e-04 9.99481429e-01 -1.24575433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82587156 meters 0.024926372642885504 Centerline is valid? [True, True] Translation: X:36.21, Y:-2.99, Z:-1.25 [[ 9.90326638e-01 1.34927845e-01 3.23670502e-02 3.62066088e+01] [-1.34874842e-01 9.90855259e-01 -3.82538306e-03 -2.98788811e+00] [-3.25872126e-02 -5.77122027e-04 9.99468729e-01 -1.24517441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855871560000004 meters 0.0268468166697277 Centerline is valid? [True, True] Translation: X:36.23, Y:-2.99, Z:-1.25 [[ 9.90395654e-01 1.34383593e-01 3.25192046e-02 3.62340257e+01] [-1.34329845e-01 9.90929227e-01 -3.84188600e-03 -2.98888503e+00] [-3.27405167e-02 -5.63312528e-04 9.99463727e-01 -1.24853111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885871560000005 meters 0.02334106036958011 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.99, Z:-1.25 [[ 9.90531817e-01 1.33682882e-01 3.12347139e-02 3.62626750e+01] [-1.33424313e-01 9.91006204e-01 -1.02302058e-02 -2.99210158e+00] [-3.23213986e-02 5.96587411e-03 9.99459722e-01 -1.24574442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91587156 meters 0.02334106036958011 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.00, Z:-1.25 [[ 9.90554713e-01 1.33347873e-01 3.19328402e-02 3.62903400e+01] [-1.33286289e-01 9.91069266e-01 -4.05901957e-03 -2.99897974e+00] [-3.21889181e-02 -2.35528819e-04 9.99481775e-01 -1.24791795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94587156 meters 0.02340045251034196 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.00, Z:-1.25 [[ 9.90600204e-01 1.32986667e-01 3.20278453e-02 3.63187960e+01] [-1.32913220e-01 9.91117819e-01 -4.42092214e-03 -3.00056540e+00] [-3.23312919e-02 1.22442308e-04 9.99477200e-01 -1.24867791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97587156 meters 0.024563076841563634 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.01, Z:-1.25 [[ 9.90464061e-01 1.33491620e-01 3.40724531e-02 3.63446276e+01] [-1.33668879e-01 9.91021604e-01 2.96841537e-03 -3.00575115e+00] [-3.33702785e-02 -7.49453536e-03 9.99414957e-01 -1.25142986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00587156 meters 0.025828616613495423 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.00, Z:-1.25 [[ 9.90500199e-01 1.33517098e-01 3.29019902e-02 3.63729600e+01] [-1.33461803e-01 9.91046359e-01 -3.88095010e-03 -3.00296185e+00] [-3.31255707e-02 -5.47077086e-04 9.99451048e-01 -1.25350620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035871560000004 meters 0.024182307865150052 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.01, Z:-1.25 [[ 9.90562521e-01 1.33055102e-01 3.28972999e-02 3.64014782e+01] [-1.32999638e-01 9.91108498e-01 -3.87831394e-03 -3.00780792e+00] [-3.31208230e-02 -5.33616552e-04 9.99451213e-01 -1.25348139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065871560000005 meters 0.02473172072736368 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.01, Z:-1.26 [[ 9.90580861e-01 1.33009077e-01 3.25291029e-02 3.64292419e+01] [-1.32954869e-01 9.91114679e-01 -3.83350990e-03 -3.00851274e+00] [-3.27499630e-02 -5.27501058e-04 9.99463437e-01 -1.25565400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09587156 meters 0.025045473830739122 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.01, Z:-1.26 [[ 9.90578376e-01 1.33129992e-01 3.21074175e-02 3.64580696e+01] [-1.33077308e-01 9.91098445e-01 -3.78181734e-03 -3.01077223e+00] [-3.23250849e-02 -5.26582223e-04 9.99477269e-01 -1.25722088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12587156 meters 0.025404787072548823 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.01, Z:-1.26 [[ 9.90543197e-01 1.33306016e-01 3.24604477e-02 3.64857065e+01] [-1.33252303e-01 9.91074778e-01 -3.82211887e-03 -3.01234975e+00] [-3.26802424e-02 -5.39455582e-04 9.99465713e-01 -1.25832732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15587156 meters 0.03319340028952178 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.01, Z:-1.26 [[ 9.90546089e-01 1.33367059e-01 3.21196851e-02 3.65149069e+01] [-1.33314580e-01 9.91066566e-01 -3.77950530e-03 -3.01377513e+00] [-3.23368076e-02 -5.38248157e-04 9.99476884e-01 -1.25952988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18587156 meters 0.02726889706479994 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.01, Z:-1.26 [[ 9.90286627e-01 1.34963514e-01 3.34252446e-02 3.65431263e+01] [-1.34907642e-01 9.90850378e-01 -3.93160687e-03 -3.01143088e+00] [-3.36500397e-02 -6.15903225e-04 9.99433487e-01 -1.25854409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215871560000004 meters 0.028164683617023095 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.01, Z:-1.26 [[ 9.90143556e-01 1.35923268e-01 3.37728235e-02 3.65723917e+01] [-1.35866857e-01 9.90719149e-01 -3.97039672e-03 -3.01218660e+00] [-3.39990522e-02 -6.57344657e-04 9.99421649e-01 -1.25902560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245871560000005 meters 0.028963296405598905 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.01, Z:-1.26 [[ 9.90007029e-01 1.36822367e-01 3.41426625e-02 3.66013485e+01] [-1.36765304e-01 9.90595353e-01 -4.01226873e-03 -3.01284158e+00] [-3.43705309e-02 -6.97357351e-04 9.99408915e-01 -1.25971973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27587156 meters 0.030504650045647765 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.01, Z:-1.26 [[ 9.89850611e-01 1.37811183e-01 3.46964891e-02 3.66292607e+01] [-1.37752907e-01 9.90458239e-01 -4.07598803e-03 -3.00963505e+00] [-3.49271402e-02 -7.44922976e-04 9.99389584e-01 -1.26036973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30587156 meters 0.030764643850273287 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.01, Z:-1.26 [[ 9.89830655e-01 1.38014289e-01 3.44576647e-02 3.66580135e+01] [-1.37957040e-01 9.90429954e-01 -4.04491649e-03 -3.01023444e+00] [-3.46861595e-02 -7.49895080e-04 9.99397973e-01 -1.26161585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33587156 meters 0.028855908349814836 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.01, Z:-1.26 [[ 9.89887332e-01 1.37664247e-01 3.42290121e-02 3.66870120e+01] [-1.37607600e-01 9.90478680e-01 -4.01651054e-03 -3.01365904e+00] [-3.44560366e-02 -7.34279314e-04 9.99405945e-01 -1.26247760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36587156 meters 0.03932125558230772 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.01, Z:-1.27 [[ 9.90190064e-01 1.35995927e-01 3.20740468e-02 3.67149667e+01] [-1.35945356e-01 9.90709193e-01 -3.76237009e-03 -3.01267800e+00] [-3.22877200e-02 -6.34856224e-04 9.99478414e-01 -1.26837016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39587156 meters 0.029079309102775463 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.01, Z:-1.27 [[ 9.90302795e-01 1.35095094e-01 3.23989261e-02 3.67424370e+01] [-1.35043077e-01 9.90832447e-01 -3.79847652e-03 -3.01453239e+00] [-3.26150628e-02 -6.13608754e-04 9.99467799e-01 -1.26936443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425871560000004 meters 0.032579729331318814 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.02, Z:-1.27 [[ 9.90527774e-01 1.33682587e-01 3.13639208e-02 3.67713348e+01] [-1.33633191e-01 9.91024047e-01 -3.67528345e-03 -3.01844816e+00] [-3.15737212e-02 -5.50790496e-04 9.99501274e-01 -1.27194798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45587156 meters 0.024320570944652755 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.02, Z:-1.27 [[ 9.90688614e-01 1.32412389e-01 3.16706466e-02 3.67997430e+01] [-1.32361419e-01 9.91194578e-01 -3.70979670e-03 -3.02148846e+00] [-3.18829963e-02 -5.16718362e-04 9.99491474e-01 -1.27130745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48587156 meters 0.024499577054414398 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.02, Z:-1.27 [[ 9.90750037e-01 1.31892039e-01 3.19194891e-02 3.68280883e+01] [-1.31840044e-01 9.91263958e-01 -3.73739630e-03 -3.02246567e+00] [-3.21335719e-02 -5.05441325e-04 9.99483456e-01 -1.27249180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51587156 meters 0.025899297674224733 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.02, Z:-1.28 [[ 9.90774520e-01 1.31659674e-01 3.21182236e-02 3.68563864e+01] [-1.31606953e-01 9.91294849e-01 -3.75925746e-03 -3.02185797e+00] [-3.23335722e-02 -5.02405040e-04 9.99477007e-01 -1.27512190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54587156 meters 0.025221107585819247 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.02, Z:-1.27 [[ 9.90638979e-01 1.32296902e-01 3.36443480e-02 3.68857804e+01] [-1.32239493e-01 9.91209981e-01 -3.93566946e-03 -3.02091927e+00] [-3.38692904e-02 -5.50283942e-04 9.99426120e-01 -1.27267727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.57587156 meters 0.024056306596454028 Centerline is valid? [True, True] Translation: X:36.92, Y:-3.02, Z:-1.27 [[ 9.90578493e-01 1.32587138e-01 3.42768105e-02 3.69164477e+01] [-1.32510983e-01 9.91171349e-01 -4.49406078e-03 -3.02189847e+00] [-3.45700472e-02 -9.03338958e-05 9.99402273e-01 -1.27085186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605871560000004 meters 0.025793954764916614 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.02, Z:-1.27 [[ 9.90434239e-01 1.33500822e-01 3.48933865e-02 3.69416879e+01] [-1.33451977e-01 9.91048241e-01 -3.73559227e-03 -3.01912203e+00] [-3.50797340e-02 -9.56732915e-04 9.99384059e-01 -1.27192146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635871560000005 meters 0.02556049149582847 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.02, Z:-1.27 [[ 9.90362569e-01 1.33665923e-01 3.62684832e-02 3.69721417e+01] [-1.33690468e-01 9.91021577e-01 -1.75851233e-03 -3.02063888e+00] [-3.61779026e-02 -3.10718569e-03 9.99340535e-01 -1.27372238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66587156 meters 0.025770498479862028 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.01, Z:-1.27 [[ 9.90271494e-01 1.34658363e-01 3.50641453e-02 3.69978810e+01] [-1.34504694e-01 9.90890198e-01 -6.71590283e-03 -3.01425491e+00] [-3.56490704e-02 1.93427497e-03 9.99362498e-01 -1.27201994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69587156 meters 0.02642671309560304 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.01, Z:-1.27 [[ 9.90378060e-01 1.33747040e-01 3.55391024e-02 3.70259732e+01] [-1.33684446e-01 9.91015292e-01 -4.14246217e-03 -3.01479022e+00] [-3.57738360e-02 -6.48421578e-04 9.99359701e-01 -1.27459374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72587156 meters 0.022934871874388137 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.02, Z:-1.28 [[ 9.90542102e-01 1.32210372e-01 3.66982588e-02 3.70548334e+01] [-1.32347078e-01 9.91202569e-01 1.31048233e-03 -3.02410594e+00] [-3.62021491e-02 -6.15499526e-03 9.99325533e-01 -1.27686361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75587156 meters 0.021215627116995147 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.02, Z:-1.28 [[ 9.91125702e-01 1.28603424e-01 3.36303779e-02 3.70817978e+01] [-1.28350737e-01 9.91682599e-01 -9.57655006e-03 -3.02008718e+00] [-3.45822377e-02 5.17508111e-03 9.99388457e-01 -1.27838993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785871560000004 meters 0.018965154728884527 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.03, Z:-1.28 [[ 9.91457769e-01 1.25956131e-01 3.38606822e-02 3.71096485e+01] [-1.25895129e-01 9.92035747e-01 -3.93612580e-03 -3.02925635e+00] [-3.40867863e-02 -3.60392470e-04 9.99418812e-01 -1.28134880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815871560000005 meters 0.018073633481069728 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.03, Z:-1.29 [[ 9.91834419e-01 1.23184696e-01 3.30153874e-02 3.71372167e+01] [-1.23125207e-01 9.92383728e-01 -3.83668557e-03 -3.03375079e+00] [-3.32365542e-02 -2.59669614e-04 9.99447479e-01 -1.28552103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84587156 meters 0.025238497375154788 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.04, Z:-1.29 [[ 9.92240762e-01 1.20089861e-01 3.21977574e-02 3.71652714e+01] [-1.20031750e-01 9.92763014e-01 -3.73867235e-03 -3.04041654e+00] [-3.24137193e-02 -1.55090065e-04 9.99474525e-01 -1.28745071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87587156 meters 0.015438591877112745 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.05, Z:-1.29 [[ 9.92752504e-01 1.15657963e-01 3.26450698e-02 3.71929617e+01] [-1.15595882e-01 9.93289100e-01 -3.78900480e-03 -3.04730194e+00] [-3.28642206e-02 -1.20916481e-05 9.99459826e-01 -1.28919607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90587156 meters 0.015177264538554953 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.05, Z:-1.29 [[ 9.92976778e-01 1.13478688e-01 3.34619996e-02 3.72215149e+01] [-1.13412279e-01 9.93540429e-01 -3.88215319e-03 -3.05271519e+00] [-3.36863911e-02 5.98863385e-05 9.99432451e-01 -1.28860309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93587156 meters 0.015808133167873384 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.06, Z:-1.29 [[ 9.93375437e-01 1.09505232e-01 3.48402751e-02 3.72496095e+01] [-1.09430854e-01 9.93986199e-01 -4.04036293e-03 -3.05934701e+00] [-3.50731935e-02 2.00996244e-04 9.99384726e-01 -1.28749168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965871560000004 meters 0.016843250289813986 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.06, Z:-1.29 [[ 9.93542470e-01 1.07919319e-01 3.50254316e-02 3.72771401e+01] [-1.07843216e-01 9.94159622e-01 -4.06032560e-03 -3.06488247e+00] [-3.52590574e-02 2.56850756e-04 9.99378173e-01 -1.28981068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995871560000005 meters 0.01754505017865707 Centerline is valid? [True, True] Translation: X:37.31, Y:-3.07, Z:-1.29 [[ 9.93736331e-01 1.06175897e-01 3.48537301e-02 3.73059275e+01] [-1.06099554e-01 9.94347314e-01 -4.03791758e-03 -3.06963142e+00] [-3.50854424e-02 3.14660207e-04 9.99384267e-01 -1.29104540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02587156 meters 0.017560776657514782 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.08, Z:-1.29 [[ 9.93694328e-01 1.06008592e-01 3.65206872e-02 3.73305472e+01] [-1.06177513e-01 9.94343493e-01 2.71186008e-03 -3.07790298e+00] [-3.60266272e-02 -6.57243571e-03 9.99329218e-01 -1.29447280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05587156 meters 0.03529870273956853 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.08, Z:-1.30 [[ 9.93886172e-01 1.04011203e-01 3.70398120e-02 3.73584252e+01] [-1.04133622e-01 9.94562350e-01 1.38608250e-03 -3.08295385e+00] [-3.66942344e-02 -5.23469800e-03 9.99312829e-01 -1.29863766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08587156 meters 0.022579267135822628 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.08, Z:-1.30 [[ 9.94453490e-01 1.00133915e-01 3.21784918e-02 3.73913349e+01] [-9.96718843e-02 9.94897132e-01 -1.56592549e-02 -3.08267856e+00] [-3.35823117e-02 1.23651098e-02 9.99359461e-01 -1.29610620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11587156 meters 0.022941086787789514 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.09, Z:-1.30 [[ 9.94582327e-01 9.84328864e-02 3.34209790e-02 3.74198035e+01] [-9.83583834e-02 9.95143533e-01 -3.87003878e-03 -3.09469290e+00] [-3.36396102e-02 5.61838710e-04 9.99433870e-01 -1.29952544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14587156 meters 0.031343032897553864 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.10, Z:-1.30 [[ 9.94735941e-01 9.70106994e-02 3.30050301e-02 3.74485365e+01] [-9.69372833e-02 9.95283157e-01 -3.82109715e-03 -3.10125996e+00] [-3.32200379e-02 6.01564709e-04 9.99447881e-01 -1.30274791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175871560000004 meters 0.02787550268290309 Centerline is valid? [True, True] Translation: X:37.48, Y:-3.11, Z:-1.30 [[ 9.94850093e-01 9.58586665e-02 3.29303479e-02 3.74773727e+01] [-9.57849775e-02 9.95394750e-01 -3.81167065e-03 -3.10954790e+00] [-3.31440771e-02 6.37808269e-04 9.99450381e-01 -1.30389759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205871560000006 meters 0.027030461613943357 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.12, Z:-1.31 [[ 9.94836636e-01 9.59578547e-02 3.30478001e-02 3.75065697e+01] [-9.58837241e-02 9.95385195e-01 -3.82435020e-03 -3.11731393e+00] [-3.32622674e-02 6.35857547e-04 9.99446455e-01 -1.30622819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23587156 meters 0.02571554376522683 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.12, Z:-1.31 [[ 9.94809192e-01 9.62732403e-02 3.29565588e-02 3.75371981e+01] [-9.61997085e-02 9.95354748e-01 -3.81327748e-03 -3.12100435e+00] [-3.31705839e-02 6.23072135e-04 9.99449511e-01 -1.30670850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26587156 meters 0.02519715670936194 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.12, Z:-1.31 [[ 9.94737361e-01 9.68861290e-02 3.33265876e-02 3.75671258e+01] [-9.68112759e-02 9.95295286e-01 -3.85621379e-03 -3.12475513e+00] [-3.35434091e-02 6.09530460e-04 9.99437076e-01 -1.30703484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29587156 meters 0.022626203603695338 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.13, Z:-1.31 [[ 9.94453006e-01 9.94536278e-02 3.42373371e-02 3.75970176e+01] [-9.93761566e-02 9.95042053e-01 -3.96129910e-03 -3.12526698e+00] [-3.44615557e-02 5.36950824e-04 9.99405880e-01 -1.30651365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32587156 meters 0.030655704810815844 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.13, Z:-1.31 [[ 9.94308562e-01 1.00847230e-01 3.43557757e-02 3.76255226e+01] [-1.00770077e-01 9.94901802e-01 -3.97430635e-03 -3.12803317e+00] [-3.45814209e-02 4.89652662e-04 9.99401764e-01 -1.30995527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355871560000004 meters 0.019766397178805267 Centerline is valid? [True, True] Translation: X:37.66, Y:-3.13, Z:-1.31 [[ 9.94096012e-01 1.02792380e-01 3.47396803e-02 3.76553785e+01] [-1.02714726e-01 9.94702742e-01 -4.01738868e-03 -3.12922224e+00] [-3.49686122e-02 4.25393334e-04 9.99388321e-01 -1.30882522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385871560000005 meters 0.019323638558877088 Centerline is valid? [True, True] Translation: X:37.68, Y:-3.13, Z:-1.31 [[ 9.93906288e-01 1.04653677e-01 3.46106829e-02 3.76840390e+01] [-1.04577756e-01 9.94508663e-01 -4.00164376e-03 -3.13296086e+00] [-3.48394107e-02 3.57751348e-04 9.99392859e-01 -1.31157431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41587156 meters 0.016497177724318322 Centerline is valid? [True, True] Translation: X:37.71, Y:-3.13, Z:-1.31 [[ 9.93531919e-01 1.08400563e-01 3.38178149e-02 3.77129020e+01] [-1.08330270e-01 9.94107272e-01 -3.90940184e-03 -3.13133135e+00] [-3.40423171e-02 2.20622483e-04 9.99420368e-01 -1.31291615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44587156 meters 0.016047253982779012 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.13, Z:-1.32 [[ 9.93318288e-01 1.10333414e-01 3.38425172e-02 3.77402003e+01] [-1.10264172e-01 9.93894619e-01 -3.91129423e-03 -3.13299546e+00] [-3.40674422e-02 1.53542946e-04 9.99419524e-01 -1.31536863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47587156 meters 0.015480881106474834 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.13, Z:-1.32 [[ 9.93090361e-01 1.12340619e-01 3.39281627e-02 3.77683131e+01] [-1.12272266e-01 9.93669753e-01 -3.91916300e-03 -3.13407431e+00] [-3.41536703e-02 8.28912976e-05 9.99416590e-01 -1.31675173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50587156 meters 0.01542473687414156 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.13, Z:-1.32 [[ 9.92514630e-01 1.17218325e-01 3.42720648e-02 3.77981404e+01] [-1.17151555e-01 9.93106166e-01 -3.95681236e-03 -3.13060698e+00] [-3.44996098e-02 -8.78315483e-05 9.99404707e-01 -1.31554472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535871560000004 meters 0.016337068989037445 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.13, Z:-1.32 [[ 9.92205162e-01 1.19720549e-01 3.45818776e-02 3.78267271e+01] [-1.19654138e-01 9.92807614e-01 -3.99107109e-03 -3.13012225e+00] [-3.48109646e-02 -1.77903424e-04 9.99393899e-01 -1.31607908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565871560000005 meters 0.01738943227422002 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.13, Z:-1.32 [[ 9.91915591e-01 1.22024732e-01 3.48342412e-02 3.78553310e+01] [-1.21958849e-01 9.92527025e-01 -4.01790935e-03 -3.13041253e+00] [-3.50642101e-02 -2.62917030e-04 9.99385027e-01 -1.31724726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59587156 meters 0.02009888284487922 Centerline is valid? [True, True] Translation: X:37.88, Y:-3.13, Z:-1.32 [[ 9.91404267e-01 1.25773631e-01 3.60357278e-02 3.78834985e+01] [-1.25705659e-01 9.92058882e-01 -4.15481921e-03 -3.12866430e+00] [-3.62721305e-02 -4.10789403e-04 9.99341865e-01 -1.31769620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62587156 meters 0.020168888374251695 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.14, Z:-1.32 [[ 9.90981370e-01 1.27777860e-01 4.03576762e-02 3.79049126e+01] [-1.28296504e-01 9.91680023e-01 1.05232643e-02 -3.14101531e+00] [-3.86772610e-02 -1.56061077e-02 9.99129881e-01 -1.32074586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65587156 meters 0.02169410281615767 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.13, Z:-1.32 [[ 9.90837177e-01 1.29418630e-01 3.86329810e-02 3.79327252e+01] [-1.29320162e-01 9.91590045e-01 -5.04752588e-03 -3.13309947e+00] [-3.89613233e-02 5.25293978e-06 9.99240719e-01 -1.31985471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68587156 meters 0.022250992393775412 Centerline is valid? [True, True] Translation: X:37.97, Y:-3.13, Z:-1.32 [[ 9.91120792e-01 1.28344157e-01 3.47469825e-02 3.79687495e+01] [-1.27762200e-01 9.91632468e-01 -1.84896675e-02 -3.12747361e+00] [-3.68292768e-02 1.38861430e-02 9.99225089e-01 -1.31715721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715871560000004 meters 0.029053576698902277 Centerline is valid? [True, True] Translation: X:38.00, Y:-3.14, Z:-1.32 [[ 9.91289218e-01 1.26659152e-01 3.60990997e-02 3.79952143e+01] [-1.26592159e-01 9.91946191e-01 -4.14473702e-03 -3.14455814e+00] [-3.63333333e-02 -4.61229853e-04 9.99339620e-01 -1.32276059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745871560000005 meters 0.02164703103642168 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.15, Z:-1.33 [[ 9.91340407e-01 1.26493983e-01 3.52628534e-02 3.80230010e+01] [-1.26430011e-01 9.91967274e-01 -4.04711751e-03 -3.14593168e+00] [-3.54915326e-02 -4.46211818e-04 9.99369877e-01 -1.32542820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77587156 meters 0.020945531377757072 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.16, Z:-1.33 [[ 9.91137909e-01 1.26911998e-01 3.92299643e-02 3.80418830e+01] [-1.27470979e-01 9.91768712e-01 1.20818470e-02 -3.16216983e+00] [-3.73737198e-02 -1.69754585e-02 9.99157164e-01 -1.33145530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80587156 meters 0.020945531377757072 Centerline is valid? [True, True] Translation: X:38.07, Y:-3.16, Z:-1.33 [[ 9.91107553e-01 1.27636144e-01 3.76142660e-02 3.80711148e+01] [-1.27604115e-01 9.91819821e-01 -3.26086918e-03 -3.15619106e+00] [-3.77227794e-02 -1.56786305e-03 9.99287013e-01 -1.32997403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83587156 meters 0.021131876249828284 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.15, Z:-1.33 [[ 9.91450124e-01 1.26141406e-01 3.33915736e-02 3.81080794e+01] [-1.25523527e-01 9.91888956e-01 -2.00035924e-02 -3.15068409e+00] [-3.56440144e-02 1.56411361e-02 9.99242142e-01 -1.32662307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86587156 meters 0.01991728685227335 Centerline is valid? [True, True] Translation: X:38.14, Y:-3.17, Z:-1.33 [[ 9.91465179e-01 1.25422023e-01 3.55825202e-02 3.81356935e+01] [-1.25356367e-01 9.92103393e-01 -4.07902828e-03 -3.16540456e+00] [-3.58131390e-02 -4.16280954e-04 9.99358417e-01 -1.32880296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89587156 meters 0.02317415623381797 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.17, Z:-1.33 [[ 9.91466963e-01 1.25354284e-01 3.57710131e-02 3.81630761e+01] [-1.25287944e-01 9.92111954e-01 -4.09900239e-03 -3.16777775e+00] [-3.60026772e-02 -4.17651260e-04 9.99351606e-01 -1.33112998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925871560000004 meters 0.021898323235893545 Centerline is valid? [True, True] Translation: X:38.19, Y:-3.17, Z:-1.33 [[ 9.91369025e-01 1.26093433e-01 3.58873623e-02 3.81907928e+01] [-1.26027222e-01 9.92018269e-01 -4.11022359e-03 -3.16863070e+00] [-3.61191912e-02 -4.48036207e-04 9.99347389e-01 -1.33182363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955871560000006 meters 0.02083076850225268 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.19, Z:-1.34 [[ 9.91014685e-01 1.26827778e-01 4.24806945e-02 3.82112352e+01] [-1.27568874e-01 9.91713185e-01 1.52033317e-02 -3.18717332e+00] [-4.02004601e-02 -2.04859394e-02 9.98981606e-01 -1.33523109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98587156 meters 0.03247576956465919 Centerline is valid? [True, True] Translation: X:38.25, Y:-3.16, Z:-1.33 [[ 9.91142675e-01 1.28070257e-01 3.51312807e-02 3.82492477e+01] [-1.27293840e-01 9.91586118e-01 -2.35212495e-02 -3.16325777e+00] [-3.78480627e-02 1.88409185e-02 9.99105872e-01 -1.33056806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01587156 meters 0.022305627869983486 Centerline is valid? [True, True] Translation: X:38.28, Y:-3.18, Z:-1.33 [[ 9.91005945e-01 1.28541728e-01 3.72053839e-02 3.82758340e+01] [-1.28472575e-01 9.91703940e-01 -4.25346465e-03 -3.17990983e+00] [-3.74434735e-02 -5.64662738e-04 9.99298588e-01 -1.33119976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04587156 meters 0.0239050919323396 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.18, Z:-1.33 [[ 9.90866335e-01 1.29674265e-01 3.69931327e-02 3.83034449e+01] [-1.29606771e-01 9.91556462e-01 -4.22698460e-03 -3.18023982e+00] [-3.72289109e-02 -6.06183751e-04 9.99306580e-01 -1.33344086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07587156 meters 0.025068875185934425 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.18, Z:-1.34 [[ 9.90864042e-01 1.29842796e-01 3.64595502e-02 3.83309144e+01] [-1.29777429e-01 9.91534408e-01 -4.16386244e-03 -3.18110405e+00] [-3.66915460e-02 -6.05805098e-04 9.99326455e-01 -1.33567088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105871560000004 meters 0.02414642741118354 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.19, Z:-1.34 [[ 9.90919713e-01 1.29683266e-01 3.55017209e-02 3.83511301e+01] [-1.29687836e-01 9.91552468e-01 -2.18380259e-03 -3.18587262e+00] [-3.54850216e-02 -2.44016832e-03 9.99367229e-01 -1.33827631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135871560000005 meters 0.024783001915974035 Centerline is valid? [True, True] Translation: X:38.39, Y:-3.19, Z:-1.34 [[ 9.90970803e-01 1.29275582e-01 3.55624861e-02 3.83876086e+01] [-1.29166637e-01 9.91608449e-01 -5.35379124e-03 -3.18747255e+00] [-3.59561762e-02 7.11964087e-04 9.99353114e-01 -1.33935253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16587156 meters 0.023031699517746657 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.20, Z:-1.34 [[ 9.91156057e-01 1.27803265e-01 3.57210822e-02 3.84081281e+01] [-1.27870266e-01 9.91790817e-01 -4.11960971e-04 -3.19670027e+00] [-3.54804913e-02 -4.15934668e-03 9.99361714e-01 -1.34224481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19587156 meters 0.022663320004589493 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.20, Z:-1.34 [[ 9.91240471e-01 1.27186092e-01 3.55812568e-02 3.84438526e+01] [-1.27009437e-01 9.91875442e-01 -7.19105197e-03 -3.19860273e+00] [-3.62067766e-02 2.60890635e-03 9.99340914e-01 -1.34128676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22587156 meters 0.020163915636123998 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.21, Z:-1.34 [[ 9.91537782e-01 1.24474835e-01 3.68624807e-02 3.84722410e+01] [-1.24404640e-01 9.92222676e-01 -4.20082433e-03 -3.20919411e+00] [-3.70986862e-02 -4.20587596e-04 9.99311518e-01 -1.34113179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25587156 meters 0.01901854888623388 Centerline is valid? [True, True] Translation: X:38.50, Y:-3.22, Z:-1.34 [[ 9.91702179e-01 1.23081076e-01 3.71192248e-02 3.85003096e+01] [-1.23008969e-01 9.92396549e-01 -4.22885459e-03 -3.21515121e+00] [-3.73574825e-02 -3.72233272e-04 9.99301896e-01 -1.34129422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285871560000004 meters 0.018235008590300212 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.22, Z:-1.34 [[ 9.91828543e-01 1.21886453e-01 3.76806797e-02 3.85277921e+01] [-1.21811351e-01 9.92543995e-01 -4.29111845e-03 -3.21996120e+00] [-3.79227615e-02 -3.33880745e-04 9.99280618e-01 -1.34123202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315871560000005 meters 0.016863495823053784 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.24, Z:-1.35 [[ 9.91799050e-01 1.18501443e-01 4.78753854e-02 3.85494893e+01] [-1.19575202e-01 9.92619348e-01 2.02138849e-02 -3.24214273e+00] [-4.51266593e-02 -2.57728208e-02 9.98648760e-01 -1.34789644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34587156 meters 0.01670197187961402 Centerline is valid? [True, True] Translation: X:38.59, Y:-3.22, Z:-1.34 [[ 9.92088137e-01 1.20352735e-01 3.57260091e-02 3.85862755e+01] [-1.19339560e-01 9.92422229e-01 -2.92606978e-02 -3.21851753e+00] [-3.89768906e-02 2.47656650e-02 9.98933163e-01 -1.33797553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37587156 meters 0.01622003548917395 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.24, Z:-1.34 [[ 9.92204762e-01 1.18581907e-01 3.83150188e-02 3.86131031e+01] [-1.18502072e-01 9.92944250e-01 -4.35607625e-03 -3.23928863e+00] [-3.85612295e-02 -2.18289511e-04 9.99256215e-01 -1.34421830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40587156 meters 0.015946120289761577 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.25, Z:-1.35 [[ 9.92352174e-01 1.17597786e-01 3.75222984e-02 3.86410101e+01] [-1.17520582e-01 9.93061292e-01 -4.26423927e-03 -3.24677951e+00] [-3.77634072e-02 -1.78015221e-04 9.99286692e-01 -1.34717846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43587156 meters 0.01598816566065008 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.25, Z:-1.35 [[ 9.92437424e-01 1.17025660e-01 3.70533994e-02 3.86686023e+01] [-1.16950035e-01 9.93128879e-01 -4.20935529e-03 -3.25163478e+00] [-3.72914036e-02 -1.55874649e-04 9.99304422e-01 -1.35023845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465871560000004 meters 0.015766179560246587 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.26, Z:-1.35 [[ 9.92515131e-01 1.16646933e-01 3.61553305e-02 3.86970776e+01] [-1.16574764e-01 9.93173436e-01 -4.10501179e-03 -3.25663822e+00] [-3.63873508e-02 -1.40512824e-04 9.99337751e-01 -1.35212393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495871560000005 meters 0.021324003970357355 Centerline is valid? [True, True] Translation: X:38.72, Y:-3.26, Z:-1.36 [[ 9.92582165e-01 1.16240668e-01 3.56195502e-02 3.87245703e+01] [-1.16170416e-01 9.93221069e-01 -4.04266144e-03 -3.26008164e+00] [-3.58480094e-02 -1.25264304e-04 9.99357246e-01 -1.35719257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52587156 meters 0.01674025448776869 Centerline is valid? [True, True] Translation: X:38.75, Y:-3.26, Z:-1.36 [[ 9.92460203e-01 1.17551087e-01 3.47057195e-02 3.87521056e+01] [-1.17485262e-01 9.93066822e-01 -3.93701211e-03 -3.26225698e+00] [-3.49278986e-02 -1.70082727e-04 9.99389820e-01 -1.35859216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55587156 meters 0.027250005930551272 Centerline is valid? [True, True] Translation: X:38.78, Y:-3.27, Z:-1.36 [[ 9.92415343e-01 1.17942288e-01 3.46612844e-02 3.87811267e+01] [-1.17876941e-01 9.93020434e-01 -3.92995727e-03 -3.26548743e+00] [-3.48828718e-02 -1.85616283e-04 9.99391390e-01 -1.36121577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58587156 meters 0.016994111439310497 Centerline is valid? [True, True] Translation: X:38.81, Y:-3.27, Z:-1.36 [[ 9.92249437e-01 1.19269544e-01 3.48687662e-02 3.88093962e+01] [-1.19204287e-01 9.92861884e-01 -3.95190141e-03 -3.26890036e+00] [-3.50912104e-02 -2.35234471e-04 9.99384086e-01 -1.35927106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61587156 meters 0.025594671112576593 Centerline is valid? [True, True] Translation: X:38.84, Y:-3.27, Z:-1.36 [[ 9.92180001e-01 1.19899273e-01 3.46844231e-02 3.88368590e+01] [-1.19835142e-01 9.92786028e-01 -3.92948403e-03 -3.27026956e+00] [-3.49053529e-02 -2.57657294e-04 9.99390589e-01 -1.36374539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64587156 meters 0.01871037610192983 Centerline is valid? [True, True] Translation: X:38.86, Y:-3.28, Z:-1.37 [[ 9.91924347e-01 1.20314160e-01 4.01321859e-02 3.88629166e+01] [-1.20957857e-01 9.92558803e-01 1.40078144e-02 -3.28160390e+00] [-3.81482159e-02 -1.87489953e-02 9.99096186e-01 -1.36634123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675871560000004 meters 0.022033259919732328 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.26, Z:-1.36 [[ 9.91608189e-01 1.25126188e-01 3.25059531e-02 3.88957804e+01] [-1.24449219e-01 9.91980202e-01 -2.20832575e-02 -3.25849389e+00] [-3.50084558e-02 1.78525985e-02 9.99227548e-01 -1.36176217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705871560000006 meters 0.03248471263951764 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.27, Z:-1.37 [[ 9.91383993e-01 1.26326211e-01 3.46333127e-02 3.89236373e+01] [-1.26266385e-01 9.91988634e-01 -3.91799763e-03 -3.26976839e+00] [-3.48507983e-02 -4.88783051e-04 9.99392407e-01 -1.36709306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73587156 meters 0.024557885041765534 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.27, Z:-1.37 [[ 9.91194174e-01 1.27890017e-01 3.43256952e-02 3.89522149e+01] [-1.27832240e-01 9.91788209e-01 -3.88162201e-03 -3.27058950e+00] [-3.45402405e-02 -5.40489383e-04 9.99403162e-01 -1.36647823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76587156 meters 0.022663816648389817 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.28, Z:-1.37 [[ 9.91465806e-01 1.25329098e-01 3.58911333e-02 3.89812720e+01] [-1.25584507e-01 9.92070609e-01 4.94355656e-03 -3.27930216e+00] [-3.49869670e-02 -9.40873758e-03 9.99343478e-01 -1.36902994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79587156 meters 0.026592588173145533 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.27, Z:-1.37 [[ 9.90909642e-01 1.30354330e-01 3.32540195e-02 3.90097969e+01] [-1.29993226e-01 9.91432148e-01 -1.28084509e-02 -3.26698334e+00] [-3.46387410e-02 8.36922022e-03 9.99364855e-01 -1.36696596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82587156 meters 0.028061469180550122 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.27, Z:-1.37 [[ 9.90674307e-01 1.32079571e-01 3.34574987e-02 3.90378257e+01] [-1.32027232e-01 9.91238888e-01 -3.77854555e-03 -3.27081151e+00] [-3.36634425e-02 -6.73992944e-04 9.99432998e-01 -1.37043622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855871560000004 meters 0.03050221390890048 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.27, Z:-1.37 [[ 9.90601704e-01 1.32699627e-01 3.31522567e-02 3.90656306e+01] [-1.32648650e-01 9.91156058e-01 -3.74211911e-03 -3.26808906e+00] [-3.33556379e-02 -6.90652548e-04 9.99443307e-01 -1.37329599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885871560000005 meters 0.03128617575066631 Centerline is valid? [True, True] Translation: X:39.09, Y:-3.27, Z:-1.38 [[ 9.90558447e-01 1.32965934e-01 3.33769976e-02 3.90939359e+01] [-1.32914484e-01 9.91120357e-01 -3.76545429e-03 -3.26784250e+00] [-3.35812989e-02 -7.06383856e-04 9.99435739e-01 -1.37503611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91587156 meters 0.02832151765058638 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.27, Z:-1.37 [[ 9.90623136e-01 1.32184863e-01 3.45393058e-02 3.91223233e+01] [-1.32129366e-01 9.91224830e-01 -3.89445761e-03 -3.27220459e+00] [-3.47510058e-02 -7.05716749e-04 9.99395752e-01 -1.37274702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94587156 meters 0.02733206531986274 Centerline is valid? [True, True] Translation: X:39.15, Y:-3.28, Z:-1.37 [[ 9.90766781e-01 1.30872746e-01 3.54049399e-02 3.91498576e+01] [-1.30813652e-01 9.91398943e-01 -3.99042818e-03 -3.27588860e+00] [-3.56226583e-02 -6.77865816e-04 9.99365082e-01 -1.37327704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97587156 meters 0.023765675708988226 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.28, Z:-1.37 [[ 9.90984030e-01 1.29074831e-01 3.59213164e-02 3.91782530e+01] [-1.29012900e-01 9.91634660e-01 -4.04640998e-03 -3.28382887e+00] [-3.61431120e-02 -6.24385530e-04 9.99346429e-01 -1.37170677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00587156 meters 0.02018073061136258 Centerline is valid? [True, True] Translation: X:39.21, Y:-3.29, Z:-1.37 [[ 9.91616685e-01 1.23992529e-01 3.63620967e-02 3.92059428e+01] [-1.23925718e-01 9.92283051e-01 -4.09423345e-03 -3.29153580e+00] [-3.65891466e-02 -4.46288733e-04 9.99330293e-01 -1.37245384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035871560000004 meters 0.01789206418680728 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.30, Z:-1.37 [[ 9.92008542e-01 1.20734161e-01 3.66376190e-02 3.92342489e+01] [-1.20664178e-01 9.92684821e-01 -4.12345728e-03 -3.29884828e+00] [-3.68674504e-02 -3.30343346e-04 9.99320110e-01 -1.37346328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065871560000005 meters 0.016124378798762135 Centerline is valid? [True, True] Translation: X:39.26, Y:-3.31, Z:-1.37 [[ 9.92435128e-01 1.17030530e-01 3.70994812e-02 3.92616613e+01] [-1.16956248e-01 9.93128298e-01 -4.17369757e-03 -3.30699465e+00] [-3.73329946e-02 -1.96892020e-04 9.99302861e-01 -1.37459065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09587156 meters 0.015241644931114497 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.32, Z:-1.37 [[ 9.93319778e-01 1.09067734e-01 3.76835122e-02 3.92899073e+01] [-1.08985457e-01 9.94034315e-01 -4.23686752e-03 -3.32248003e+00] [-3.79208097e-02 1.01609505e-04 9.99280742e-01 -1.37469249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12587156 meters 0.016806245727627823 Centerline is valid? [True, True] Translation: X:39.32, Y:-3.33, Z:-1.38 [[ 9.93771670e-01 1.04927795e-01 3.75236782e-02 3.93192547e+01] [-1.04843305e-01 9.94479810e-01 -4.21779231e-03 -3.33285194e+00] [-3.77591040e-02 2.57416061e-04 9.99286838e-01 -1.37673733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15587156 meters 0.0330117347769143 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.34, Z:-1.38 [[ 9.94194763e-01 1.01085575e-01 3.68575555e-02 3.93499453e+01] [-1.01001439e-01 9.94877656e-01 -4.14237491e-03 -3.34332389e+00] [-3.70874928e-02 3.95661285e-04 9.99311944e-01 -1.38101008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18587156 meters 0.021925997561351208 Centerline is valid? [True, True] Translation: X:39.38, Y:-3.35, Z:-1.38 [[ 9.94527632e-01 9.77792763e-02 3.67967628e-02 3.93796478e+01] [-9.76929273e-02 9.95207987e-01 -4.14169785e-03 -3.35496619e+00] [-3.70254045e-02 5.24249482e-04 9.99314187e-01 -1.38036421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215871560000004 meters 0.026877209013712815 Centerline is valid? [True, True] Translation: X:39.41, Y:-3.37, Z:-1.38 [[ 9.95097941e-01 9.21295632e-02 3.59476338e-02 3.94088648e+01] [-9.20433448e-02 9.95746767e-01 -4.04955139e-03 -3.37112397e+00] [-3.61678235e-02 7.20959800e-04 9.99345470e-01 -1.38283224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245871560000005 meters 0.02794640876426129 Centerline is valid? [True, True] Translation: X:39.44, Y:-3.38, Z:-1.38 [[ 9.95281513e-01 9.02262074e-02 3.56923041e-02 3.94405434e+01] [-9.01400162e-02 9.95920989e-01 -4.01997126e-03 -3.37824950e+00] [-3.59094216e-02 7.83698207e-04 9.99354741e-01 -1.38435213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27587156 meters 0.029520688964494803 Centerline is valid? [True, True] Translation: X:39.47, Y:-3.39, Z:-1.39 [[ 9.95403510e-01 8.89399284e-02 3.55181728e-02 3.94722606e+01] [-8.88535484e-02 9.96036644e-01 -4.00622576e-03 -3.38624144e+00] [-3.57337151e-02 8.31895500e-04 9.99361001e-01 -1.38522709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30587156 meters 0.03369994219147832 Centerline is valid? [True, True] Translation: X:39.50, Y:-3.39, Z:-1.39 [[ 9.95479744e-01 8.80252035e-02 3.56600950e-02 3.95030877e+01] [-8.79373106e-02 9.96117864e-01 -4.02876576e-03 -3.39415658e+00] [-3.58762906e-02 8.74701851e-04 9.99355856e-01 -1.38840208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33587156 meters 0.030326028119028813 Centerline is valid? [True, True] Translation: X:39.53, Y:-3.40, Z:-1.39 [[ 9.95419434e-01 8.87901397e-02 3.54465921e-02 3.95340069e+01] [-8.87036915e-02 9.96049998e-01 -4.00715438e-03 -3.40435039e+00] [-3.56623738e-02 8.44555773e-04 9.99363538e-01 -1.38924645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36587156 meters 0.028229060373274825 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.41, Z:-1.39 [[ 9.95259694e-01 9.05532025e-02 3.54719523e-02 3.95663422e+01] [-9.04675436e-02 9.95891308e-01 -4.01577802e-03 -3.40797264e+00] [-3.56898505e-02 7.87681610e-04 9.99362604e-01 -1.39014478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39587156 meters 0.029922815986498798 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.41, Z:-1.39 [[ 9.95046724e-01 9.28948592e-02 3.53915553e-02 3.95969048e+01] [-9.28108567e-02 9.95675672e-01 -4.01260735e-03 -3.41127225e+00] [-3.56112612e-02 7.08011229e-04 9.99365467e-01 -1.39306676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425871560000004 meters 0.021944200983295314 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.41, Z:-1.39 [[ 9.94467354e-01 9.88092932e-02 3.56567831e-02 3.96283569e+01] [-9.87275892e-02 9.95106259e-01 -4.04920830e-03 -3.41152713e+00] [-3.58823875e-02 5.06497227e-04 9.99355891e-01 -1.39153933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455871560000006 meters 0.019491516697801525 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.41, Z:-1.39 [[ 9.94098236e-01 1.02380185e-01 3.58747065e-02 3.96611482e+01] [-1.02299781e-01 9.94745270e-01 -4.07452257e-03 -3.41226754e+00] [-3.61033450e-02 3.80501071e-04 9.99347989e-01 -1.39294730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48587156 meters 0.017424990402846167 Centerline is valid? [True, True] Translation: X:39.69, Y:-3.41, Z:-1.39 [[ 9.93713966e-01 1.06116785e-01 3.56620417e-02 3.96936119e+01] [-1.06039693e-01 9.94353643e-01 -4.05160643e-03 -3.41261065e+00] [-3.58906245e-02 2.44545962e-04 9.99355694e-01 -1.39457484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51587156 meters 0.015617958455292784 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.41, Z:-1.40 [[ 9.93062395e-01 1.12429148e-01 3.44494863e-02 3.97254746e+01] [-1.12360778e-01 9.93659744e-01 -3.92039296e-03 -3.41134566e+00] [-3.46718342e-02 2.24237405e-05 9.99398751e-01 -1.39674649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54587156 meters 0.016058115877980044 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.41, Z:-1.40 [[ 9.92720616e-01 1.15520493e-01 3.40704352e-02 3.97551073e+01] [-1.15455380e-01 9.93305094e-01 -3.87895768e-03 -3.41263821e+00] [-3.42904360e-02 -8.28938020e-05 9.99411907e-01 -1.40041830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57587156 meters 0.01713342994120898 Centerline is valid? [True, True] Translation: X:39.79, Y:-3.41, Z:-1.40 [[ 9.92334967e-01 1.18722675e-01 3.42963523e-02 3.97853466e+01] [-1.18658618e-01 9.92927434e-01 -3.90435831e-03 -3.41311325e+00] [-3.45173249e-02 -1.95126481e-04 9.99404081e-01 -1.40123149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605871560000004 meters 0.018935095880930494 Centerline is valid? [True, True] Translation: X:39.81, Y:-3.41, Z:-1.40 [[ 9.91935604e-01 1.21901166e-01 3.46967470e-02 3.98146743e+01] [-1.21837572e-01 9.92542195e-01 -3.94922373e-03 -3.41262051e+00] [-3.49194004e-02 -3.09991776e-04 9.99390084e-01 -1.40151609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635871560000005 meters 0.023173210011172132 Centerline is valid? [True, True] Translation: X:39.86, Y:-3.41, Z:-1.40 [[ 9.91273789e-01 1.27111090e-01 3.49148530e-02 3.98600338e+01] [-1.26756552e-01 9.91858880e-01 -1.21958365e-02 -3.40563916e+00] [-3.61808331e-02 7.66372667e-03 9.99315873e-01 -1.40135659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66587156 meters 0.023987297139201617 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.41, Z:-1.40 [[ 9.90960038e-01 1.29402400e-01 3.54008769e-02 3.98897226e+01] [-1.29330575e-01 9.91592119e-01 -4.32104709e-03 -3.41395839e+00] [-3.56623844e-02 -2.96430755e-04 9.99363851e-01 -1.40320282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69587156 meters 0.03824941680447539 Centerline is valid? [True, True] Translation: X:39.91, Y:-3.41, Z:-1.41 [[ 9.90601121e-01 1.32582764e-01 3.36337715e-02 3.99074862e+01] [-1.32677374e-01 9.91159104e-01 5.86968300e-04 -3.41092309e+00] [-3.32585969e-02 -5.04389194e-03 9.99434052e-01 -1.41036229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72587156 meters 0.03831106519912156 Centerline is valid? [True, True] Translation: X:39.94, Y:-3.40, Z:-1.41 [[ 9.89846357e-01 1.38260501e-01 3.29882337e-02 3.99381116e+01] [-1.38213525e-01 9.90395501e-01 -3.71111269e-03 -3.40174879e+00] [-3.31844985e-02 -8.85988703e-04 9.99448850e-01 -1.41024216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75587156 meters 0.03831106519912156 Centerline is valid? [True, True] Translation: X:39.97, Y:-3.40, Z:-1.41 [[ 9.89855561e-01 1.38194595e-01 3.29882072e-02 3.99654247e+01] [-1.38147576e-01 9.90404702e-01 -3.71134847e-03 -3.40467821e+00] [-3.31845638e-02 -8.83541932e-04 9.99448850e-01 -1.41143343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785871560000004 meters 0.033180392795706934 Centerline is valid? [True, True] Translation: X:40.00, Y:-3.42, Z:-1.41 [[ 9.89435888e-01 1.40467736e-01 3.58530151e-02 4.00044101e+01] [-1.40412182e-01 9.90084750e-01 -4.07527138e-03 -3.41530710e+00] [-3.60699677e-02 -1.00198033e-03 9.99348765e-01 -1.41005668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815871560000005 meters 0.04206768810635417 Centerline is valid? [True, True] Translation: X:40.02, Y:-3.40, Z:-1.41 [[ 9.89381094e-01 1.41557995e-01 3.29603687e-02 4.00246172e+01] [-1.41489448e-01 9.89929920e-01 -4.41468963e-03 -3.40425285e+00] [-3.32533897e-02 -2.95733906e-04 9.99446909e-01 -1.41413872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84587156 meters 0.044456080494032255 Centerline is valid? [True, True] Translation: X:40.05, Y:-3.40, Z:-1.42 [[ 9.89205589e-01 1.43068954e-01 3.16792766e-02 4.00540590e+01] [-1.43028217e-01 9.89712208e-01 -3.56003381e-03 -3.40323891e+00] [-3.18626971e-02 -1.00942511e-03 9.99491746e-01 -1.41850231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87587156 meters 0.045309293657903336 Centerline is valid? [True, True] Translation: X:40.08, Y:-3.40, Z:-1.42 [[ 9.89226217e-01 1.43042000e-01 3.11524824e-02 4.00820971e+01] [-1.43002616e-01 9.89716122e-01 -3.50006877e-03 -3.40465709e+00] [-3.13327709e-02 -9.92526709e-04 9.99508515e-01 -1.42094779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90587156 meters 0.05240947606562297 Centerline is valid? [True, True] Translation: X:40.11, Y:-3.41, Z:-1.43 [[ 9.89250319e-01 1.43025531e-01 3.04549509e-02 4.01110881e+01] [-1.42987939e-01 9.89718522e-01 -3.41990149e-03 -3.40692066e+00] [-3.06309623e-02 -9.71552014e-04 9.99530290e-01 -1.42517616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93587156 meters 0.03996236215725079 Centerline is valid? [True, True] Translation: X:40.14, Y:-3.42, Z:-1.42 [[ 9.89277841e-01 1.42475290e-01 3.20958749e-02 4.01397004e+01] [-1.42433297e-01 9.89797846e-01 -3.60266384e-03 -3.41637332e+00] [-3.22817184e-02 -1.00748577e-03 9.99478302e-01 -1.41929725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965871560000004 meters 0.03661675684024291 Centerline is valid? [True, True] Translation: X:40.18, Y:-3.43, Z:-1.42 [[ 9.88935181e-01 1.43507277e-01 3.75881576e-02 4.01761758e+01] [-1.43631965e-01 9.89630976e-01 6.24046623e-04 -3.42774416e+00] [-3.71088499e-02 -6.01600259e-03 9.99293121e-01 -1.42018728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995871560000005 meters 0.03784562130131235 Centerline is valid? [True, True] Translation: X:40.20, Y:-3.42, Z:-1.42 [[ 9.89406625e-01 1.41247645e-01 3.35206321e-02 4.01977439e+01] [-1.41016348e-01 9.89964717e-01 -9.17868714e-03 -3.41799112e+00] [-3.44807110e-02 4.35449674e-03 9.99395877e-01 -1.41658354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02587156 meters 0.03695002987200467 Centerline is valid? [True, True] Translation: X:40.23, Y:-3.42, Z:-1.42 [[ 9.89571566e-01 1.39891661e-01 3.43283858e-02 4.02263651e+01] [-1.39842237e-01 9.90166319e-01 -3.84841429e-03 -3.42387753e+00] [-3.45291724e-02 -9.92276888e-04 9.99403198e-01 -1.41868701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05587156 meters 0.03564739134213196 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.43, Z:-1.42 [[ 9.89782151e-01 1.38357153e-01 3.44759616e-02 4.02552174e+01] [-1.38306430e-01 9.90381950e-01 -3.86328585e-03 -3.42701705e+00] [-3.46788833e-02 -9.44435795e-04 9.99398060e-01 -1.42052565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08587156 meters 0.039359887823716314 Centerline is valid? [True, True] Translation: X:40.28, Y:-3.42, Z:-1.43 [[ 9.90060444e-01 1.36527480e-01 3.37722366e-02 4.02835001e+01] [-1.36477794e-01 9.90635907e-01 -3.78296208e-03 -3.42382320e+00] [-3.39724685e-02 -8.63799224e-04 9.99422396e-01 -1.42580021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11587156 meters 0.03196038842240379 Centerline is valid? [True, True] Translation: X:40.31, Y:-3.44, Z:-1.43 [[ 9.90385550e-01 1.34280418e-01 3.32450356e-02 4.03111223e+01] [-1.34231074e-01 9.90943069e-01 -3.72184887e-03 -3.43529757e+00] [-3.34437090e-02 -7.76451500e-04 9.99440301e-01 -1.42605715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14587156 meters 0.027146267861712984 Centerline is valid? [True, True] Translation: X:40.34, Y:-3.44, Z:-1.43 [[ 9.91129491e-01 1.28923466e-01 3.22656487e-02 4.03389312e+01] [-1.28874207e-01 9.91654377e-01 -3.61043304e-03 -3.44249607e+00] [-3.24618413e-02 -5.79803218e-04 9.99472807e-01 -1.43014469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175871560000004 meters 0.024301229927680298 Centerline is valid? [True, True] Translation: X:40.37, Y:-3.45, Z:-1.43 [[ 9.91553495e-01 1.25793039e-01 3.15876238e-02 4.03676710e+01] [-1.25744243e-01 9.92056396e-01 -3.53444907e-03 -3.44921589e+00] [-3.17813133e-02 -4.67366531e-04 9.99494737e-01 -1.43279651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205871560000006 meters 0.02165716958700006 Centerline is valid? [True, True] Translation: X:40.40, Y:-3.46, Z:-1.44 [[ 9.91990708e-01 1.22425195e-01 3.10887057e-02 4.03961546e+01] [-1.22376346e-01 9.92477680e-01 -3.47637460e-03 -3.45656572e+00] [-3.12804423e-02 -3.55990904e-04 9.99510584e-01 -1.43552745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23587156 meters 0.01719507535976056 Centerline is valid? [True, True] Translation: X:40.42, Y:-3.47, Z:-1.44 [[ 9.92803490e-01 1.15772220e-01 3.06271519e-02 4.04246571e+01] [-1.15721680e-01 9.93275778e-01 -3.42357985e-03 -3.46980126e+00] [-3.08175636e-02 -1.45283437e-04 9.99525016e-01 -1.43519002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26587156 meters 0.01691661552282196 Centerline is valid? [True, True] Translation: X:40.45, Y:-3.48, Z:-1.44 [[ 9.93054173e-01 1.13454805e-01 3.11675455e-02 4.04523797e+01] [-1.13401339e-01 9.93543155e-01 -3.48348994e-03 -3.47584123e+00] [-3.13615201e-02 -7.51471676e-05 9.99508104e-01 -1.43744438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29587156 meters 0.016376166846775092 Centerline is valid? [True, True] Translation: X:40.48, Y:-3.48, Z:-1.44 [[ 9.93325892e-01 1.10998904e-01 3.13514856e-02 4.04812271e+01] [-1.10943639e-01 9.93820529e-01 -3.50223226e-03 -3.48267096e+00] [-3.15464940e-02 6.10086206e-07 9.99502285e-01 -1.43703002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32587156 meters 0.016421708183380936 Centerline is valid? [True, True] Translation: X:40.51, Y:-3.50, Z:-1.44 [[ 9.93174429e-01 1.09989774e-01 3.88175758e-02 4.05129619e+01] [-1.10198169e-01 9.93904276e-01 3.26391083e-03 -3.49649469e+00] [-3.82219578e-02 -7.51925856e-03 9.99240983e-01 -1.43876237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355871560000004 meters 0.01724709691948477 Centerline is valid? [True, True] Translation: X:40.54, Y:-3.49, Z:-1.44 [[ 9.93926694e-01 1.05314842e-01 3.19141135e-02 4.05410890e+01] [-1.04999557e-01 9.94406882e-01 -1.14037536e-02 -3.49180172e+00] [-3.29365986e-02 7.98352735e-03 9.99425557e-01 -1.43549093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385871560000005 meters 0.026771971754378676 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.50, Z:-1.44 [[ 9.94078636e-01 1.03702421e-01 3.24572519e-02 4.05701476e+01] [-1.03639329e-01 9.94608340e-01 -3.62475970e-03 -3.50108613e+00] [-3.26581498e-02 2.39448352e-04 9.99466552e-01 -1.43903937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41587156 meters 0.01895012613454028 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.51, Z:-1.44 [[ 9.94214474e-01 1.02170073e-01 3.31489949e-02 4.06010734e+01] [-1.02103401e-01 9.94766902e-01 -3.70230133e-03 -3.50631277e+00] [-3.33537873e-02 2.96256439e-04 9.99443564e-01 -1.43841828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44587156 meters 0.0191115519866744 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.51, Z:-1.44 [[ 9.94292073e-01 1.01518210e-01 3.28226585e-02 4.06324689e+01] [-1.01452465e-01 9.94833631e-01 -3.66660649e-03 -3.51103737e+00] [-3.30253119e-02 3.15738139e-04 9.99454466e-01 -1.43986391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47587156 meters 0.018595199378801986 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.51, Z:-1.44 [[ 9.94258106e-01 1.02042481e-01 3.22203450e-02 4.06649621e+01] [-1.01979430e-01 9.94779999e-01 -3.59848179e-03 -3.51431947e+00] [-3.24193528e-02 2.92007281e-04 9.99474312e-01 -1.44076318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50587156 meters 0.030851948784134928 Centerline is valid? [True, True] Translation: X:40.70, Y:-3.52, Z:-1.45 [[ 9.94162065e-01 1.03213432e-01 3.14448120e-02 4.06959119e+01] [-1.03153797e-01 9.94659200e-01 -3.51720189e-03 -3.51902296e+00] [-3.16398940e-02 2.53016959e-04 9.99499301e-01 -1.44718016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535871560000004 meters 0.02982698459134474 Centerline is valid? [True, True] Translation: X:40.73, Y:-3.52, Z:-1.45 [[ 9.93869131e-01 1.06175086e-01 3.08383236e-02 4.07265427e+01] [-1.06118949e-01 9.94347437e-01 -3.45599451e-03 -3.51705673e+00] [-3.10309485e-02 1.62275776e-04 9.99518411e-01 -1.44731345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565871560000005 meters 0.029375648797767728 Centerline is valid? [True, True] Translation: X:40.76, Y:-3.52, Z:-1.45 [[ 9.93587610e-01 1.08780563e-01 3.08293871e-02 4.07566937e+01] [-1.08725704e-01 9.94065784e-01 -3.45527969e-03 -3.51547725e+00] [-3.10223061e-02 8.11762821e-05 9.99518689e-01 -1.44775772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59587156 meters 0.01616314418567785 Centerline is valid? [True, True] Translation: X:40.79, Y:-3.51, Z:-1.45 [[ 9.93245439e-01 1.11667645e-01 3.15251374e-02 4.07868005e+01] [-1.11611758e-01 9.93745610e-01 -3.53249670e-03 -3.51295665e+00] [-3.17224325e-02 -9.93975744e-06 9.99496717e-01 -1.44709191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62587156 meters 0.01801712908590012 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.52, Z:-1.45 [[ 9.91824332e-01 1.20649049e-01 4.15728396e-02 4.08101759e+01] [-1.21301797e-01 9.92523258e-01 1.35445830e-02 -3.52223042e+00] [-3.96278691e-02 -1.84767071e-02 9.99043664e-01 -1.44896370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65587156 meters 0.02202487537249578 Centerline is valid? [True, True] Translation: X:40.85, Y:-3.49, Z:-1.45 [[ 9.91787414e-01 1.24590546e-01 2.88950029e-02 4.08498090e+01] [-1.24018457e-01 9.92061504e-01 -2.08181293e-02 -3.48757630e+00] [-3.12593622e-02 1.70636450e-02 9.99365641e-01 -1.44824430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68587156 meters 0.03424106955673385 Centerline is valid? [True, True] Translation: X:40.88, Y:-3.49, Z:-1.45 [[ 9.91284139e-01 1.28380439e-01 2.95671789e-02 4.08786703e+01] [-1.28338732e-01 9.91724862e-01 -3.31188244e-03 -3.49306235e+00] [-2.97476874e-02 -5.11597724e-04 9.99557309e-01 -1.45386275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715871560000004 meters 0.028817932740163435 Centerline is valid? [True, True] Translation: X:40.91, Y:-3.49, Z:-1.45 [[ 9.90778234e-01 1.32031170e-01 3.04345259e-02 4.09084208e+01] [-1.31988719e-01 9.91245358e-01 -3.40842386e-03 -3.48900396e+00] [-3.06181007e-02 -6.40021917e-04 9.99530951e-01 -1.45419991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745871560000005 meters 0.03391162139143674 Centerline is valid? [True, True] Translation: X:40.94, Y:-3.48, Z:-1.46 [[ 9.89985408e-01 1.38090071e-01 2.93261787e-02 4.09392049e+01] [-1.38053350e-01 9.90419353e-01 -3.28295509e-03 -3.48055291e+00] [-2.94985584e-02 -7.98499580e-04 9.99564504e-01 -1.45654475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775871560000006 meters 0.03792064537256166 Centerline is valid? [True, True] Translation: X:40.97, Y:-3.48, Z:-1.46 [[ 9.89681216e-01 1.40254297e-01 2.93227229e-02 4.09679873e+01] [-1.40218528e-01 9.90115139e-01 -3.28274389e-03 -3.47545019e+00] [-2.94932908e-02 -8.62719076e-04 9.99564606e-01 -1.45932550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80587156 meters 0.03967785425347934 Centerline is valid? [True, True] Translation: X:41.00, Y:-3.47, Z:-1.46 [[ 9.89486921e-01 1.41595350e-01 2.94344995e-02 4.09967479e+01] [-1.41559942e-01 9.89924206e-01 -3.29386379e-03 -3.47363953e+00] [-2.96043193e-02 -9.07510890e-04 9.99561284e-01 -1.46074534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83587156 meters 0.04289099682976212 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.47, Z:-1.46 [[ 9.89457501e-01 1.41787167e-01 2.95000354e-02 4.10249476e+01] [-1.41751727e-01 9.89896742e-01 -3.29982285e-03 -3.47064971e+00] [-2.96698615e-02 -9.16646504e-04 9.99559332e-01 -1.46403184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86587156 meters 0.036506450377167085 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.48, Z:-1.46 [[ 9.89701280e-01 1.40144588e-01 2.91697017e-02 4.10530445e+01] [-1.40109316e-01 9.90130675e-01 -3.25973539e-03 -3.47891381e+00] [-2.93386507e-02 -8.60782679e-04 9.99569159e-01 -1.46261296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89587156 meters 0.0392056753713705 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.48, Z:-1.47 [[ 9.89888177e-01 1.38834723e-01 2.90915164e-02 4.10813724e+01] [-1.38799112e-01 9.90315225e-01 -3.24972955e-03 -3.47642646e+00] [-2.92609469e-02 -8.21007783e-04 9.99571470e-01 -1.46659422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925871560000004 meters 0.03507157334290307 Centerline is valid? [True, True] Translation: X:41.11, Y:-3.48, Z:-1.47 [[ 9.90270580e-01 1.36021353e-01 2.93661393e-02 4.11112757e+01] [-1.35983904e-01 9.90705624e-01 -3.27789696e-03 -3.48076786e+00] [-2.95390633e-02 -7.47317351e-04 9.99563347e-01 -1.46668599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955871560000006 meters 0.0343947827516536 Centerline is valid? [True, True] Translation: X:41.14, Y:-3.48, Z:-1.47 [[ 9.90450731e-01 1.34675170e-01 2.94948818e-02 4.11388196e+01] [-1.34636788e-01 9.90889547e-01 -3.29254874e-03 -3.48214574e+00] [-2.96695946e-02 -7.09988838e-04 9.99559509e-01 -1.46836773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98587156 meters 0.03491338236708545 Centerline is valid? [True, True] Translation: X:41.17, Y:-3.49, Z:-1.47 [[ 9.90622464e-01 1.33658873e-01 2.83273717e-02 4.11670776e+01] [-1.33623102e-01 9.91027183e-01 -3.16052923e-03 -3.48751491e+00] [-2.84956282e-02 -6.54300023e-04 9.99593703e-01 -1.46857101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01587156 meters 0.027538420466359348 Centerline is valid? [True, True] Translation: X:41.20, Y:-3.49, Z:-1.47 [[ 9.91053728e-01 1.30020350e-01 3.01200257e-02 4.11967913e+01] [-1.29978291e-01 9.91511152e-01 -3.35848249e-03 -3.49155298e+00] [-3.03010125e-02 -5.86512869e-04 9.99540647e-01 -1.46792026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04587156 meters 0.029382552667919053 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.49, Z:-1.47 [[ 9.91315336e-01 1.28016468e-01 3.00946452e-02 4.12246030e+01] [-1.27973539e-01 9.91771904e-01 -3.35623401e-03 -3.49493346e+00] [-3.02766768e-02 -5.24232013e-04 9.99541419e-01 -1.46940129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07587156 meters 0.023419385904654727 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.50, Z:-1.47 [[ 9.91651239e-01 1.25228055e-01 3.07531335e-02 4.12528923e+01] [-1.25181983e-01 9.92127880e-01 -3.42652657e-03 -3.50016523e+00] [-3.09401384e-02 -4.51818909e-04 9.99521137e-01 -1.46956163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105871560000004 meters 0.01884834565784441 Centerline is valid? [True, True] Translation: X:41.28, Y:-3.51, Z:-1.47 [[ 9.92368715e-01 1.19357588e-01 3.09531716e-02 4.12816284e+01] [-1.19308109e-01 9.92851294e-01 -3.44717641e-03 -3.50730077e+00] [-3.11433432e-02 -2.72094340e-04 9.99514891e-01 -1.47024447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135871560000005 meters 0.017244462652435434 Centerline is valid? [True, True] Translation: X:41.31, Y:-3.51, Z:-1.47 [[ 9.92798330e-01 1.15762295e-01 3.08312767e-02 4.13090598e+01] [-1.15711496e-01 9.93276933e-01 -3.43278067e-03 -3.51335559e+00] [-3.10213825e-02 -1.59474246e-04 9.99518708e-01 -1.47220995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16587156 meters 0.016227969692966523 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.52, Z:-1.47 [[ 9.93189215e-01 1.12381696e-01 3.07496001e-02 4.13372731e+01] [-1.12329607e-01 9.93665110e-01 -3.42171060e-03 -3.51975488e+00] [-3.09393425e-02 -5.56844268e-05 9.99521262e-01 -1.47282380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19587156 meters 0.01619312481107168 Centerline is valid? [True, True] Translation: X:41.36, Y:-3.53, Z:-1.47 [[ 9.93568126e-01 1.08981308e-01 3.07482378e-02 4.13646739e+01] [-1.08927635e-01 9.94043798e-01 -3.42024804e-03 -3.52629948e+00] [-3.09378381e-02 4.89166038e-05 9.99521309e-01 -1.47419501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22587156 meters 0.01753213928200819 Centerline is valid? [True, True] Translation: X:41.39, Y:-3.54, Z:-1.48 [[ 9.94166766e-01 1.03710765e-01 2.96060716e-02 4.13922708e+01] [-1.03658722e-01 9.94607478e-01 -3.29141468e-03 -3.53596872e+00] [-2.97877754e-02 2.03287533e-04 9.99556225e-01 -1.47635388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25587156 meters 0.028335975337713704 Centerline is valid? [True, True] Translation: X:41.42, Y:-3.54, Z:-1.48 [[ 9.94395814e-01 1.01805130e-01 2.85075700e-02 4.14195571e+01] [-1.01756128e-01 9.94804329e-01 -3.16817157e-03 -3.54132662e+00] [-2.86819902e-02 2.49596607e-04 9.99588556e-01 -1.47871137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285871560000004 meters 0.025230944379619508 Centerline is valid? [True, True] Translation: X:41.45, Y:-3.54, Z:-1.48 [[ 9.94535929e-01 1.00497454e-01 2.82586016e-02 4.14485736e+01] [-1.00448828e-01 9.94937275e-01 -3.13867086e-03 -3.54423694e+00] [-2.84309645e-02 2.82977519e-04 9.99595718e-01 -1.47814590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315871560000005 meters 0.02028956546289168 Centerline is valid? [True, True] Translation: X:41.48, Y:-3.55, Z:-1.48 [[ 9.94601116e-01 9.92855137e-02 3.01829002e-02 4.14757439e+01] [-9.92295237e-02 9.95058929e-01 -3.35097109e-03 -3.54762464e+00] [-3.03664672e-02 3.37844775e-04 9.99538775e-01 -1.47879539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34587156 meters 0.02046321342294563 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.54, Z:-1.47 [[ 9.94768211e-01 9.81102866e-02 2.84706517e-02 4.15045038e+01] [-9.75965367e-02 9.95046411e-01 -1.89091654e-02 -3.54207790e+00] [-3.01848034e-02 1.60315997e-02 9.99415762e-01 -1.47396794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37587156 meters 0.020839610762033993 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.56, Z:-1.48 [[ 9.94809723e-01 9.65577135e-02 3.20970985e-02 4.15328419e+01] [-9.69937140e-02 9.95208831e-01 1.23126532e-02 -3.56437277e+00] [-3.07544343e-02 -1.53619639e-02 9.99408913e-01 -1.48216824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40587156 meters 0.022182143192835645 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.56, Z:-1.48 [[ 9.94841858e-01 9.69387493e-02 2.98756723e-02 4.15621763e+01] [-9.68829510e-02 9.95290268e-01 -3.31302025e-03 -3.55902532e+00] [-3.00561259e-02 4.01487926e-04 9.99548132e-01 -1.48258193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43587156 meters 0.021431938148491352 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.56, Z:-1.48 [[ 9.94875949e-01 9.66147109e-02 2.97899794e-02 4.15916100e+01] [-9.65591140e-02 9.95321772e-01 -3.30262317e-03 -3.55917951e+00] [-2.99696971e-02 4.09206347e-04 9.99550724e-01 -1.48235671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465871560000004 meters 0.021293199521491203 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.56, Z:-1.48 [[ 9.94831918e-01 9.70472919e-02 2.98542796e-02 4.16206243e+01] [-9.69916924e-02 9.95279693e-01 -3.30831938e-03 -3.56193011e+00] [-3.00344216e-02 3.95604611e-04 9.99548787e-01 -1.48421795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495871560000005 meters 0.02116623521423285 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.56, Z:-1.49 [[ 9.94814789e-01 9.73786487e-02 2.93416821e-02 4.16483985e+01] [-9.73251219e-02 9.95247334e-01 -3.25032128e-03 -3.56444159e+00] [-2.95187428e-02 3.77784888e-04 9.99564156e-01 -1.48594909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525871560000006 meters 0.024109245063193636 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.56, Z:-1.49 [[ 9.94631518e-01 9.94749883e-02 2.85108669e-02 4.16774253e+01] [-9.94253621e-02 9.95040016e-01 -3.15651627e-03 -3.56333098e+00] [-2.86834479e-02 3.04867302e-04 9.99588499e-01 -1.48740216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55587156 meters 0.019043533854534753 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.56, Z:-1.49 [[ 9.94496469e-01 1.00763234e-01 2.86974674e-02 4.17063217e+01] [-1.00713532e-01 9.94910397e-01 -3.17580247e-03 -3.56324629e+00] [-2.88714128e-02 2.68101059e-04 9.99583098e-01 -1.48874104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58587156 meters 0.018699084560723167 Centerline is valid? [True, True] Translation: X:41.73, Y:-3.56, Z:-1.49 [[ 9.94341966e-01 1.02411897e-01 2.82109661e-02 4.17340242e+01] [-1.02364561e-01 9.94742056e-01 -3.12083709e-03 -3.56269990e+00] [-2.83822452e-02 2.15376129e-04 9.99597120e-01 -1.49173204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61587156 meters 0.023341040396050936 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.56, Z:-1.49 [[ 9.94050474e-01 1.05453062e-01 2.72636703e-02 4.17636379e+01] [-1.05410042e-01 9.94424274e-01 -3.01435837e-03 -3.55745119e+00] [-2.74295289e-02 1.22559725e-04 9.99623732e-01 -1.49077794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64587156 meters 0.023341040396050936 Centerline is valid? [True, True] Translation: X:41.79, Y:-3.56, Z:-1.49 [[ 9.94058020e-01 1.05381875e-01 2.72637725e-02 4.17909439e+01] [-1.05338854e-01 9.94431820e-01 -3.01343396e-03 -3.56033901e+00] [-2.74295242e-02 1.23593644e-04 9.99623732e-01 -1.49196885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675871560000004 meters 0.01581792074448888 Centerline is valid? [True, True] Translation: X:41.82, Y:-3.56, Z:-1.49 [[ 9.94027654e-01 1.04800602e-01 3.04279098e-02 4.18205328e+01] [-1.04582279e-01 9.94478319e-01 -8.68444580e-03 -3.55661466e+00] [-3.11700318e-02 5.45035913e-03 9.99499236e-01 -1.48787902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705871560000006 meters 0.016351811720593083 Centerline is valid? [True, True] Translation: X:41.85, Y:-3.56, Z:-1.49 [[ 9.93793374e-01 1.07162956e-01 2.98467875e-02 4.18476322e+01] [-1.07271051e-01 9.94227721e-01 2.03968695e-03 -3.56454530e+00] [-2.94559246e-02 -5.22872364e-03 9.99552404e-01 -1.49438703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73587156 meters 0.016569306692928203 Centerline is valid? [True, True] Translation: X:41.88, Y:-3.56, Z:-1.50 [[ 9.93819780e-01 1.07089532e-01 2.92245965e-02 4.18755508e+01] [-1.07041000e-01 9.94249378e-01 -3.22459372e-03 -3.56368355e+00] [-2.94018571e-02 7.64349961e-05 9.99567669e-01 -1.49549138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76587156 meters 0.01630492134124208 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.57, Z:-1.50 [[ 9.93824232e-01 1.06944629e-01 2.96013979e-02 4.19039794e+01] [-1.06894836e-01 9.94264975e-01 -3.26407307e-03 -3.56553837e+00] [-2.97807082e-02 7.96783408e-05 9.99556453e-01 -1.49517331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79587156 meters 0.016441861658988793 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.57, Z:-1.50 [[ 9.93872613e-01 1.06504856e-01 2.95625527e-02 4.19318090e+01] [-1.06455035e-01 9.94312178e-01 -3.25854121e-03 -3.56792123e+00] [-2.97414566e-02 9.14922687e-05 9.99557621e-01 -1.49655803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82587156 meters 0.023104156450809817 Centerline is valid? [True, True] Translation: X:41.96, Y:-3.57, Z:-1.50 [[ 9.94035801e-01 1.05166790e-01 2.88577956e-02 4.19598534e+01] [-1.05118801e-01 9.94454589e-01 -3.17920420e-03 -3.57133518e+00] [-2.90321139e-02 1.26745910e-04 9.99578471e-01 -1.49763610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855871560000004 meters 0.017201217282565524 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.58, Z:-1.50 [[ 9.94092375e-01 1.04307453e-01 3.00051036e-02 4.19872716e+01] [-1.04255236e-01 9.94545087e-01 -3.30373836e-03 -3.57552767e+00] [-3.01860329e-02 1.56031940e-04 9.99544286e-01 -1.49920428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885871560000005 meters 0.02623241368967145 Centerline is valid? [True, True] Translation: X:42.02, Y:-3.58, Z:-1.50 [[ 9.94254692e-01 1.03132832e-01 2.86570457e-02 4.20153430e+01] [-1.03084764e-01 9.94667576e-01 -3.15362016e-03 -3.58025546e+00] [-2.88294760e-02 1.81396856e-04 9.99584328e-01 -1.49957709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91587156 meters 0.018677978392380352 Centerline is valid? [True, True] Translation: X:42.04, Y:-3.59, Z:-1.50 [[ 9.94436676e-01 1.00955267e-01 3.00621150e-02 4.20423666e+01] [-1.00901415e-01 9.94890933e-01 -3.30687157e-03 -3.58628946e+00] [-3.02423717e-02 2.55164424e-04 9.99542562e-01 -1.50165140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94587156 meters 0.019067249882526133 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.59, Z:-1.50 [[ 9.94556103e-01 9.97678817e-02 3.00753699e-02 4.20706516e+01] [-9.97134986e-02 9.95010696e-01 -3.30638758e-03 -3.59047367e+00] [-3.02551860e-02 2.89467596e-04 9.99542165e-01 -1.50229469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97587156 meters 0.0196247460150275 Centerline is valid? [True, True] Translation: X:42.10, Y:-3.60, Z:-1.50 [[ 9.94635948e-01 9.88524063e-02 3.04554142e-02 4.20976329e+01] [-9.87962505e-02 9.95102055e-01 -3.34687010e-03 -3.59513375e+00] [-3.06370914e-02 3.20036593e-04 9.99530523e-01 -1.50308446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00587156 meters 0.019552658146226667 Centerline is valid? [True, True] Translation: X:42.13, Y:-3.60, Z:-1.50 [[ 9.94720656e-01 9.80072196e-02 3.04204119e-02 4.21262322e+01] [-9.79508555e-02 9.95185644e-01 -3.34113695e-03 -3.59896910e+00] [-3.06014128e-02 3.43792567e-04 9.99531608e-01 -1.50333146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035871560000004 meters 0.02005268866258493 Centerline is valid? [True, True] Translation: X:42.16, Y:-3.60, Z:-1.50 [[ 9.94986785e-01 9.54938856e-02 2.97021281e-02 4.21558317e+01] [-9.50711889e-02 9.95352351e-01 -1.53351632e-02 -3.59556419e+00] [-3.10284974e-02 1.24344681e-02 9.99441152e-01 -1.50152721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065871560000005 meters 0.020153975310499235 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.61, Z:-1.51 [[ 9.94819372e-01 9.67388063e-02 3.12413131e-02 4.21813518e+01] [-9.70515157e-02 9.95241773e-01 8.64966290e-03 -3.61466558e+00] [-3.02559018e-02 -1.16368690e-02 9.99474444e-01 -1.50924033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09587156 meters 0.020938979272197945 Centerline is valid? [True, True] Translation: X:42.22, Y:-3.61, Z:-1.51 [[ 9.95082978e-01 9.28979476e-02 3.43487631e-02 4.22154634e+01] [-9.28484058e-02 9.95675622e-01 -3.03805836e-03 -3.61035419e+00] [-3.44824555e-02 -1.66107732e-04 9.99405289e-01 -1.50770562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12587156 meters 0.020189754770552324 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.62, Z:-1.51 [[ 9.94745367e-01 9.76778867e-02 3.06706084e-02 4.22410572e+01] [-9.75882047e-02 9.95217104e-01 -4.41103613e-03 -3.61516866e+00] [-3.09547748e-02 1.39476813e-03 9.99519813e-01 -1.50903431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15587156 meters 0.01963249128643036 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.62, Z:-1.51 [[ 9.94693315e-01 9.81829560e-02 3.07459913e-02 4.22693708e+01] [-9.81256130e-02 9.95168324e-01 -3.37203105e-03 -3.61881170e+00] [-3.09285126e-02 3.37167493e-04 9.99521542e-01 -1.50977284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18587156 meters 0.02527328109380643 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.62, Z:-1.51 [[ 9.94669989e-01 9.86329596e-02 3.00524911e-02 4.22965974e+01] [-9.85784173e-02 9.95123832e-01 -3.29474689e-03 -3.62188117e+00] [-3.02309208e-02 3.14658844e-04 9.99542892e-01 -1.51113009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215871560000004 meters 0.01915623483342369 Centerline is valid? [True, True] Translation: X:42.32, Y:-3.62, Z:-1.51 [[ 9.94592600e-01 9.91688734e-02 3.08398252e-02 4.23249677e+01] [-9.91117554e-02 9.95070571e-01 -3.37904177e-03 -3.62480146e+00] [-3.10228982e-02 3.04180731e-04 9.99518628e-01 -1.51254609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245871560000005 meters 0.018538832131877656 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.63, Z:-1.52 [[ 9.94462349e-01 1.00678334e-01 3.01414843e-02 4.23524490e+01] [-1.00624501e-01 9.94918997e-01 -3.30140181e-03 -3.62733887e+00] [-3.03207150e-02 2.50147976e-04 9.99540190e-01 -1.51538022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275871560000006 meters 0.017782861572716305 Centerline is valid? [True, True] Translation: X:42.38, Y:-3.63, Z:-1.52 [[ 9.94334948e-01 1.01970335e-01 3.00010437e-02 4.23811933e+01] [-1.01917656e-01 9.94787418e-01 -3.28383850e-03 -3.62788932e+00] [-3.01795149e-02 2.07599332e-04 9.99544473e-01 -1.51664774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30587156 meters 0.016727242350562343 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.63, Z:-1.52 [[ 9.93967182e-01 1.05387009e-01 3.03779504e-02 4.24095421e+01] [-1.05334637e-01 9.94431278e-01 -3.32365084e-03 -3.62601606e+00] [-3.05590537e-02 1.03749467e-04 9.99532958e-01 -1.51888235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33587156 meters 0.027719444447500637 Centerline is valid? [True, True] Translation: X:42.44, Y:-3.63, Z:-1.52 [[ 9.93795780e-01 1.07281183e-01 2.93376167e-02 4.24383794e+01] [-1.07233201e-01 9.94228719e-01 -3.20852497e-03 -3.62636179e+00] [-2.95125155e-02 4.26520243e-05 9.99564410e-01 -1.51996362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36587156 meters 0.016226204466259792 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.63, Z:-1.52 [[ 9.93538319e-01 1.09402821e-01 3.02097967e-02 4.24677401e+01] [-1.09352967e-01 9.93997496e-01 -3.30248187e-03 -3.62551497e+00] [-3.03897631e-02 -2.23886013e-05 9.99538124e-01 -1.52021706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39587156 meters 0.017322288007334506 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.62, Z:-1.52 [[ 9.93110094e-01 1.13290503e-01 2.99600131e-02 4.24963484e+01] [-1.13243275e-01 9.93561896e-01 -3.27393430e-03 -3.62109868e+00] [-3.01380331e-02 -1.41392794e-04 9.99545736e-01 -1.52310763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425871560000004 meters 0.017756539850272257 Centerline is valid? [True, True] Translation: X:42.52, Y:-3.62, Z:-1.52 [[ 9.92951462e-01 1.14775146e-01 2.95645089e-02 4.25248316e+01] [-1.14729870e-01 9.93391479e-01 -3.22886959e-03 -3.62212982e+00] [-2.97397252e-02 -1.85821479e-04 9.99557659e-01 -1.52403731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455871560000006 meters 0.018414350090281098 Centerline is valid? [True, True] Translation: X:42.55, Y:-3.62, Z:-1.53 [[ 9.92828935e-01 1.15784197e-01 2.97443508e-02 4.25529662e+01] [-1.15738852e-01 9.93274369e-01 -3.24747839e-03 -3.62326296e+00] [-2.99203080e-02 -2.18386522e-04 9.99552264e-01 -1.52577790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48587156 meters 0.018383876713382586 Centerline is valid? [True, True] Translation: X:42.58, Y:-3.63, Z:-1.53 [[ 9.92724012e-01 1.16396200e-01 3.08376487e-02 4.25817183e+01] [-1.16347846e-01 9.93202831e-01 -3.36391069e-03 -3.62535617e+00] [-3.10195864e-02 -2.48459081e-04 9.99518746e-01 -1.52522135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51587156 meters 0.018570607704071974 Centerline is valid? [True, True] Translation: X:42.61, Y:-3.63, Z:-1.53 [[ 9.92780001e-01 1.15919978e-01 3.08290208e-02 4.26084139e+01] [-1.15871454e-01 9.93258528e-01 -3.36192461e-03 -3.62800853e+00] [-3.10109020e-02 -2.34551944e-04 9.99519019e-01 -1.52762973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54587156 meters 0.018311062475758942 Centerline is valid? [True, True] Translation: X:42.64, Y:-3.63, Z:-1.53 [[ 9.92904556e-01 1.14846842e-01 3.08341726e-02 4.26358539e+01] [-1.14797873e-01 9.93383190e-01 -3.35960303e-03 -3.63178300e+00] [-3.10159885e-02 -2.03932296e-04 9.99518868e-01 -1.52978286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.57587156 meters 0.017422788611636462 Centerline is valid? [True, True] Translation: X:42.66, Y:-3.64, Z:-1.53 [[ 9.93062683e-01 1.13623172e-01 3.02701641e-02 4.26634528e+01] [-1.13575458e-01 9.93523904e-01 -3.29661063e-03 -3.63670965e+00] [-3.04487029e-02 -1.64206745e-04 9.99536317e-01 -1.53030942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605871560000004 meters 0.02309426069569493 Centerline is valid? [True, True] Translation: X:42.69, Y:-3.64, Z:-1.53 [[ 9.93451435e-01 1.10584285e-01 2.87291041e-02 4.26906932e+01] [-1.10540091e-01 9.93866747e-01 -3.12684540e-03 -3.64378559e+00] [-2.88986812e-02 -6.93487386e-05 9.99582343e-01 -1.53439533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635871560000005 meters 0.016086367769623727 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.65, Z:-1.53 [[ 9.93605088e-01 1.08982267e-01 2.95261762e-02 4.27188887e+01] [-1.08934946e-01 9.94043694e-01 -3.21136130e-03 -3.64971773e+00] [-2.97002907e-02 -2.56074655e-05 9.99558849e-01 -1.53392877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66587156 meters 0.016132902137020476 Centerline is valid? [True, True] Translation: X:42.75, Y:-3.66, Z:-1.54 [[ 9.93780849e-01 1.07391856e-01 2.94382966e-02 4.27458008e+01] [-1.07344155e-01 9.94216772e-01 -3.20056134e-03 -3.65589166e+00] [-2.96117624e-02 2.06274919e-05 9.99561475e-01 -1.53597841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69587156 meters 0.01626287415792241 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.66, Z:-1.54 [[ 9.94055387e-01 1.04746107e-01 2.97008656e-02 4.27740181e+01] [-1.04696429e-01 9.94498991e-01 -3.22714288e-03 -3.66392785e+00] [-2.98755115e-02 9.83842063e-05 9.99553622e-01 -1.53674173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72587156 meters 0.016923925966818923 Centerline is valid? [True, True] Translation: X:42.80, Y:-3.67, Z:-1.54 [[ 9.94189594e-01 1.03442471e-01 2.97776032e-02 4.28012071e+01] [-1.03391989e-01 9.94635429e-01 -3.23423054e-03 -3.66893866e+00] [-2.99524159e-02 1.36672739e-04 9.99551316e-01 -1.53882645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75587156 meters 0.016619437907162596 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.67, Z:-1.54 [[ 9.94272147e-01 1.02670813e-01 2.96917805e-02 4.28302562e+01] [-1.02620332e-01 9.94715376e-01 -3.22304029e-03 -3.67266254e+00] [-2.98657828e-02 1.57598808e-04 9.99553906e-01 -1.53799256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785871560000004 meters 0.017469957160556476 Centerline is valid? [True, True] Translation: X:42.86, Y:-3.68, Z:-1.54 [[ 9.94434623e-01 1.00971589e-01 3.00752071e-02 4.28577424e+01] [-1.00919059e-01 9.94889287e-01 -3.26335802e-03 -3.67942953e+00] [-3.02510078e-02 2.10034601e-04 9.99542311e-01 -1.53988971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815871560000005 meters 0.01796930539331713 Centerline is valid? [True, True] Translation: X:42.88, Y:-3.68, Z:-1.54 [[ 9.94484975e-01 1.00540490e-01 2.98537277e-02 4.28847879e+01] [-1.00488590e-01 9.94932943e-01 -3.23757210e-03 -3.68403170e+00] [-3.00279643e-02 2.19757811e-04 9.99549035e-01 -1.54189632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84587156 meters 0.018033567755152368 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.69, Z:-1.54 [[ 9.94539226e-01 1.00123287e-01 2.94458155e-02 4.29129822e+01] [-1.00072666e-01 9.94975013e-01 -3.19151037e-03 -3.68861162e+00] [-2.96173951e-02 2.27360992e-04 9.99561283e-01 -1.54328866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87587156 meters 0.01817783002524682 Centerline is valid? [True, True] Translation: X:42.94, Y:-3.69, Z:-1.54 [[ 9.94565361e-01 9.98819906e-02 2.93824759e-02 4.29410178e+01] [-9.98315223e-02 9.94999263e-01 -3.18329114e-03 -3.69274780e+00] [-2.95534953e-02 2.32693805e-04 9.99563173e-01 -1.54479683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90587156 meters 0.018241021106031114 Centerline is valid? [True, True] Translation: X:42.97, Y:-3.70, Z:-1.55 [[ 9.94576524e-01 9.96974442e-02 2.96303417e-02 4.29684211e+01] [-9.96460758e-02 9.95017770e-01 -3.20890393e-03 -3.69684731e+00] [-2.98026360e-02 2.38953251e-04 9.99555774e-01 -1.54581838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93587156 meters 0.01804011468380625 Centerline is valid? [True, True] Translation: X:43.00, Y:-3.70, Z:-1.55 [[ 9.94552417e-01 9.99689475e-02 2.95245644e-02 4.29965494e+01] [-9.99181198e-02 9.94990531e-01 -3.19559762e-03 -3.70028412e+00] [-2.96961225e-02 2.28150378e-04 9.99558947e-01 -1.54684663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965871560000004 meters 0.024626419117840893 Centerline is valid? [True, True] Translation: X:43.02, Y:-3.71, Z:-1.55 [[ 9.94638080e-01 9.93478766e-02 2.87243719e-02 4.30235689e+01] [-9.92995404e-02 9.95052733e-01 -3.10788257e-03 -3.70612701e+00] [-2.88910263e-02 2.38901428e-04 9.99582539e-01 -1.54915648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995871560000005 meters 0.018167964305219497 Centerline is valid? [True, True] Translation: X:43.05, Y:-3.71, Z:-1.55 [[ 9.94623762e-01 9.91357023e-02 2.99279857e-02 4.30525813e+01] [-9.90831923e-02 9.95073891e-01 -3.23615280e-03 -3.71053267e+00] [-3.01013755e-02 2.53394107e-04 9.99546819e-01 -1.54864247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025871560000006 meters 0.02596436767862594 Centerline is valid? [True, True] Translation: X:43.08, Y:-3.72, Z:-1.55 [[ 9.94718791e-01 9.83062635e-02 2.95026175e-02 4.30796259e+01] [-9.82549069e-02 9.95156171e-01 -3.18895517e-03 -3.71677056e+00] [-2.96732062e-02 2.73336696e-04 9.99559616e-01 -1.55037496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05587156 meters 0.019499869917494736 Centerline is valid? [True, True] Translation: X:43.11, Y:-3.72, Z:-1.55 [[ 9.94743509e-01 9.76053332e-02 3.09604614e-02 4.31073311e+01] [-9.75484996e-02 9.95225153e-01 -3.34445255e-03 -3.72359115e+00] [-3.11390664e-02 3.06725906e-04 9.99515015e-01 -1.55106633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08587156 meters 0.02052013353024612 Centerline is valid? [True, True] Translation: X:43.14, Y:-3.73, Z:-1.55 [[ 9.94880285e-01 9.60317737e-02 3.14820199e-02 4.31364438e+01] [-9.59722769e-02 9.95378204e-01 -3.39902545e-03 -3.73318744e+00] [-3.16629308e-02 3.60222272e-04 9.99498539e-01 -1.55150731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11587156 meters 0.02134553756685323 Centerline is valid? [True, True] Translation: X:43.17, Y:-3.74, Z:-1.55 [[ 9.94975450e-01 9.49698749e-02 3.16950670e-02 4.31650717e+01] [-9.49090544e-02 9.95480068e-01 -3.42130189e-03 -3.73995330e+00] [-3.18767281e-02 3.95962543e-04 9.99491730e-01 -1.55265105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14587156 meters 0.021820490541776132 Centerline is valid? [True, True] Translation: X:43.19, Y:-3.75, Z:-1.55 [[ 9.95054821e-01 9.41833420e-02 3.15499858e-02 4.31940014e+01] [-9.41227045e-02 9.95554781e-01 -3.40493435e-03 -3.74642065e+00] [-3.17304274e-02 4.18526344e-04 9.99496376e-01 -1.55357866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175871560000004 meters 0.022910122684149596 Centerline is valid? [True, True] Translation: X:43.22, Y:-3.76, Z:-1.56 [[ 9.95160212e-01 9.30940727e-02 3.14586273e-02 4.32237505e+01] [-9.30332770e-02 9.95657215e-01 -3.39396392e-03 -3.75553229e+00] [-3.16379672e-02 4.50838664e-04 9.99499293e-01 -1.55542146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205871560000006 meters 0.024740792372509604 Centerline is valid? [True, True] Translation: X:43.25, Y:-3.76, Z:-1.56 [[ 9.95197633e-01 9.28184655e-02 3.10870453e-02 4.32545729e+01] [-9.27589569e-02 9.95682945e-01 -3.35408892e-03 -3.76193847e+00] [-3.12641622e-02 4.54379452e-04 9.99511053e-01 -1.55756043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23587156 meters 0.027297613647805818 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.77, Z:-1.56 [[ 9.95208096e-01 9.28388568e-02 3.06886399e-02 4.32848408e+01] [-9.27808530e-02 9.95681046e-01 -3.31178098e-03 -3.76892151e+00] [-3.08635590e-02 4.48593051e-04 9.99523506e-01 -1.55928376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26587156 meters 0.022536233203840315 Centerline is valid? [True, True] Translation: X:43.31, Y:-3.78, Z:-1.56 [[ 9.95078504e-01 9.36896548e-02 3.22648357e-02 4.33143569e+01] [-9.36259516e-02 9.95601351e-01 -3.48289441e-03 -3.77764911e+00] [-3.24492252e-02 4.44927406e-04 9.99473286e-01 -1.55924496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29587156 meters 0.021947811047269995 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.78, Z:-1.56 [[ 9.94994930e-01 9.45324458e-02 3.23837376e-02 4.33446175e+01] [-9.44687378e-02 9.95521693e-01 -3.49512987e-03 -3.78193630e+00] [-3.25691164e-02 4.18385686e-04 9.99469398e-01 -1.56044792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32587156 meters 0.018321852064270762 Centerline is valid? [True, True] Translation: X:43.38, Y:-3.78, Z:-1.56 [[ 9.94691428e-01 9.78174933e-02 3.19484098e-02 4.33762530e+01] [-9.77571122e-02 9.95204322e-01 -3.45026825e-03 -3.78229558e+00] [-3.21326921e-02 3.08767965e-04 9.99483564e-01 -1.56043543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355871560000004 meters 0.01738480692344587 Centerline is valid? [True, True] Translation: X:43.41, Y:-3.78, Z:-1.56 [[ 9.94497926e-01 9.96685005e-02 3.22500324e-02 4.34055401e+01] [-9.96079086e-02 9.95020666e-01 -3.48400216e-03 -3.78476826e+00] [-3.24366940e-02 2.52474641e-04 9.99473760e-01 -1.56119138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385871560000005 meters 0.021870798747172997 Centerline is valid? [True, True] Translation: X:43.44, Y:-3.79, Z:-1.56 [[ 9.94311589e-01 1.01603156e-01 3.19572118e-02 4.34352181e+01] [-1.01544670e-01 9.94824992e-01 -3.45199272e-03 -3.78700812e+00] [-3.21425663e-02 1.87271834e-04 9.99483277e-01 -1.56394917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41587156 meters 0.015342539525388907 Centerline is valid? [True, True] Translation: X:43.47, Y:-3.79, Z:-1.57 [[ 9.93791533e-01 1.06343170e-01 3.27035108e-02 4.34653242e+01] [-1.06284494e-01 9.94329487e-01 -3.53232767e-03 -3.78741741e+00] [-3.28937041e-02 3.45212177e-05 9.99458855e-01 -1.56513760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44587156 meters 0.0152392549769145 Centerline is valid? [True, True] Translation: X:43.49, Y:-3.79, Z:-1.57 [[ 9.93565191e-01 1.08510597e-01 3.24601472e-02 4.34949048e+01] [-1.08453971e-01 9.94095292e-01 -3.50530885e-03 -3.78947517e+00] [-3.26488427e-02 -3.76790213e-05 9.99466884e-01 -1.56640485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47587156 meters 0.01570303858855475 Centerline is valid? [True, True] Translation: X:43.52, Y:-3.79, Z:-1.57 [[ 9.93356981e-01 1.10429025e-01 3.23626109e-02 4.35236575e+01] [-1.10373777e-01 9.93884007e-01 -3.49414407e-03 -3.79122562e+00] [-3.25505364e-02 -1.01051196e-04 9.99470086e-01 -1.56843060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50587156 meters 0.016449481364164964 Centerline is valid? [True, True] Translation: X:43.55, Y:-3.79, Z:-1.57 [[ 9.93165641e-01 1.12157064e-01 3.22924455e-02 4.35519372e+01] [-1.12102995e-01 9.93690479e-01 -3.48577088e-03 -3.79244739e+00] [-3.24796494e-02 -1.58131965e-04 9.99472384e-01 -1.57059123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535871560000004 meters 0.027704652141269187 Centerline is valid? [True, True] Translation: X:43.58, Y:-3.79, Z:-1.57 [[ 9.92988484e-01 1.14096838e-01 3.09157439e-02 4.35815827e+01] [-1.14048296e-01 9.93469610e-01 -3.33474996e-03 -3.79482803e+00] [-3.10943365e-02 -2.14519607e-04 9.99516431e-01 -1.57388748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565871560000005 meters 0.027704652141269187 Centerline is valid? [True, True] Translation: X:43.61, Y:-3.80, Z:-1.58 [[ 9.92993773e-01 1.14050781e-01 3.09157908e-02 4.36097275e+01] [-1.14002231e-01 9.93474898e-01 -3.33431596e-03 -3.79777322e+00] [-3.10943434e-02 -2.13514133e-04 9.99516431e-01 -1.57511438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59587156 meters 0.017977736389529306 Centerline is valid? [True, True] Translation: X:43.64, Y:-3.80, Z:-1.57 [[ 9.92826377e-01 1.15199845e-01 3.20121874e-02 4.36386538e+01] [-1.15148437e-01 9.93342302e-01 -3.45098782e-03 -3.80081868e+00] [-3.21966132e-02 -2.59921617e-04 9.99481521e-01 -1.57435543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62587156 meters 0.018537588216668004 Centerline is valid? [True, True] Translation: X:43.67, Y:-3.80, Z:-1.58 [[ 9.92723023e-01 1.15822691e-01 3.29560888e-02 4.36667749e+01] [-1.15768602e-01 9.93269863e-01 -3.55113821e-03 -3.80367659e+00] [-3.31455922e-02 -2.89983668e-04 9.99450492e-01 -1.57502435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65587156 meters 0.02587675397971999 Centerline is valid? [True, True] Translation: X:43.70, Y:-3.81, Z:-1.58 [[ 9.92644491e-01 1.16414204e-01 3.32362480e-02 4.36950343e+01] [-1.16359575e-01 9.93200702e-01 -3.57977018e-03 -3.80701066e+00] [-3.34270009e-02 -3.13916553e-04 9.99441112e-01 -1.57585881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68587156 meters 0.018949567222302403 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.81, Z:-1.57 [[ 9.92346839e-01 1.18295552e-01 3.54106287e-02 4.37236974e+01] [-1.18234799e-01 9.92978348e-01 -3.81219299e-03 -3.81034120e+00] [-3.56129530e-02 -4.03750904e-04 9.99365576e-01 -1.57213348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715871560000004 meters 0.020817873163606067 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.81, Z:-1.57 [[ 9.92210754e-01 1.19373918e-01 3.56045966e-02 4.37512141e+01] [-1.19313251e-01 9.92849268e-01 -3.83141480e-03 -3.81069205e+00] [-3.58073687e-02 -4.46529213e-04 9.99358611e-01 -1.57368735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745871560000005 meters 0.021996637384299772 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.81, Z:-1.58 [[ 9.91970659e-01 1.21343043e-01 3.56381557e-02 4.37800341e+01] [-1.21283613e-01 9.92610495e-01 -3.83275586e-03 -3.81144698e+00] [-3.58398856e-02 -5.20342940e-04 9.99357409e-01 -1.57528612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775871560000006 meters 0.02639408902335866 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.81, Z:-1.58 [[ 9.91882516e-01 1.22081193e-01 3.55704420e-02 4.38082977e+01] [-1.22022521e-01 9.92519966e-01 -3.82387273e-03 -3.80748052e+00] [-3.57711968e-02 -5.47562491e-04 9.99359856e-01 -1.57945872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80587156 meters 0.023261595715725763 Centerline is valid? [True, True] Translation: X:43.84, Y:-3.81, Z:-1.58 [[ 9.91763881e-01 1.22936703e-01 3.59300945e-02 4.38364213e+01] [-1.22877480e-01 9.92414340e-01 -3.86029853e-03 -3.81459870e+00] [-3.61321134e-02 -5.86494825e-04 9.99346850e-01 -1.57792536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83587156 meters 0.02547754744693526 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.81, Z:-1.58 [[ 9.91623619e-01 1.24308184e-01 3.50724153e-02 4.38645218e+01] [-1.24252666e-01 9.92243462e-01 -3.76660871e-03 -3.81394530e+00] [-3.52685951e-02 -6.22782954e-04 9.99377676e-01 -1.58144099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86587156 meters 0.026095009142525653 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.82, Z:-1.58 [[ 9.91530594e-01 1.25101533e-01 3.48810409e-02 4.38933535e+01] [-1.25047186e-01 9.92143732e-01 -3.74389849e-03 -3.81511545e+00] [-3.50753735e-02 -6.49586105e-04 9.99384459e-01 -1.58324295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89587156 meters 0.026275055309104716 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.82, Z:-1.59 [[ 9.91500407e-01 1.25456473e-01 3.44618226e-02 4.39223132e+01] [-1.25403695e-01 9.92098908e-01 -3.69729799e-03 -3.81697591e+00] [-3.46533865e-02 -6.55767413e-04 9.99399176e-01 -1.58526463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925871560000004 meters 0.03583820706737171 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.81, Z:-1.59 [[ 9.91494558e-01 1.25599409e-01 3.41076289e-02 4.39499816e+01] [-1.25547846e-01 9.92080823e-01 -3.65779460e-03 -3.81429380e+00] [-3.42969413e-02 -6.55455896e-04 9.99411472e-01 -1.59102792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955871560000006 meters 0.026823833104757337 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.82, Z:-1.59 [[ 9.91520863e-01 1.25353671e-01 3.42466869e-02 4.39781452e+01] [-1.25301615e-01 9.92111905e-01 -3.67056243e-03 -3.81910664e+00] [-3.44366642e-02 -6.51725931e-04 9.99406670e-01 -1.58925907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98587156 meters 0.026806188112858474 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.82, Z:-1.59 [[ 9.91597933e-01 1.24733292e-01 3.42803921e-02 4.40063995e+01] [-1.24680815e-01 9.92190106e-01 -3.67266982e-03 -3.82027206e+00] [-3.44707700e-02 -6.32295409e-04 9.99405506e-01 -1.59087873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01587156 meters 0.025484693467189096 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.82, Z:-1.59 [[ 9.91729318e-01 1.23344943e-01 3.54821729e-02 4.40352872e+01] [-1.23287913e-01 9.92363672e-01 -3.79917017e-03 -3.82196962e+00] [-3.56798278e-02 -6.06774594e-04 9.99363088e-01 -1.59052478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04587156 meters 0.024600560249247047 Centerline is valid? [True, True] Translation: X:44.06, Y:-3.83, Z:-1.59 [[ 9.91834234e-01 1.22373674e-01 3.59101244e-02 4.40640634e+01] [-1.22314683e-01 9.92483928e-01 -3.84332276e-03 -3.82505447e+00] [-3.61105428e-02 -5.80396406e-04 9.99347633e-01 -1.59109025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07587156 meters 0.027138211509348146 Centerline is valid? [True, True] Translation: X:44.09, Y:-3.82, Z:-1.59 [[ 9.91988703e-01 1.20898890e-01 3.66315721e-02 4.40918063e+01] [-1.20836560e-01 9.92664681e-01 -3.91889366e-03 -3.82276555e+00] [-3.68366577e-02 -5.38934927e-04 9.99321155e-01 -1.59377950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105871560000004 meters 0.02485406033396137 Centerline is valid? [True, True] Translation: X:44.12, Y:-3.83, Z:-1.59 [[ 9.92203480e-01 1.19042512e-01 3.68935480e-02 4.41202530e+01] [-1.18978087e-01 9.92889044e-01 -3.94471178e-03 -3.82735393e+00] [-3.71007880e-02 -4.75567000e-04 9.99311416e-01 -1.59477981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135871560000005 meters 0.017482233215052753 Centerline is valid? [True, True] Translation: X:44.15, Y:-3.84, Z:-1.59 [[ 9.92769681e-01 1.14112633e-01 3.72379727e-02 4.41479769e+01] [-1.14043588e-01 9.93467775e-01 -3.97997805e-03 -3.84195811e+00] [-3.74488917e-02 -2.95550495e-04 9.99298501e-01 -1.59427579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16587156 meters 0.015148152348221589 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.86, Z:-1.60 [[ 9.93428226e-01 1.08546241e-01 3.63052836e-02 4.41784379e+01] [-1.08782742e-01 9.94054916e-01 4.59773713e-03 -3.85610546e+00] [-3.55903785e-02 -8.51691015e-03 9.99330169e-01 -1.59554908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19587156 meters 0.014310667734932343 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.85, Z:-1.60 [[ 9.93648918e-01 1.06514517e-01 3.62834047e-02 4.42070625e+01] [-1.06126687e-01 9.94274575e-01 -1.24577193e-02 -3.85399629e+00] [-3.74025948e-02 8.52796176e-03 9.99263889e-01 -1.59540354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22587156 meters 0.014458175336313514 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.86, Z:-1.60 [[ 9.93870043e-01 1.03962414e-01 3.76052425e-02 4.42367678e+01] [-1.03884653e-01 9.94581223e-01 -4.02125171e-03 -3.86418978e+00] [-3.78195271e-02 8.99940492e-05 9.99284582e-01 -1.59715856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25587156 meters 0.014779473776103362 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.87, Z:-1.60 [[ 9.94026881e-01 1.02343191e-01 3.79002651e-02 4.42677583e+01] [-1.02263033e-01 9.94749138e-01 -4.05267780e-03 -3.86849531e+00] [-3.81160200e-02 1.52674618e-04 9.99273309e-01 -1.59689637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285871560000004 meters 0.015820184459391082 Centerline is valid? [True, True] Translation: X:44.30, Y:-3.88, Z:-1.60 [[ 9.94291684e-01 9.97135057e-02 3.79639841e-02 4.42984111e+01] [-9.96311265e-02 9.95016157e-01 -4.06039162e-03 -3.87517034e+00] [-3.81796534e-02 2.54819116e-04 9.99270859e-01 -1.59887639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315871560000005 meters 0.017367471506645075 Centerline is valid? [True, True] Translation: X:44.33, Y:-3.88, Z:-1.60 [[ 9.94410029e-01 9.87150343e-02 3.74704610e-02 4.43291924e+01] [-9.86340696e-02 9.95115701e-01 -4.00775816e-03 -3.88230908e+00] [-3.76830700e-02 2.89490859e-04 9.99289699e-01 -1.60222299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345871560000006 meters 0.018273967520517718 Centerline is valid? [True, True] Translation: X:44.36, Y:-3.89, Z:-1.60 [[ 9.94509762e-01 9.75423142e-02 3.78923520e-02 4.43597305e+01] [-9.74584164e-02 9.95231319e-01 -4.05938252e-03 -3.88758951e+00] [-3.81076170e-02 3.44166924e-04 9.99273582e-01 -1.60310868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37587156 meters 0.018862454201860637 Centerline is valid? [True, True] Translation: X:44.39, Y:-3.89, Z:-1.60 [[ 9.94681414e-01 9.53482531e-02 3.89563168e-02 4.43920697e+01] [-9.52578820e-02 9.95443879e-01 -4.17365279e-03 -3.89258362e+00] [-3.91767776e-02 4.40558635e-04 9.99232198e-01 -1.60217737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40587156 meters 0.01995149451482348 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.90, Z:-1.60 [[ 9.94790715e-01 9.39765387e-02 3.94948469e-02 4.44241111e+01] [-9.38823093e-02 9.95574283e-01 -4.23790668e-03 -3.89843161e+00] [-3.97183177e-02 5.07962785e-04 9.99210787e-01 -1.60237759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43587156 meters 0.021261483442403747 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.90, Z:-1.60 [[ 9.94902566e-01 9.26130862e-02 3.98961261e-02 4.44557636e+01] [-9.25155712e-02 9.95702007e-01 -4.28754935e-03 -3.90408676e+00] [-4.01217360e-02 5.74680958e-04 9.99194634e-01 -1.60323196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465871560000004 meters 0.022087572442343675 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.91, Z:-1.60 [[ 9.94997434e-01 9.15013085e-02 4.00951065e-02 4.44869886e+01] [-9.14016491e-02 9.95804757e-01 -4.31554002e-03 -3.90963848e+00] [-4.03217753e-02 6.29192396e-04 9.99186548e-01 -1.60452791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495871560000005 meters 0.024950321649758286 Centerline is valid? [True, True] Translation: X:44.52, Y:-3.92, Z:-1.61 [[ 9.95259793e-01 8.92212406e-02 3.86977265e-02 4.45168781e+01] [-8.91264661e-02 9.96011585e-01 -4.17081380e-03 -3.92103901e+00] [-3.89155091e-02 7.02051668e-04 9.99242258e-01 -1.60939919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525871560000006 meters 0.02561977284893449 Centerline is valid? [True, True] Translation: X:44.55, Y:-3.93, Z:-1.61 [[ 9.95344531e-01 8.85655814e-02 3.80184468e-02 4.45478769e+01] [-8.84734119e-02 9.96070087e-01 -4.10326443e-03 -3.92799009e+00] [-3.82324457e-02 7.20540102e-04 9.99268613e-01 -1.61253704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55587156 meters 0.025792547922126798 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.93, Z:-1.61 [[ 9.95371835e-01 8.83906883e-02 3.77093553e-02 4.45798910e+01] [-8.82996761e-02 9.96085618e-01 -4.07545093e-03 -3.93350350e+00] [-3.79219784e-02 7.26865209e-04 9.99280439e-01 -1.61422925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58587156 meters 0.024384207345502666 Centerline is valid? [True, True] Translation: X:44.61, Y:-3.94, Z:-1.61 [[ 9.95227845e-01 8.99924608e-02 3.77212605e-02 4.46123006e+01] [-8.99023086e-02 9.95942220e-01 -4.08285313e-03 -3.93668924e+00] [-3.79356219e-02 6.72140722e-04 9.99279959e-01 -1.61486025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61587156 meters 0.03314051426435456 Centerline is valid? [True, True] Translation: X:44.64, Y:-3.94, Z:-1.62 [[ 9.95107153e-01 9.12675202e-02 3.78417011e-02 4.46438216e+01] [-9.11774779e-02 9.95826210e-01 -4.10204397e-03 -3.94031162e+00] [-3.80581411e-02 6.31662437e-04 9.99275327e-01 -1.61786053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64587156 meters 0.020020659382742736 Centerline is valid? [True, True] Translation: X:44.67, Y:-3.94, Z:-1.62 [[ 9.94705835e-01 9.54484532e-02 3.80774732e-02 4.46745445e+01] [-9.53600905e-02 9.95434258e-01 -4.13424730e-03 -3.94008093e+00] [-3.82982287e-02 4.81288626e-04 9.99266238e-01 -1.61745222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675871560000004 meters 0.01754591313939579 Centerline is valid? [True, True] Translation: X:44.71, Y:-3.94, Z:-1.62 [[ 9.94442719e-01 9.80906295e-02 3.82348931e-02 4.47070912e+01] [-9.80034025e-02 9.95177412e-01 -4.15350456e-03 -3.94069984e+00] [-3.84579218e-02 3.83272749e-04 9.99260147e-01 -1.61847163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705871560000006 meters 0.016391545094893316 Centerline is valid? [True, True] Translation: X:44.74, Y:-3.94, Z:-1.62 [[ 9.94181567e-01 1.00770087e-01 3.80578625e-02 4.47380603e+01] [-1.00685385e-01 9.94909699e-01 -4.14062504e-03 -3.94287707e+00] [-3.82813876e-02 2.84662569e-04 9.99266958e-01 -1.62057026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73587156 meters 0.014005659570418003 Centerline is valid? [True, True] Translation: X:44.77, Y:-3.94, Z:-1.62 [[ 9.93592440e-01 1.06485191e-01 3.78809728e-02 4.47703812e+01] [-1.06405180e-01 9.94314286e-01 -4.12778189e-03 -3.94023037e+00] [-3.81051401e-02 7.06011592e-05 9.99273733e-01 -1.62180798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76587156 meters 0.014044638101334118 Centerline is valid? [True, True] Translation: X:44.80, Y:-3.94, Z:-1.62 [[ 9.93265430e-01 1.09599548e-01 3.75729319e-02 4.48007782e+01] [-1.09523005e-01 9.93975823e-01 -4.09565739e-03 -3.93935558e+00] [-3.77954682e-02 -4.70255305e-05 9.99285495e-01 -1.62414646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79587156 meters 0.01474340706889267 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.94, Z:-1.62 [[ 9.92906009e-01 1.12748773e-01 3.77540807e-02 4.48314064e+01] [-1.12673746e-01 9.93623513e-01 -4.11591172e-03 -3.93830733e+00] [-3.79774063e-02 -1.67180228e-04 9.99278584e-01 -1.62444534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82587156 meters 0.016963069356483573 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.94, Z:-1.63 [[ 9.92516847e-01 1.16168996e-01 3.76174499e-02 4.48601514e+01] [-1.16096960e-01 9.93229418e-01 -4.10117898e-03 -3.93520690e+00] [-3.78391877e-02 -2.96782352e-04 9.99283797e-01 -1.62634692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855871560000004 meters 0.02290339736156531 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.93, Z:-1.63 [[ 9.91681343e-01 1.23196593e-01 3.72922662e-02 4.48908059e+01] [-1.23130802e-01 9.92382126e-01 -4.06457834e-03 -3.92709295e+00] [-3.75089207e-02 -5.61060143e-04 9.99296135e-01 -1.62829325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885871560000005 meters 0.02548973388640143 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.93, Z:-1.63 [[ 9.91341400e-01 1.25972970e-01 3.70545370e-02 4.49201017e+01] [-1.25909980e-01 9.92033453e-01 -4.03796087e-03 -3.92584155e+00] [-3.72680142e-02 -6.62538235e-04 9.99305087e-01 -1.63062774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91587156 meters 0.028317024298895235 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.92, Z:-1.63 [[ 9.91059030e-01 1.28357625e-01 3.64186623e-02 4.49477245e+01] [-1.28298445e-01 9.91727670e-01 -3.96708573e-03 -3.92390252e+00] [-3.66266008e-02 -7.40841620e-04 9.99328746e-01 -1.63366371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94587156 meters 0.03150480278890917 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.92, Z:-1.64 [[ 9.90587351e-01 1.31961211e-01 3.63722184e-02 4.49777906e+01] [-1.31904697e-01 9.91254494e-01 -3.95960042e-03 -3.92080895e+00] [-3.65766386e-02 -8.75336339e-04 9.99330468e-01 -1.63500851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97587156 meters 0.03225280201735213 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.92, Z:-1.64 [[ 9.90451419e-01 1.32807361e-01 3.69890807e-02 4.50068389e+01] [-1.32749530e-01 9.91141440e-01 -4.02600654e-03 -3.92166006e+00] [-3.71960940e-02 -9.22719191e-04 9.99307560e-01 -1.63523537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00587156 meters 0.03704243296226178 Centerline is valid? [True, True] Translation: X:45.04, Y:-3.92, Z:-1.64 [[ 9.90271301e-01 1.33979227e-01 3.75808165e-02 4.50350988e+01] [-1.33920436e-01 9.90983652e-01 -4.08877116e-03 -3.91511997e+00] [-3.77897852e-02 -9.83846589e-04 9.99285227e-01 -1.63691347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035871560000004 meters 0.03725124785214595 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.92, Z:-1.64 [[ 9.90231111e-01 1.34252131e-01 3.76657992e-02 4.50636192e+01] [-1.34193399e-01 9.90946702e-01 -4.09466102e-03 -3.91597071e+00] [-3.78745165e-02 -9.99840875e-04 9.99282003e-01 -1.63830758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065871560000005 meters 0.03475464518456549 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.92, Z:-1.64 [[ 9.90254446e-01 1.34159104e-01 3.73827050e-02 4.50905825e+01] [-1.34101242e-01 9.90959310e-01 -4.06238450e-03 -3.92465478e+00] [-3.75897455e-02 -9.90272848e-04 9.99292765e-01 -1.64050443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095871560000006 meters 0.03520159216668389 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.92, Z:-1.64 [[ 9.90334849e-01 1.33878213e-01 3.62423791e-02 4.51193006e+01] [-1.33823732e-01 9.90997335e-01 -3.93591471e-03 -3.91992104e+00] [-3.64430343e-02 -9.52216909e-04 9.99335278e-01 -1.64357245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12587156 meters 0.033311331261567254 Centerline is valid? [True, True] Translation: X:45.15, Y:-3.92, Z:-1.64 [[ 9.90400050e-01 1.33517338e-01 3.57891314e-02 4.51478793e+01] [-1.33464087e-01 9.91046041e-01 -3.88357701e-03 -3.92291126e+00] [-3.59872019e-02 -9.30268903e-04 9.99351818e-01 -1.64466061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15587156 meters 0.0342851815898533 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.92, Z:-1.65 [[ 9.90490045e-01 1.32852032e-01 3.57743999e-02 4.51756360e+01] [-1.32798451e-01 9.91135467e-01 -3.88034532e-03 -3.92195366e+00] [-3.59727883e-02 -9.07341484e-04 9.99352358e-01 -1.64687731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18587156 meters 0.03257815668023794 Centerline is valid? [True, True] Translation: X:45.20, Y:-3.93, Z:-1.65 [[ 9.90607202e-01 1.32011978e-01 3.56399870e-02 4.52043068e+01] [-1.31958334e-01 9.91247734e-01 -3.86356154e-03 -3.92516355e+00] [-3.58380927e-02 -8.75721426e-04 9.99357226e-01 -1.64775377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215871560000004 meters 0.031566743653707346 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.92, Z:-1.64 [[ 9.90492070e-01 1.34693374e-01 2.79848853e-02 4.52319836e+01] [-1.33979646e-01 9.90643235e-01 -2.59891351e-02 -3.91536674e+00] [-3.12236016e-02 2.19926272e-02 9.99270439e-01 -1.64296383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245871560000005 meters 0.02976040096830106 Centerline is valid? [True, True] Translation: X:45.26, Y:-3.94, Z:-1.65 [[ 9.91123862e-01 1.27259313e-01 3.84520169e-02 4.52610063e+01] [-1.28053942e-01 9.91586104e-01 1.89522309e-02 -3.94212165e+00] [-3.57166378e-02 -2.37079406e-02 9.99080705e-01 -1.65431164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275871560000006 meters 0.02753058752854392 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.93, Z:-1.65 [[ 9.91302861e-01 1.26494577e-01 3.63009604e-02 4.52909686e+01] [-1.26435433e-01 9.91967056e-01 -3.92955615e-03 -3.93206675e+00] [-3.65064244e-02 -6.94347388e-04 9.99333177e-01 -1.65078018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30587156 meters 0.024011842359906548 Centerline is valid? [True, True] Translation: X:45.32, Y:-3.93, Z:-1.64 [[ 9.91469695e-01 1.27127512e-01 2.87478781e-02 4.53160655e+01] [-1.26351961e-01 9.91608104e-01 -2.73596371e-02 -3.92595391e+00] [-3.19847915e-02 2.34939002e-02 9.99212195e-01 -1.64488192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33587156 meters 0.019479035830248383 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.96, Z:-1.66 [[ 9.92214319e-01 1.18010294e-01 3.98034753e-02 4.53462759e+01] [-1.18880056e-01 9.92702429e-01 2.02341335e-02 -3.95851431e+00] [-3.71251706e-02 -2.48084363e-02 9.99002634e-01 -1.65538771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36587156 meters 0.027513930755683876 Centerline is valid? [True, True] Translation: X:45.37, Y:-3.94, Z:-1.65 [[ 9.92366755e-01 1.18988505e-01 3.24030869e-02 4.53728005e+01] [-1.18340343e-01 9.92745849e-01 -2.12424845e-02 -3.93991938e+00] [-3.46956415e-02 1.72457430e-02 9.99249116e-01 -1.64909105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39587156 meters 0.014921860432437808 Centerline is valid? [True, True] Translation: X:45.41, Y:-3.97, Z:-1.66 [[ 9.93107795e-01 1.10330477e-01 3.95486194e-02 4.54063892e+01] [-1.10946120e-01 9.93731730e-01 1.37188427e-02 -3.96521092e+00] [-3.77871115e-02 -1.80120555e-02 9.99123466e-01 -1.65507700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425871560000004 meters 0.015926984122599137 Centerline is valid? [True, True] Translation: X:45.43, Y:-3.95, Z:-1.65 [[ 9.93024104e-01 1.13868041e-01 3.06136819e-02 4.54333349e+01] [-1.13129844e-01 9.93269236e-01 -2.48568582e-02 -3.94755440e+00] [-3.32380302e-02 2.12201383e-02 9.99222167e-01 -1.65009763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455871560000006 meters 0.015926984122599137 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.96, Z:-1.66 [[ 9.93052044e-01 1.13027934e-01 3.27463709e-02 4.54600832e+01] [-1.12958506e-01 9.93591781e-01 -3.96840603e-03 -3.96312535e+00] [-3.29850657e-02 2.41852600e-04 9.99455815e-01 -1.65530252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48587156 meters 0.015878146504991655 Centerline is valid? [True, True] Translation: X:45.49, Y:-3.97, Z:-1.66 [[ 9.93746676e-01 1.06517815e-01 3.34888036e-02 4.54864292e+01] [-1.06545909e-01 9.94307331e-01 -9.49620394e-04 -3.97483700e+00] [-3.33993144e-02 -2.62441290e-03 9.99438642e-01 -1.65793979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51587156 meters 0.016177371677885324 Centerline is valid? [True, True] Translation: X:45.51, Y:-3.98, Z:-1.66 [[ 9.93965280e-01 1.04517726e-01 3.33026558e-02 4.55138066e+01] [-1.04476983e-01 9.94522882e-01 -2.96602840e-03 -3.97908376e+00] [-3.34302557e-02 -5.31231746e-04 9.99440912e-01 -1.65658348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54587156 meters 0.022388804834987258 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.00, Z:-1.66 [[ 9.94624001e-01 9.63681802e-02 3.78981678e-02 4.55489365e+01] [-9.68303185e-02 9.95244993e-01 1.05495844e-02 -3.99564584e+00] [-3.67013175e-02 -1.41625615e-02 9.99225918e-01 -1.66211173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57587156 meters 0.032289250890578026 Centerline is valid? [True, True] Translation: X:45.58, Y:-3.99, Z:-1.66 [[ 9.94918253e-01 9.37911153e-02 3.66182498e-02 4.55804682e+01] [-9.37074479e-02 9.95591748e-01 -3.99828082e-03 -3.99427667e+00] [-3.68318306e-02 5.46559834e-04 9.99321328e-01 -1.66109723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605871560000004 meters 0.024353626162769197 Centerline is valid? [True, True] Translation: X:45.60, Y:-4.00, Z:-1.66 [[ 9.95099834e-01 9.33179511e-02 3.26815065e-02 4.56028576e+01] [-9.27649472e-02 9.95524408e-01 -1.80504072e-02 -3.99616256e+00] [-3.42196645e-02 1.49302589e-02 9.99302808e-01 -1.65780201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635871560000005 meters 0.03386283883722095 Centerline is valid? [True, True] Translation: X:45.63, Y:-4.02, Z:-1.67 [[ 9.95284512e-01 9.02356897e-02 3.55845612e-02 4.56312962e+01] [-9.03948255e-02 9.95901827e-01 2.88556360e-03 -4.01723269e+00] [-3.51783487e-02 -6.08861696e-03 9.99362503e-01 -1.66577376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66587156 meters 0.027495450688881484 Centerline is valid? [True, True] Translation: X:45.66, Y:-4.02, Z:-1.66 [[ 9.95604216e-01 8.75306014e-02 3.33262504e-02 4.56614819e+01] [-8.73449128e-02 9.96153604e-01 -6.99030184e-03 -4.01852845e+00] [-3.38099298e-02 4.04869555e-03 9.99420080e-01 -1.66340194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69587156 meters 0.03144618889249092 Centerline is valid? [True, True] Translation: X:45.69, Y:-4.03, Z:-1.67 [[ 9.95770385e-01 8.52995879e-02 3.41367918e-02 4.56926509e+01] [-8.52228207e-02 9.96355047e-01 -3.70022880e-03 -4.03058750e+00] [-3.43279928e-02 7.75344570e-04 9.99410320e-01 -1.66660795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72587156 meters 0.04396566303165182 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.05, Z:-1.67 [[ 9.96231875e-01 7.89392332e-02 3.59255998e-02 4.57305734e+01] [-7.93156417e-02 9.96807341e-01 9.17349387e-03 -4.04674246e+00] [-3.50867531e-02 -1.19883890e-02 9.99312363e-01 -1.67271952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75587156 meters 0.033232414605476504 Centerline is valid? [True, True] Translation: X:45.75, Y:-4.04, Z:-1.67 [[ 9.96019965e-01 8.27998754e-02 3.29910724e-02 4.57520898e+01] [-8.24256441e-02 9.96518210e-01 -1.25487433e-02 -4.03970153e+00] [-3.39152388e-02 9.77948851e-03 9.99376865e-01 -1.66904303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785871560000004 meters 0.040789161148224784 Centerline is valid? [True, True] Translation: X:45.79, Y:-4.06, Z:-1.68 [[ 9.96443199e-01 7.70832546e-02 3.40458950e-02 4.57904628e+01] [-7.73262599e-02 9.96988518e-01 5.87753780e-03 -4.05938725e+00] [-3.34903066e-02 -8.48927429e-03 9.99402988e-01 -1.67548282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815871560000005 meters 0.03502851805300258 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.05, Z:-1.67 [[ 9.96088221e-01 8.26143893e-02 3.13547281e-02 4.58109326e+01] [-8.21407374e-02 9.96490570e-01 -1.61072660e-02 -4.05063447e+00] [-3.25753828e-02 1.34687574e-02 9.99378525e-01 -1.67216416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845871560000006 meters 0.032961698106764595 Centerline is valid? [True, True] Translation: X:45.84, Y:-4.07, Z:-1.68 [[ 9.95898862e-01 8.25377299e-02 3.70537387e-02 4.58406061e+01] [-8.28114689e-02 9.96547695e-01 5.91203767e-03 -4.07062319e+00] [-3.64378518e-02 -8.95626612e-03 9.99295786e-01 -1.67541783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87587156 meters 0.036669414388494144 Centerline is valid? [True, True] Translation: X:45.88, Y:-4.08, Z:-1.68 [[ 9.96311434e-01 7.89577888e-02 3.36034929e-02 4.58806187e+01] [-7.89893604e-02 9.96875383e-01 -3.89038428e-04 -4.07533946e+00] [-3.35292125e-02 -2.26671498e-03 9.99435167e-01 -1.67717388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90587156 meters 0.03705327397719572 Centerline is valid? [True, True] Translation: X:45.91, Y:-4.08, Z:-1.68 [[ 9.96228244e-01 8.01743978e-02 3.31866106e-02 4.59111235e+01] [-8.00965191e-02 9.96780350e-01 -3.67165361e-03 -4.07997413e+00] [-3.33741340e-02 9.99673038e-04 9.99442428e-01 -1.67865393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93587156 meters 0.027850786813686586 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.08, Z:-1.68 [[ 9.95507066e-01 8.73144008e-02 3.66316405e-02 4.59291952e+01] [-8.72649157e-02 9.96180771e-01 -2.95064249e-03 -4.07834208e+00] [-3.67493694e-02 -2.59271571e-04 9.99324480e-01 -1.67801856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965871560000004 meters 0.03326066271880967 Centerline is valid? [True, True] Translation: X:45.96, Y:-4.08, Z:-1.68 [[ 9.95450109e-01 8.82997762e-02 3.58082319e-02 4.59628286e+01] [-8.81136190e-02 9.96087580e-01 -6.74701620e-03 -4.08377899e+00] [-3.62638951e-02 3.56112510e-03 9.99335904e-01 -1.68099622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995871560000005 meters 0.03185683028362523 Centerline is valid? [True, True] Translation: X:46.00, Y:-4.10, Z:-1.69 [[ 9.95639164e-01 8.70250148e-02 3.36050791e-02 4.60023181e+01] [-8.71449861e-02 9.96193385e-01 2.11923675e-03 -4.09832655e+00] [-3.32927309e-02 -5.03850926e-03 9.99432943e-01 -1.68520981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025871560000006 meters 0.02396110442389736 Centerline is valid? [True, True] Translation: X:46.02, Y:-4.09, Z:-1.68 [[ 9.94829941e-01 9.45302477e-02 3.71136157e-02 4.60210434e+01] [-9.43287726e-02 9.95515449e-01 -7.14655985e-03 -4.09002867e+00] [-3.76227439e-02 3.60872990e-03 9.99285498e-01 -1.68292604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05587156 meters 0.022648098453183104 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.10, Z:-1.69 [[ 9.94602935e-01 9.64408025e-02 3.82645257e-02 4.60521420e+01] [-9.64704451e-02 9.95335269e-01 -1.07525738e-03 -4.09820500e+00] [-3.81897307e-02 -2.62194168e-03 9.99267066e-01 -1.68542512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08587156 meters 0.023845918497134654 Centerline is valid? [True, True] Translation: X:46.08, Y:-4.10, Z:-1.69 [[ 9.94169308e-01 1.00524927e-01 3.90144346e-02 4.60831879e+01] [-1.00536515e-01 9.94931968e-01 -1.66978387e-03 -4.10081171e+00] [-3.89845631e-02 -2.26232742e-03 9.99237252e-01 -1.68631616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11587156 meters 0.017704828684681876 Centerline is valid? [True, True] Translation: X:46.11, Y:-4.10, Z:-1.69 [[ 9.93731465e-01 1.04109484e-01 4.07307158e-02 4.61116521e+01] [-1.04225288e-01 9.94553450e-01 7.24295360e-04 -4.10364698e+00] [-4.04334679e-02 -4.96492566e-03 9.99169898e-01 -1.68634790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14587156 meters 0.01689370944279687 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.10, Z:-1.69 [[ 9.93572851e-01 1.06069377e-01 3.95256526e-02 4.61458204e+01] [-1.05894138e-01 9.94356118e-01 -6.50700798e-03 -4.10231726e+00] [-3.99927688e-02 2.27965156e-03 9.99197369e-01 -1.68765587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175871560000004 meters 0.015833834428665185 Centerline is valid? [True, True] Translation: X:46.17, Y:-4.11, Z:-1.69 [[ 9.92951190e-01 1.11056982e-01 4.14038761e-02 4.61749139e+01] [-1.11302302e-01 9.93779854e-01 3.66057846e-03 -4.10830131e+00] [-4.07398052e-02 -8.24312248e-03 9.99135786e-01 -1.69175668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205871560000006 meters 0.01550373268102965 Centerline is valid? [True, True] Translation: X:46.22, Y:-4.10, Z:-1.69 [[ 9.93537525e-01 1.09036730e-01 3.15305797e-02 4.62188230e+01] [-1.08678432e-01 9.93993675e-01 -1.28675065e-02 -4.10129186e+00] [-3.27442276e-02 9.35765663e-03 9.99419957e-01 -1.69201814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23587156 meters 0.015363521132685352 Centerline is valid? [True, True] Translation: X:46.25, Y:-4.11, Z:-1.69 [[ 9.93338609e-01 1.10613585e-01 3.22961580e-02 4.62481453e+01] [-1.10555102e-01 9.93863489e-01 -3.59647179e-03 -4.10928938e+00] [-3.24957909e-02 2.00923662e-06 9.99471872e-01 -1.69374397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26587156 meters 0.02520787483789496 Centerline is valid? [True, True] Translation: X:46.28, Y:-4.11, Z:-1.70 [[ 9.92959729e-01 1.14062807e-01 3.19476604e-02 4.62776101e+01] [-1.14007388e-01 9.93473535e-01 -3.55691738e-03 -4.11087777e+00] [-3.21448671e-02 -1.10393602e-04 9.99483214e-01 -1.69570920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29587156 meters 0.016632120754621765 Centerline is valid? [True, True] Translation: X:46.31, Y:-4.11, Z:-1.70 [[ 9.92754840e-01 1.15904182e-01 3.16867168e-02 4.63064819e+01] [-1.15850623e-01 9.93260385e-01 -3.52722856e-03 -4.11237669e+00] [-3.18819811e-02 -1.69252654e-04 9.99491626e-01 -1.69650326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32587156 meters 0.017504346161128122 Centerline is valid? [True, True] Translation: X:46.33, Y:-4.11, Z:-1.70 [[ 9.92582809e-01 1.17249874e-01 3.21221724e-02 4.63342655e+01] [-1.17195565e-01 9.93102422e-01 -3.57480551e-03 -4.11469044e+00] [-3.23197527e-02 -2.16285657e-04 9.99477557e-01 -1.69792352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355871560000004 meters 0.018931292493866495 Centerline is valid? [True, True] Translation: X:46.36, Y:-4.12, Z:-1.70 [[ 9.92300565e-01 1.19626644e-01 3.20788838e-02 4.63632642e+01] [-1.19573804e-01 9.92818905e-01 -3.56747516e-03 -4.11580133e+00] [-3.22752874e-02 -2.95786552e-04 9.99478973e-01 -1.69893347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385871560000005 meters 0.019621704491558124 Centerline is valid? [True, True] Translation: X:46.39, Y:-4.12, Z:-1.70 [[ 9.92216630e-01 1.20297806e-01 3.21651402e-02 4.63913221e+01] [-1.20245053e-01 9.92737798e-01 -3.57648647e-03 -4.11769986e+00] [-3.23617939e-02 -3.19049630e-04 9.99476169e-01 -1.70033460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41587156 meters 0.020894289353860566 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.14, Z:-1.70 [[ 9.91055706e-01 1.25920942e-01 4.41871541e-02 4.64017435e+01] [-1.26842539e-01 9.91746554e-01 1.87014023e-02 -4.13787799e+00] [-4.14675596e-02 -2.41389423e-02 9.98848213e-01 -1.70348045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44587156 meters 0.019882251540523106 Centerline is valid? [True, True] Translation: X:46.45, Y:-4.12, Z:-1.70 [[ 9.92206036e-01 1.21239663e-01 2.87771933e-02 4.64513744e+01] [-1.20528976e-01 9.92388106e-01 -2.52707768e-02 -4.11503511e+00] [-3.16219649e-02 2.16053316e-02 9.99266361e-01 -1.70154132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47587156 meters 0.019536078651690835 Centerline is valid? [True, True] Translation: X:46.48, Y:-4.13, Z:-1.71 [[ 9.92330760e-01 1.19687300e-01 3.08968159e-02 4.64785927e+01] [-1.19638397e-01 9.92811597e-01 -3.43332247e-03 -4.13338271e+00] [-3.10856423e-02 -2.89454025e-04 9.99516683e-01 -1.70589671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50587156 meters 0.019271803577824917 Centerline is valid? [True, True] Translation: X:46.51, Y:-4.14, Z:-1.71 [[ 9.92395927e-01 1.19108319e-01 3.10408261e-02 4.65067578e+01] [-1.19058724e-01 9.92881228e-01 -3.44773063e-03 -4.13765682e+00] [-3.12305070e-02 -2.74167331e-04 9.99512171e-01 -1.70646627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535871560000004 meters 0.01889557444306065 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.16, Z:-1.71 [[ 9.91591833e-01 1.20195673e-01 4.79441094e-02 4.65199838e+01] [-1.21413190e-01 9.92327698e-01 2.33361772e-02 -4.16357154e+00] [-4.47713602e-02 -2.89610100e-02 9.98577381e-01 -1.70921339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565871560000005 meters 0.017261631313280682 Centerline is valid? [True, True] Translation: X:46.57, Y:-4.14, Z:-1.70 [[ 9.92623799e-01 1.17564538e-01 2.96069612e-02 4.65668778e+01] [-1.16659924e-01 9.92699505e-01 -3.06293282e-02 -4.13608050e+00] [-3.29917386e-02 2.69494543e-02 9.99092224e-01 -1.70311655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595871560000006 meters 0.01747026997602624 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.18, Z:-1.71 [[ 9.91944285e-01 1.17030140e-01 4.84817769e-02 4.65800975e+01] [-1.18450926e-01 9.92577921e-01 2.75399632e-02 -4.17954606e+00] [-4.48989355e-02 -3.30608205e-02 9.98444324e-01 -1.71094781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62587156 meters 0.017101848541415655 Centerline is valid? [True, True] Translation: X:46.61, Y:-4.17, Z:-1.71 [[ 9.92175902e-01 1.16952878e-01 4.36921520e-02 4.66138306e+01] [-1.16663905e-01 9.93129624e-01 -9.11498101e-03 -4.16803208e+00] [-4.44579938e-02 3.94636745e-03 9.99003460e-01 -1.70937316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65587156 meters 0.01709683379360171 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.18, Z:-1.71 [[ 9.92075539e-01 1.16215943e-01 4.77491384e-02 4.66408546e+01] [-1.16549221e-01 9.93175839e-01 4.24644589e-03 -4.18395434e+00] [-4.69297859e-02 -9.77791998e-03 9.98850333e-01 -1.71249124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68587156 meters 0.015396184654046699 Centerline is valid? [True, True] Translation: X:46.69, Y:-4.17, Z:-1.71 [[ 9.93202603e-01 1.12912197e-01 2.82740921e-02 4.66881447e+01] [-1.11835628e-01 9.93032505e-01 -3.71380621e-02 -4.16536526e+00] [-3.22704327e-02 3.37235691e-02 9.98910076e-01 -1.70620954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715871560000004 meters 0.016888719727287334 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.22, Z:-1.72 [[ 9.92359459e-01 1.12321235e-01 5.10552993e-02 4.66980478e+01] [-1.13997922e-01 9.92990940e-01 3.12004228e-02 -4.21627173e+00] [-4.71929796e-02 -3.67822327e-02 9.98208340e-01 -1.71744842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745871560000005 meters 0.015922968672331384 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.18, Z:-1.71 [[ 9.93436970e-01 1.10877212e-01 2.80932609e-02 4.67483300e+01] [-1.09759278e-01 9.93207382e-01 -3.86263817e-02 -4.18110335e+00] [-3.21852196e-02 3.52893795e-02 9.98858734e-01 -1.71169373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775871560000006 meters 0.015405479501555493 Centerline is valid? [True, True] Translation: X:46.78, Y:-4.21, Z:-1.71 [[ 9.93564569e-01 1.08760830e-01 3.16311461e-02 4.67768751e+01] [-1.08703525e-01 9.94067944e-01 -3.53083197e-03 -4.21106857e+00] [-3.18275246e-02 6.96924699e-05 9.99493374e-01 -1.71279535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80587156 meters 0.015710421624154054 Centerline is valid? [True, True] Translation: X:46.81, Y:-4.22, Z:-1.72 [[ 9.93516678e-01 1.09202299e-01 3.16143729e-02 4.68082584e+01] [-1.09145127e-01 9.94019544e-01 -3.53369728e-03 -4.21609673e+00] [-3.18111924e-02 6.02324508e-05 9.99493894e-01 -1.71557441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83587156 meters 0.015678738740525174 Centerline is valid? [True, True] Translation: X:46.84, Y:-4.22, Z:-1.72 [[ 9.93403326e-01 1.10061635e-01 3.21911269e-02 4.68394864e+01] [-1.10002602e-01 9.93924763e-01 -3.60452831e-03 -4.22057093e+00] [-3.23922784e-02 3.96426793e-05 9.99475232e-01 -1.71804058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86587156 meters 0.01555566285833771 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.22, Z:-1.72 [[ 9.93111130e-01 1.12985010e-01 3.10591583e-02 4.68716191e+01] [-1.12931352e-01 9.93596691e-01 -3.48203635e-03 -4.22304748e+00] [-3.12536948e-02 -4.95036988e-05 9.99511483e-01 -1.71780543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89587156 meters 0.022591554402979663 Centerline is valid? [True, True] Translation: X:46.90, Y:-4.23, Z:-1.72 [[ 9.92839342e-01 1.15159848e-01 3.17529585e-02 4.69030970e+01] [-1.15104648e-01 9.93346967e-01 -3.56700353e-03 -4.22512900e+00] [-3.19524806e-02 -1.13451658e-04 9.99489383e-01 -1.71962843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925871560000004 meters 0.017330413128776694 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.23, Z:-1.72 [[ 9.92561469e-01 1.17863233e-01 3.04957178e-02 4.69339410e+01] [-1.17813583e-01 9.93029819e-01 -3.42610981e-03 -4.22514420e+00] [-3.06869695e-02 -1.92185194e-04 9.99529026e-01 -1.72139663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955871560000006 meters 0.020829585323284255 Centerline is valid? [True, True] Translation: X:46.96, Y:-4.22, Z:-1.72 [[ 9.91940985e-01 1.23005989e-01 3.03744933e-02 4.69642265e+01] [-1.22959061e-01 9.92405868e-01 -3.41511837e-03 -4.22201646e+00] [-3.05639054e-02 -3.47223311e-04 9.99532754e-01 -1.72405973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98587156 meters 0.02309631726984515 Centerline is valid? [True, True] Translation: X:46.99, Y:-4.22, Z:-1.73 [[ 9.91664248e-01 1.25406878e-01 2.95826811e-02 4.69937864e+01] [-1.25363453e-01 9.92105310e-01 -3.32541845e-03 -4.22092414e+00] [-2.97661654e-02 -4.10888483e-04 9.99556805e-01 -1.72616638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01587156 meters 0.026808939657512396 Centerline is valid? [True, True] Translation: X:47.02, Y:-4.22, Z:-1.73 [[ 9.91140131e-01 1.29463441e-01 2.96725102e-02 4.70240589e+01] [-1.29421589e-01 9.91584052e-01 -3.33480757e-03 -4.21658103e+00] [-2.98545235e-02 -5.35001809e-04 9.99554111e-01 -1.72804569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04587156 meters 0.02689180250476331 Centerline is valid? [True, True] Translation: X:47.05, Y:-4.22, Z:-1.73 [[ 9.91018708e-01 1.30548353e-01 2.89663206e-02 4.70524407e+01] [-1.30508942e-01 9.91441789e-01 -3.25514945e-03 -4.21883168e+00] [-2.91433752e-02 -5.54449862e-04 9.99575088e-01 -1.72868424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07587156 meters 0.0299875236676151 Centerline is valid? [True, True] Translation: X:47.08, Y:-4.22, Z:-1.73 [[ 9.90912854e-01 1.31279671e-01 2.92807851e-02 4.70808447e+01] [-1.31239756e-01 9.91345201e-01 -3.28920949e-03 -4.21747016e+00] [-2.94591721e-02 -5.83483134e-04 9.99565814e-01 -1.73257221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105871560000004 meters 0.028701834474202714 Centerline is valid? [True, True] Translation: X:47.11, Y:-4.22, Z:-1.73 [[ 9.90978040e-01 1.30967618e-01 2.84606271e-02 4.71095931e+01] [-1.30929833e-01 9.91386488e-01 -3.19520783e-03 -4.22222381e+00] [-2.86339499e-02 -5.59964367e-04 9.99589808e-01 -1.73363912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135871560000005 meters 0.02748256869696889 Centerline is valid? [True, True] Translation: X:47.14, Y:-4.23, Z:-1.74 [[ 9.91111314e-01 1.30042218e-01 2.80603629e-02 4.71381914e+01] [-1.30005155e-01 9.91508318e-01 -3.14897697e-03 -4.22748170e+00] [-2.82315831e-02 -5.27005109e-04 9.99601270e-01 -1.73550268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16587156 meters 0.026435588575483705 Centerline is valid? [True, True] Translation: X:47.17, Y:-4.23, Z:-1.74 [[ 9.91265228e-01 1.28992914e-01 2.74604442e-02 4.71661245e+01] [-1.28957051e-01 9.91645395e-01 -3.08038221e-03 -4.23298077e+00] [-2.76283705e-02 -4.87742119e-04 9.99618145e-01 -1.73762341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19587156 meters 0.02447678995356869 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.24, Z:-1.74 [[ 9.91449943e-01 1.27629499e-01 2.71610415e-02 4.71941737e+01] [-1.27593937e-01 9.91821815e-01 -3.04552035e-03 -4.23942003e+00] [-2.73276117e-02 -4.46103238e-04 9.99626432e-01 -1.73827917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22587156 meters 0.022655976383802442 Centerline is valid? [True, True] Translation: X:47.22, Y:-4.25, Z:-1.74 [[ 9.91772391e-01 1.25032208e-01 2.74676493e-02 4.72224531e+01] [-1.24994887e-01 9.92152610e-01 -3.07831612e-03 -4.24553273e+00] [-2.76369886e-02 -3.80326772e-04 9.99617953e-01 -1.73878954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25587156 meters 0.02316791478950287 Centerline is valid? [True, True] Translation: X:47.25, Y:-4.25, Z:-1.74 [[ 9.91905527e-01 1.23791299e-01 2.82690609e-02 4.72505527e+01] [-1.23751294e-01 9.92308212e-01 -3.16704716e-03 -4.24830868e+00] [-2.84436741e-02 -3.56921293e-04 9.99595333e-01 -1.74208679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285871560000004 meters 0.027944793504185578 Centerline is valid? [True, True] Translation: X:47.28, Y:-4.26, Z:-1.74 [[ 9.92234015e-01 1.20881261e-01 2.93151976e-02 4.72794897e+01] [-1.20837009e-01 9.92666933e-01 -3.28293403e-03 -4.25769774e+00] [-2.94970725e-02 -2.84921994e-04 9.99564826e-01 -1.74219888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315871560000005 meters 0.018852205386907246 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.26, Z:-1.74 [[ 9.92376832e-01 1.19729963e-01 2.92054729e-02 4.73099063e+01] [-1.19685573e-01 9.92806463e-01 -3.26962633e-03 -4.26290987e+00] [-2.93868545e-02 -2.50772338e-04 9.99568082e-01 -1.74063787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345871560000006 meters 0.017680111695252528 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.27, Z:-1.74 [[ 9.92513263e-01 1.18561676e-01 2.93351627e-02 4.73393987e+01] [-1.18516370e-01 9.92946666e-01 -3.28449467e-03 -4.26905024e+00] [-2.95176672e-02 -2.16792483e-04 9.99564235e-01 -1.74053731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37587156 meters 0.017680111695252528 Centerline is valid? [True, True] Translation: X:47.37, Y:-4.27, Z:-1.74 [[ 9.92516112e-01 1.18537801e-01 2.93352416e-02 4.73683607e+01] [-1.18492506e-01 9.92949517e-01 -3.28378968e-03 -4.27224753e+00] [-2.95176672e-02 -2.16792112e-04 9.99564235e-01 -1.74181963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40587156 meters 0.016716489314109694 Centerline is valid? [True, True] Translation: X:47.40, Y:-4.28, Z:-1.74 [[ 9.92785428e-01 1.16148454e-01 2.97763391e-02 4.73969032e+01] [-1.16100739e-01 9.93231853e-01 -3.33225507e-03 -4.28005776e+00] [-2.99618447e-02 -1.48840701e-04 9.99551032e-01 -1.74370889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43587156 meters 0.016224909484498715 Centerline is valid? [True, True] Translation: X:47.43, Y:-4.29, Z:-1.74 [[ 9.92892160e-01 1.15182660e-01 2.99685361e-02 4.74273033e+01] [-1.15133903e-01 9.93344321e-01 -3.35323128e-03 -4.28591348e+00] [-3.01553092e-02 -1.20997484e-04 9.99545218e-01 -1.74421924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465871560000004 meters 0.01549837508747131 Centerline is valid? [True, True] Translation: X:47.46, Y:-4.29, Z:-1.74 [[ 9.93079011e-01 1.13420896e-01 3.04922742e-02 4.74579558e+01] [-1.13369599e-01 9.93547027e-01 -3.41151958e-03 -4.29280403e+00] [-3.06824460e-02 -6.89884103e-05 9.99529181e-01 -1.74410046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495871560000005 meters 0.015244307887138799 Centerline is valid? [True, True] Translation: X:47.49, Y:-4.30, Z:-1.74 [[ 9.93152480e-01 1.12802121e-01 3.03946081e-02 4.74891765e+01] [-1.12750840e-01 9.93617471e-01 -3.40130634e-03 -4.29798110e+00] [-3.05842882e-02 -4.90017731e-05 9.99532190e-01 -1.74488008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525871560000006 meters 0.015227789792968686 Centerline is valid? [True, True] Translation: X:47.52, Y:-4.30, Z:-1.75 [[ 9.93181371e-01 1.12376690e-01 3.10200492e-02 4.75202642e+01] [-1.12323097e-01 9.93665677e-01 -3.47039001e-03 -4.30372512e+00] [-3.12135491e-02 -3.75412932e-05 9.99512738e-01 -1.74657460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55587156 meters 0.015006641883350302 Centerline is valid? [True, True] Translation: X:47.55, Y:-4.31, Z:-1.75 [[ 9.93294069e-01 1.11370611e-01 3.10399794e-02 4.75521343e+01] [-1.11316311e-01 9.93778943e-01 -3.47735224e-03 -4.31055457e+00] [-3.12341527e-02 -1.22263965e-06 9.99512095e-01 -1.74695599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58587156 meters 0.014796411103754289 Centerline is valid? [True, True] Translation: X:47.58, Y:-4.31, Z:-1.75 [[ 9.93285252e-01 1.11373676e-01 3.13099411e-02 4.75846400e+01] [-1.11318272e-01 9.93778599e-01 -3.51253342e-03 -4.31462843e+00] [-3.15063531e-02 3.57909730e-06 9.99503552e-01 -1.74697450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61587156 meters 0.014957103040771826 Centerline is valid? [True, True] Translation: X:47.62, Y:-4.32, Z:-1.75 [[ 9.93255652e-01 1.11579298e-01 3.15161836e-02 4.76167334e+01] [-1.11523062e-01 9.93755533e-01 -3.54210228e-03 -4.31835509e+00] [-3.17146071e-02 3.43181614e-06 9.99496965e-01 -1.74912496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64587156 meters 0.01469061363984583 Centerline is valid? [True, True] Translation: X:47.65, Y:-4.32, Z:-1.75 [[ 9.93155194e-01 1.12236625e-01 3.23372901e-02 4.76490891e+01] [-1.12177561e-01 9.93681508e-01 -3.64072445e-03 -4.32305975e+00] [-3.25415898e-02 -1.17139396e-05 9.99470382e-01 -1.74940218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675871560000004 meters 0.014593082889836097 Centerline is valid? [True, True] Translation: X:47.68, Y:-4.33, Z:-1.75 [[ 9.93087170e-01 1.12748279e-01 3.26450350e-02 4.76821543e+01] [-1.12688190e-01 9.93623583e-01 -3.68059454e-03 -4.32703045e+00] [-3.28518573e-02 -2.35586881e-05 9.99460232e-01 -1.75057508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705871560000006 meters 0.014611240179056673 Centerline is valid? [True, True] Translation: X:47.71, Y:-4.33, Z:-1.75 [[ 9.93056110e-01 1.13151576e-01 3.21913417e-02 4.77147097e+01] [-1.13093166e-01 9.93577737e-01 -3.63537192e-03 -4.33079377e+00] [-3.23959486e-02 -3.04924610e-05 9.99475113e-01 -1.75127129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73587156 meters 0.014831957265447953 Centerline is valid? [True, True] Translation: X:47.75, Y:-4.34, Z:-1.76 [[ 9.93084368e-01 1.12937708e-01 3.20704110e-02 4.77466086e+01] [-1.12879417e-01 9.93602070e-01 -3.62814777e-03 -4.33551855e+00] [-3.22749815e-02 -1.70324576e-05 9.99479027e-01 -1.75507738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76587156 meters 0.014884821584140081 Centerline is valid? [True, True] Translation: X:47.78, Y:-4.34, Z:-1.76 [[ 9.93129832e-01 1.12591759e-01 3.18784062e-02 4.77788120e+01] [-1.12533803e-01 9.93641332e-01 -3.61213031e-03 -4.34155668e+00] [-3.20823981e-02 -8.39105490e-08 9.99485227e-01 -1.75712318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79587156 meters 0.027450024061872268 Centerline is valid? [True, True] Translation: X:47.81, Y:-4.35, Z:-1.76 [[ 9.93198784e-01 1.11890966e-01 3.21960829e-02 4.78105432e+01] [-1.11831279e-01 9.93720489e-01 -3.65434504e-03 -4.34908836e+00] [-3.24027955e-02 2.89619163e-05 9.99474891e-01 -1.76150506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82587156 meters 0.01513392626762509 Centerline is valid? [True, True] Translation: X:47.84, Y:-4.36, Z:-1.76 [[ 9.93370060e-01 1.10607527e-01 3.13352622e-02 4.78418949e+01] [-1.10550160e-01 9.93864160e-01 -3.56272087e-03 -4.35825300e+00] [-3.15370578e-02 7.49820141e-05 9.99502580e-01 -1.76156529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855871560000004 meters 0.0288163767032407 Centerline is valid? [True, True] Translation: X:47.87, Y:-4.36, Z:-1.77 [[ 9.93434310e-01 1.09959743e-01 3.15773110e-02 4.78732649e+01] [-1.09900990e-01 9.93936036e-01 -3.59550844e-03 -4.36461077e+00] [-3.17811885e-02 1.01523684e-04 9.99494845e-01 -1.76610075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885871560000005 meters 0.015692322980665238 Centerline is valid? [True, True] Translation: X:47.91, Y:-4.37, Z:-1.76 [[ 9.93546359e-01 1.09062315e-01 3.11615675e-02 4.79054081e+01] [-1.09004480e-01 9.94034906e-01 -3.55385305e-03 -4.37153877e+00] [-3.13632772e-02 1.34167290e-04 9.99508042e-01 -1.76421498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91587156000001 meters 0.01585809396264395 Centerline is valid? [True, True] Translation: X:47.94, Y:-4.38, Z:-1.77 [[ 9.93579793e-01 1.08920899e-01 3.05848409e-02 4.79369916e+01] [-1.08864964e-01 9.94050410e-01 -3.49309205e-03 -4.37753467e+00] [-3.07833444e-02 1.41048071e-04 9.99526071e-01 -1.76603849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94587156 meters 0.01979825686641947 Centerline is valid? [True, True] Translation: X:47.97, Y:-4.38, Z:-1.77 [[ 9.93547413e-01 1.09209533e-01 3.06074657e-02 4.79697487e+01] [-1.09153502e-01 9.94018742e-01 -3.50053589e-03 -4.38401812e+00] [-3.08066864e-02 1.37036300e-04 9.99525352e-01 -1.76963810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97587156 meters 0.02639485729437196 Centerline is valid? [True, True] Translation: X:48.00, Y:-4.39, Z:-1.77 [[ 9.93366596e-01 1.10711666e-01 3.10762357e-02 4.80014073e+01] [-1.10654442e-01 9.93852563e-01 -3.56050498e-03 -4.38963911e+00] [-3.12793860e-02 9.81631948e-05 9.99510675e-01 -1.76994012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00587156 meters 0.017141763126580667 Centerline is valid? [True, True] Translation: X:48.03, Y:-4.39, Z:-1.77 [[ 9.93195234e-01 1.12187925e-01 3.12585534e-02 4.80321973e+01] [-1.12130583e-01 9.93687006e-01 -3.58693764e-03 -4.39195893e+00] [-3.14636294e-02 5.74895614e-05 9.99504896e-01 -1.76991894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035871560000004 meters 0.01476068851148257 Centerline is valid? [True, True] Translation: X:48.07, Y:-4.39, Z:-1.77 [[ 9.92933696e-01 1.14434758e-01 3.14223148e-02 4.80652311e+01] [-1.14377793e-01 9.93430766e-01 -3.61031565e-03 -4.39292243e+00] [-3.16290398e-02 -9.21095526e-06 9.99499677e-01 -1.76995919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065871560000005 meters 0.01575062688876509 Centerline is valid? [True, True] Translation: X:48.10, Y:-4.39, Z:-1.77 [[ 9.92352897e-01 1.19227746e-01 3.19448368e-02 4.80974196e+01] [-1.19171145e-01 9.92866919e-01 -3.67676622e-03 -4.39024746e+00] [-3.21553443e-02 -1.58253177e-04 9.99482871e-01 -1.77146575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095871560000006 meters 0.016674533288173407 Centerline is valid? [True, True] Translation: X:48.13, Y:-4.39, Z:-1.77 [[ 9.92061279e-01 1.21650418e-01 3.18683839e-02 4.81296400e+01] [-1.21595152e-01 9.92572981e-01 -3.67375709e-03 -4.39200467e+00] [-3.20786109e-02 -2.30448815e-04 9.99485322e-01 -1.77265200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12587156 meters 0.019978398787734206 Centerline is valid? [True, True] Translation: X:48.16, Y:-4.39, Z:-1.78 [[ 9.91645117e-01 1.25014274e-01 3.18024131e-02 4.81605906e+01] [-1.24960736e-01 9.92154888e-01 -3.67328236e-03 -4.39078341e+00] [-3.20121323e-02 -3.31460430e-04 9.99487425e-01 -1.77690005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15587156 meters 0.021617312754582722 Centerline is valid? [True, True] Translation: X:48.19, Y:-4.39, Z:-1.78 [[ 9.91423515e-01 1.26916794e-01 3.11695438e-02 4.81908990e+01] [-1.26866273e-01 9.91913293e-01 -3.60122558e-03 -4.39191750e+00] [-3.13745408e-02 -3.84024128e-04 9.99507624e-01 -1.77916009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18587156 meters 0.022967186152118176 Centerline is valid? [True, True] Translation: X:48.22, Y:-4.39, Z:-1.78 [[ 9.91268937e-01 1.28228669e-01 3.07132490e-02 4.82209539e+01] [-1.28180249e-01 9.91744540e-01 -3.54842768e-03 -4.39298217e+00] [-3.09147071e-02 -4.19385757e-04 9.99521938e-01 -1.78143857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215871560000004 meters 0.023804589649137276 Centerline is valid? [True, True] Translation: X:48.25, Y:-4.39, Z:-1.78 [[ 9.91082449e-01 1.29688251e-01 3.06029063e-02 4.82514866e+01] [-1.29640865e-01 9.91554710e-01 -3.53594505e-03 -4.39473001e+00] [-3.08030265e-02 -4.62974163e-04 9.99525367e-01 -1.78272370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245871560000005 meters 0.02511662161102414 Centerline is valid? [True, True] Translation: X:48.28, Y:-4.39, Z:-1.78 [[ 9.90861679e-01 1.31288889e-01 3.09250955e-02 4.82816562e+01] [-1.31241274e-01 9.91344017e-01 -3.57332323e-03 -4.39494256e+00] [-3.11265460e-02 -5.17979890e-04 9.99515317e-01 -1.78409673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275871560000006 meters 0.025399416173331534 Centerline is valid? [True, True] Translation: X:48.31, Y:-4.40, Z:-1.79 [[ 9.90803584e-01 1.31779645e-01 3.06982670e-02 4.83115311e+01] [-1.31732978e-01 9.91278893e-01 -3.54659821e-03 -4.39818519e+00] [-3.08979136e-02 -5.29991908e-04 9.99522405e-01 -1.78554285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30587156 meters 0.02612684803156509 Centerline is valid? [True, True] Translation: X:48.34, Y:-4.40, Z:-1.79 [[ 9.90811470e-01 1.31664651e-01 3.09362398e-02 4.83406836e+01] [-1.31617197e-01 9.91294173e-01 -3.57424240e-03 -4.40151119e+00] [-3.11375157e-02 -5.30340801e-04 9.99514969e-01 -1.78734264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33587156 meters 0.025471294761927946 Centerline is valid? [True, True] Translation: X:48.37, Y:-4.41, Z:-1.79 [[ 9.90870228e-01 1.31182227e-01 3.11032958e-02 4.83697459e+01] [-1.31134028e-01 9.91358136e-01 -3.59331662e-03 -4.40581464e+00] [-3.13058847e-02 -5.18190020e-04 9.99509716e-01 -1.78827962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36587156 meters 0.024264749436297983 Centerline is valid? [True, True] Translation: X:48.40, Y:-4.41, Z:-1.79 [[ 9.90924750e-01 1.30680737e-01 3.14751299e-02 4.84002105e+01] [-1.30631159e-01 9.91424372e-01 -3.63524057e-03 -4.41118714e+00] [-3.16802668e-02 -5.09382822e-04 9.99497925e-01 -1.78791065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39587156 meters 0.02453721325347768 Centerline is valid? [True, True] Translation: X:48.43, Y:-4.41, Z:-1.79 [[ 9.91039068e-01 1.29806709e-01 3.14926090e-02 4.84290584e+01] [-1.29756630e-01 9.91539201e-01 -3.63740355e-03 -4.41459436e+00] [-3.16983158e-02 -4.81565791e-04 9.99497366e-01 -1.79048162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425871560000004 meters 0.02337463325627284 Centerline is valid? [True, True] Translation: X:48.46, Y:-4.42, Z:-1.79 [[ 9.91084590e-01 1.29423101e-01 3.16385274e-02 4.84590708e+01] [-1.29372377e-01 9.91589350e-01 -3.65373758e-03 -4.42041727e+00] [-3.18453048e-02 -4.71988496e-04 9.99492698e-01 -1.79123325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455871560000006 meters 0.02819383870150176 Centerline is valid? [True, True] Translation: X:48.49, Y:-4.43, Z:-1.79 [[ 9.91120204e-01 1.29046368e-01 3.20589611e-02 4.84880931e+01] [-1.28994086e-01 9.91638451e-01 -3.70242679e-03 -4.42604072e+00] [-3.22686833e-02 -4.65866400e-04 9.99479122e-01 -1.79479097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48587156 meters 0.023099031731780278 Centerline is valid? [True, True] Translation: X:48.52, Y:-4.43, Z:-1.79 [[ 9.91150209e-01 1.28891602e-01 3.17524446e-02 4.85179249e+01] [-1.28840252e-01 9.91658583e-01 -3.66652143e-03 -4.42996789e+00] [-3.19601680e-02 -4.56919477e-04 9.99489039e-01 -1.79370560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51587156 meters 0.023156916644049126 Centerline is valid? [True, True] Translation: X:48.55, Y:-4.43, Z:-1.80 [[ 9.91152019e-01 1.28800428e-01 3.20643802e-02 4.85472676e+01] [-1.28748012e-01 9.91670429e-01 -3.70267608e-03 -4.43333950e+00] [-3.22742039e-02 -4.58310321e-04 9.99478947e-01 -1.79526284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54587156 meters 0.023956372366296382 Centerline is valid? [True, True] Translation: X:48.58, Y:-4.44, Z:-1.80 [[ 9.91083964e-01 1.29269425e-01 3.22798914e-02 4.85768608e+01] [-1.29216562e-01 9.91609393e-01 -3.72718303e-03 -4.43500991e+00] [-3.24908544e-02 -4.77145254e-04 9.99471919e-01 -1.79622233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57587156 meters 0.029188803426920738 Centerline is valid? [True, True] Translation: X:48.61, Y:-4.44, Z:-1.80 [[ 9.90999898e-01 1.29794805e-01 3.27492142e-02 4.86068826e+01] [-1.29740697e-01 9.91540749e-01 -3.78086304e-03 -4.43718159e+00] [-3.29629168e-02 -5.02070992e-04 9.99456449e-01 -1.79948576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605871560000004 meters 0.025449614627146577 Centerline is valid? [True, True] Translation: X:48.64, Y:-4.44, Z:-1.80 [[ 9.90925955e-01 1.30457348e-01 3.23516970e-02 4.86365484e+01] [-1.30404895e-01 9.91453787e-01 -3.73509917e-03 -4.43800699e+00] [-3.25624836e-02 -5.17612925e-04 9.99469568e-01 -1.79879529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635871560000005 meters 0.02711292833633299 Centerline is valid? [True, True] Translation: X:48.67, Y:-4.44, Z:-1.80 [[ 9.90721244e-01 1.31957385e-01 3.25371340e-02 4.86664266e+01] [-1.31905145e-01 9.91255226e-01 -3.75626141e-03 -4.43774239e+00] [-3.27482706e-02 -5.70407396e-04 9.99463469e-01 -1.80011946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66587156000001 meters 0.02838233917760486 Centerline is valid? [True, True] Translation: X:48.70, Y:-4.44, Z:-1.80 [[ 9.90621441e-01 1.32743516e-01 3.23777738e-02 4.86955307e+01] [-1.32692226e-01 9.91150244e-01 -3.73725626e-03 -4.43840961e+00] [-3.25873349e-02 -5.94072695e-04 9.99468715e-01 -1.80148009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69587156 meters 0.029687995643520617 Centerline is valid? [True, True] Translation: X:48.73, Y:-4.44, Z:-1.80 [[ 9.90456052e-01 1.33854225e-01 3.28611455e-02 4.87255648e+01] [-1.33802045e-01 9.91000825e-01 -3.79178832e-03 -4.43898374e+00] [-3.30729692e-02 -6.41288771e-04 9.99452734e-01 -1.80175484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72587156 meters 0.03637183268462118 Centerline is valid? [True, True] Translation: X:48.75, Y:-4.44, Z:-1.80 [[ 9.90163590e-01 1.35712172e-01 3.40333947e-02 4.87549507e+01] [-1.35657319e-01 9.90748038e-01 -3.92646674e-03 -4.43792633e+00] [-3.42513883e-02 -7.29034658e-04 9.99412983e-01 -1.80475642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75587156 meters 0.03237306061446362 Centerline is valid? [True, True] Translation: X:48.79, Y:-4.44, Z:-1.80 [[ 9.90162822e-01 1.35909132e-01 3.32609885e-02 4.87852116e+01] [-1.35856907e-01 9.90721045e-01 -3.83567470e-03 -4.43898783e+00] [-3.34736644e-02 -7.20792537e-04 9.99439340e-01 -1.80390873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785871560000004 meters 0.03237739450730298 Centerline is valid? [True, True] Translation: X:48.81, Y:-4.44, Z:-1.81 [[ 9.90192644e-01 1.35758671e-01 3.29865378e-02 4.88143831e+01] [-1.35707238e-01 9.90741681e-01 -3.80353505e-03 -4.43880116e+00] [-3.31975008e-02 -7.10279511e-04 9.99448559e-01 -1.80556916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815871560000005 meters 0.02739129797862214 Centerline is valid? [True, True] Translation: X:48.84, Y:-4.45, Z:-1.80 [[ 9.90277375e-01 1.35152928e-01 3.29303395e-02 4.88430058e+01] [-1.35101391e-01 9.90824510e-01 -3.79537788e-03 -4.44689727e+00] [-3.31411439e-02 -6.90457834e-04 9.99450443e-01 -1.80430024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845871560000006 meters 0.02731084562196185 Centerline is valid? [True, True] Translation: X:48.87, Y:-4.45, Z:-1.81 [[ 9.90458723e-01 1.33824408e-01 3.29020547e-02 4.88718761e+01] [-1.33772249e-01 9.91004849e-01 -3.79144258e-03 -4.44927766e+00] [-3.31134833e-02 -6.46114480e-04 9.99451389e-01 -1.80659677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87587156 meters 0.022854333580010485 Centerline is valid? [True, True] Translation: X:48.90, Y:-4.46, Z:-1.81 [[ 9.90989277e-01 1.29825282e-01 3.29491916e-02 4.89014342e+01] [-1.29770816e-01 9.91536752e-01 -3.79527305e-03 -4.45908330e+00] [-3.31630568e-02 -5.14768591e-04 9.99449822e-01 -1.80802649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90587156 meters 0.02416003116723355 Centerline is valid? [True, True] Translation: X:48.93, Y:-4.46, Z:-1.81 [[ 9.91293156e-01 1.27680872e-01 3.21787921e-02 4.89309398e+01] [-1.27627800e-01 9.91815208e-01 -3.70634319e-03 -4.46169694e+00] [-3.23886445e-02 -4.32835807e-04 9.99475257e-01 -1.81387987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93587156 meters 0.017609099386817817 Centerline is valid? [True, True] Translation: X:48.96, Y:-4.48, Z:-1.81 [[ 9.91944945e-01 1.22593537e-01 3.18755569e-02 4.89604623e+01] [-1.22538820e-01 9.92456929e-01 -3.67184728e-03 -4.47728227e+00] [-3.20852621e-02 -2.63722772e-04 9.99485101e-01 -1.81301278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965871560000004 meters 0.015937588343893885 Centerline is valid? [True, True] Translation: X:48.99, Y:-4.49, Z:-1.81 [[ 9.92218772e-01 1.20295713e-01 3.21068654e-02 4.89920630e+01] [-1.20239026e-01 9.92738085e-01 -3.69756564e-03 -4.48546609e+00] [-3.23185093e-02 -1.91704178e-04 9.99477602e-01 -1.81398451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995871560000005 meters 0.015810686091168476 Centerline is valid? [True, True] Translation: X:49.02, Y:-4.49, Z:-1.82 [[ 9.92469086e-01 1.18511385e-01 3.09865121e-02 4.90230150e+01] [-1.18457562e-01 9.92952686e-01 -3.57349133e-03 -4.49237347e+00] [-3.11916398e-02 -1.24006996e-04 9.99513415e-01 -1.81779128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025871560000006 meters 0.015005082259028336 Centerline is valid? [True, True] Translation: X:49.05, Y:-4.50, Z:-1.82 [[ 9.92678762e-01 1.16597141e-01 3.15274972e-02 4.90544863e+01] [-1.16540260e-01 9.93179291e-01 -3.64202559e-03 -4.49942443e+00] [-3.17371071e-02 -5.88612825e-05 9.99496249e-01 -1.81734700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05587156 meters 0.019023509437387218 Centerline is valid? [True, True] Translation: X:49.08, Y:-4.51, Z:-1.82 [[ 9.92951041e-01 1.13631094e-01 3.37076224e-02 4.90846360e+01] [-1.13564148e-01 9.93523011e-01 -3.90023726e-03 -4.50837191e+00] [-3.39324868e-02 4.47672289e-05 9.99424126e-01 -1.81815855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08587156 meters 0.014799544158555977 Centerline is valid? [True, True] Translation: X:49.12, Y:-4.51, Z:-1.82 [[ 9.93106366e-01 1.12218262e-01 3.38645551e-02 4.91176003e+01] [-1.12149699e-01 9.93683577e-01 -3.92340521e-03 -4.51497107e+00] [-3.40909300e-02 9.84590333e-05 9.99418730e-01 -1.81609167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11587156 meters 0.01516661983678494 Centerline is valid? [True, True] Translation: X:49.15, Y:-4.52, Z:-1.82 [[ 9.93246003e-01 1.10733292e-01 3.46484465e-02 4.91491036e+01] [-1.10660372e-01 9.93850146e-01 -4.02112776e-03 -4.52229449e+00] [-3.48806363e-02 1.59759102e-04 9.99391473e-01 -1.81598330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14587156 meters 0.016139862680123695 Centerline is valid? [True, True] Translation: X:49.18, Y:-4.53, Z:-1.82 [[ 9.93536917e-01 1.08011606e-01 3.48982599e-02 4.91804250e+01] [-1.07935730e-01 9.94149598e-01 -4.05643187e-03 -4.53268416e+00] [-3.51322328e-02 2.63445670e-04 9.99382638e-01 -1.81544431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175871560000004 meters 0.01736579462774562 Centerline is valid? [True, True] Translation: X:49.21, Y:-4.54, Z:-1.82 [[ 9.93648473e-01 1.07191081e-01 3.42459437e-02 4.92110632e+01] [-1.07117325e-01 9.94238395e-01 -3.98649517e-03 -4.54071922e+00] [-3.44759488e-02 2.92840947e-04 9.99405485e-01 -1.81838529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205871560000006 meters 0.026206826118711394 Centerline is valid? [True, True] Translation: X:49.24, Y:-4.55, Z:-1.82 [[ 9.93748678e-01 1.05886123e-01 3.53792779e-02 4.92424003e+01] [-1.05806377e-01 9.94378199e-01 -4.12400459e-03 -4.55195171e+00] [-3.56170575e-02 3.54870883e-04 9.99365448e-01 -1.82177069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23587156 meters 0.026206826118711394 Centerline is valid? [True, True] Translation: X:49.27, Y:-4.56, Z:-1.82 [[ 9.93728883e-01 1.06071995e-01 3.53785061e-02 4.92746549e+01] [-1.05992133e-01 9.94358389e-01 -4.13061372e-03 -4.55590815e+00] [-3.56170568e-02 3.54866849e-04 9.99365448e-01 -1.82320039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26587156 meters 0.025654090300994793 Centerline is valid? [True, True] Translation: X:49.31, Y:-4.56, Z:-1.82 [[ 9.93789596e-01 1.05435231e-01 3.55759957e-02 4.93067168e+01] [-1.05353821e-01 9.94426097e-01 -4.16050654e-03 -4.56222784e+00] [-3.58163625e-02 3.86601039e-04 9.99358313e-01 -1.82297087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29587156 meters 0.019857785548100675 Centerline is valid? [True, True] Translation: X:49.34, Y:-4.57, Z:-1.82 [[ 9.93913282e-01 1.04553954e-01 3.47110881e-02 4.93373429e+01] [-1.04475673e-01 9.94519129e-01 -4.06635240e-03 -4.56984680e+00] [-3.49459943e-02 4.15137355e-04 9.99389116e-01 -1.82312915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32587156 meters 0.021059716103811216 Centerline is valid? [True, True] Translation: X:49.37, Y:-4.58, Z:-1.83 [[ 9.93973636e-01 1.04128795e-01 3.42579209e-02 4.93673111e+01] [-1.04052205e-01 9.94563729e-01 -4.01581310e-03 -4.58078132e+00] [-3.44898474e-02 4.27000119e-04 9.99404957e-01 -1.82543580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355871560000004 meters 0.02070600528044487 Centerline is valid? [True, True] Translation: X:49.40, Y:-4.59, Z:-1.83 [[ 9.93982432e-01 1.03867888e-01 3.47906116e-02 4.93996566e+01] [-1.03788559e-01 9.94591002e-01 -4.08334317e-03 -4.58705062e+00] [-3.50265575e-02 4.47903915e-04 9.99386282e-01 -1.82543318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385871560000005 meters 0.0201610427787434 Centerline is valid? [True, True] Translation: X:49.43, Y:-4.60, Z:-1.83 [[ 9.93925366e-01 1.04468399e-01 3.46225376e-02 4.94315778e+01] [-1.04389975e-01 9.94528113e-01 -4.07006893e-03 -4.59533276e+00] [-3.48582806e-02 4.31098926e-04 9.99392172e-01 -1.82704537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41587156000001 meters 0.01980564622546927 Centerline is valid? [True, True] Translation: X:49.46, Y:-4.60, Z:-1.83 [[ 9.93864691e-01 1.05130078e-01 3.43604965e-02 4.94637529e+01] [-1.05053008e-01 9.94458394e-01 -4.04572806e-03 -4.60121548e+00] [-3.45954118e-02 4.11232765e-04 9.99401315e-01 -1.82875782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44587156 meters 0.018595992346288743 Centerline is valid? [True, True] Translation: X:49.49, Y:-4.60, Z:-1.83 [[ 9.93419148e-01 1.08926084e-01 3.54048572e-02 4.94938221e+01] [-1.08623860e-01 9.94028976e-01 -1.03562611e-02 -4.60342782e+00] [-3.63215209e-02 6.44229581e-03 9.99319390e-01 -1.83081640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47587156 meters 0.03260602134942272 Centerline is valid? [True, True] Translation: X:49.52, Y:-4.61, Z:-1.83 [[ 9.93308438e-01 1.09618780e-01 3.63602935e-02 4.95245239e+01] [-1.09657404e-01 9.93969002e-01 -9.36300934e-04 -4.61487055e+00] [-3.62436408e-02 -3.05713978e-03 9.99338307e-01 -1.83310260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50587156 meters 0.016546615274840835 Centerline is valid? [True, True] Translation: X:49.55, Y:-4.62, Z:-1.83 [[ 9.92925256e-01 1.12900261e-01 3.67826997e-02 4.95535804e+01] [-1.12828128e-01 9.93606316e-01 -4.03761976e-03 -4.61783863e+00] [-3.70033711e-02 -1.41068510e-04 9.99315131e-01 -1.83382660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535871560000004 meters 0.016422111607232264 Centerline is valid? [True, True] Translation: X:49.59, Y:-4.62, Z:-1.84 [[ 9.93159691e-01 1.12069340e-01 3.27763733e-02 4.95881333e+01] [-1.12047983e-01 9.93699669e-01 -2.49345927e-03 -4.62214576e+00] [-3.28493116e-02 -1.19612326e-03 9.99459600e-01 -1.83786199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565871560000005 meters 0.015964815228700573 Centerline is valid? [True, True] Translation: X:49.62, Y:-4.62, Z:-1.84 [[ 9.92948089e-01 1.14125516e-01 3.20851962e-02 4.96204290e+01] [-1.14062401e-01 9.93466333e-01 -3.79660789e-03 -4.62434710e+00] [-3.23088520e-02 1.10120035e-04 9.99477927e-01 -1.84054031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595871560000006 meters 0.015607630379434368 Centerline is valid? [True, True] Translation: X:49.65, Y:-4.63, Z:-1.84 [[ 9.92664847e-01 1.16623927e-01 3.18647292e-02 4.96521499e+01] [-1.16562783e-01 9.93176147e-01 -3.77610165e-03 -4.62623064e+00] [-3.20876728e-02 3.41618335e-05 9.99485057e-01 -1.84194822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62587156 meters 0.01639741051088938 Centerline is valid? [True, True] Translation: X:49.68, Y:-4.62, Z:-1.84 [[ 9.91630145e-01 1.24748539e-01 3.32784820e-02 4.96831074e+01] [-1.24390990e-01 9.92153090e-01 -1.26145602e-02 -4.62013730e+00] [-3.45909967e-02 8.36943485e-03 9.99366507e-01 -1.84286543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65587156 meters 0.01736013945585784 Centerline is valid? [True, True] Translation: X:49.72, Y:-4.63, Z:-1.84 [[ 9.91785645e-01 1.23610291e-01 3.28896850e-02 4.97155945e+01] [-1.23835321e-01 9.92290747e-01 4.88743799e-03 -4.62942994e+00] [-3.20319924e-02 -8.92019554e-03 9.99447038e-01 -1.84453061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68587156 meters 0.023496875571145128 Centerline is valid? [True, True] Translation: X:49.75, Y:-4.62, Z:-1.85 [[ 9.91138417e-01 1.28773569e-01 3.25884485e-02 4.97489562e+01] [-1.28715740e-01 9.91673960e-01 -3.87499439e-03 -4.62263882e+00] [-3.28161126e-02 -3.53990471e-04 9.99461344e-01 -1.84660736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715871560000004 meters 0.02252749104588135 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.62, Z:-1.85 [[ 9.90849621e-01 1.30973556e-01 3.26030109e-02 4.97810723e+01] [-1.30916693e-01 9.91385772e-01 -3.88198575e-03 -4.62361993e+00] [-3.28305986e-02 -4.21814266e-04 9.99460842e-01 -1.84553048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745871560000005 meters 0.02375518973308826 Centerline is valid? [True, True] Translation: X:49.81, Y:-4.63, Z:-1.85 [[ 9.90586392e-01 1.32847599e-01 3.30169022e-02 4.98128752e+01] [-1.32790143e-01 9.91136358e-01 -3.93666021e-03 -4.62538123e+00] [-3.32472280e-02 -4.84717133e-04 9.99447041e-01 -1.84546886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775871560000006 meters 0.025505907832493294 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.63, Z:-1.85 [[ 9.89310592e-01 1.39916829e-01 4.10832519e-02 4.98384707e+01] [-1.40252766e-01 9.90101019e-01 5.39762920e-03 -4.63339677e+00] [-3.99213504e-02 -1.11019715e-02 9.99141147e-01 -1.84564756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80587156 meters 0.02677250454371465 Centerline is valid? [True, True] Translation: X:49.87, Y:-4.63, Z:-1.85 [[ 9.88945992e-01 1.42304104e-01 4.16577464e-02 4.98696735e+01] [-1.42414976e-01 9.89806991e-01 -3.09121066e-04 -4.63147540e+00] [-4.12771178e-02 -5.62698290e-03 9.99131892e-01 -1.84735210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83587156 meters 0.033029456916634434 Centerline is valid? [True, True] Translation: X:49.91, Y:-4.61, Z:-1.85 [[ 9.89330739e-01 1.42185949e-01 3.17465623e-02 4.99092396e+01] [-1.41662181e-01 9.89747908e-01 -1.81907756e-02 -4.61120821e+00] [-3.40075663e-02 1.34994062e-02 9.99330402e-01 -1.84989787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86587156 meters 0.03451847607505178 Centerline is valid? [True, True] Translation: X:49.93, Y:-4.63, Z:-1.85 [[ 9.88386220e-01 1.46765523e-01 3.94025451e-02 4.99346000e+01] [-1.46758941e-01 9.89167507e-01 -3.07520644e-03 -4.62565771e+00] [-3.94270516e-02 -2.74318414e-03 9.99218686e-01 -1.85469771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89587156 meters 0.030913629329617692 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.64, Z:-1.86 [[ 9.88216590e-01 1.46626506e-01 4.39162671e-02 4.99624808e+01] [-1.47296784e-01 9.89014368e-01 1.24191953e-02 -4.64434872e+00] [-4.16128359e-02 -1.87415798e-02 9.98958020e-01 -1.85571550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925871560000004 meters 0.036949260053648854 Centerline is valid? [True, True] Translation: X:50.00, Y:-4.62, Z:-1.86 [[ 9.88400590e-01 1.47124469e-01 3.76651738e-02 5.00007654e+01] [-1.46526442e-01 9.89039515e-01 -1.81889850e-02 -4.62225180e+00] [-3.99283900e-02 1.24590596e-02 9.99124865e-01 -1.86055365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955871560000006 meters 0.03262774099173836 Centerline is valid? [True, True] Translation: X:50.03, Y:-4.64, Z:-1.86 [[ 9.88460487e-01 1.45860777e-01 4.08717403e-02 5.00289014e+01] [-1.46079637e-01 9.89269912e-01 2.40439349e-03 -4.64365851e+00] [-4.00824762e-02 -8.34717696e-03 9.99161508e-01 -1.86229298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98587156 meters 0.03133298544940997 Centerline is valid? [True, True] Translation: X:50.07, Y:-4.63, Z:-1.86 [[ 9.89557927e-01 1.41009921e-01 2.98548535e-02 5.00654328e+01] [-1.40556655e-01 9.89930381e-01 -1.67829465e-02 -4.62983379e+00] [-3.19207884e-02 1.24113994e-02 9.99413338e-01 -1.86179895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01587156 meters 0.03339375654105717 Centerline is valid? [True, True] Translation: X:50.09, Y:-4.64, Z:-1.86 [[ 9.89702982e-01 1.39551355e-01 3.18343613e-02 5.00939505e+01] [-1.39499536e-01 9.90214637e-01 -3.85395510e-03 -4.64457174e+00] [-3.20606752e-02 -6.26607770e-04 9.99485728e-01 -1.86455633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04587156 meters 0.025579313395432526 Centerline is valid? [True, True] Translation: X:50.13, Y:-4.65, Z:-1.86 [[ 9.89832971e-01 1.38742055e-01 3.13262234e-02 5.01254356e+01] [-1.38691541e-01 9.90328375e-01 -3.79023399e-03 -4.65146712e+00] [-3.15491128e-02 -5.92983629e-04 9.99502027e-01 -1.86177021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07587156 meters 0.02715302441396076 Centerline is valid? [True, True] Translation: X:50.15, Y:-4.67, Z:-1.87 [[ 9.89073344e-01 1.41119291e-01 4.26528484e-02 5.01493500e+01] [-1.41801748e-01 9.89804281e-01 1.34070859e-02 -4.66750234e+00] [-4.03259735e-02 -1.93088397e-02 9.98999992e-01 -1.86839325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105871560000004 meters 0.023618882144447427 Centerline is valid? [True, True] Translation: X:50.18, Y:-4.67, Z:-1.87 [[ 9.89552175e-01 1.37978750e-01 4.18133720e-02 5.01798638e+01] [-1.37993789e-01 9.90429837e-01 -2.54024620e-03 -4.66751906e+00] [-4.17637112e-02 -3.25627949e-03 9.99122209e-01 -1.86892158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135871560000005 meters 0.020831496911951224 Centerline is valid? [True, True] Translation: X:50.22, Y:-4.66, Z:-1.87 [[ 9.90809307e-01 1.32073568e-01 2.92145407e-02 5.02179326e+01] [-1.31394111e-01 9.91037790e-01 -2.40766564e-02 -4.65919317e+00] [-3.21326038e-02 2.00167566e-02 9.99283156e-01 -1.86733622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16587156000001 meters 0.023460072550875063 Centerline is valid? [True, True] Translation: X:50.25, Y:-4.68, Z:-1.87 [[ 9.91582343e-01 1.25335338e-01 3.24886157e-02 5.02468604e+01] [-1.25273252e-01 9.92114423e-01 -3.94758767e-03 -4.68454314e+00] [-3.27271965e-02 -1.55596310e-04 9.99464310e-01 -1.86955374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19587156 meters 0.01626558537767047 Centerline is valid? [True, True] Translation: X:50.27, Y:-4.70, Z:-1.87 [[ 9.91152608e-01 1.25242930e-01 4.39399134e-02 5.02738000e+01] [-1.25789826e-01 9.92007519e-01 9.89955488e-03 -4.70218142e+00] [-4.23488753e-02 -1.53391637e-02 9.98985126e-01 -1.87066859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22587156 meters 0.015268206931367902 Centerline is valid? [True, True] Translation: X:50.31, Y:-4.69, Z:-1.87 [[ 9.92202974e-01 1.20496074e-01 3.18426567e-02 5.03101971e+01] [-1.19946086e-01 9.92605049e-01 -1.86588743e-02 -4.69302340e+00] [-3.38555029e-02 1.46939886e-02 9.99318714e-01 -1.86714199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25587156 meters 0.02098677818175599 Centerline is valid? [True, True] Translation: X:50.34, Y:-4.72, Z:-1.87 [[ 9.92887048e-01 1.14040197e-01 3.42073553e-02 5.03389343e+01] [-1.13964196e-01 9.93476107e-01 -4.16974999e-03 -4.71697699e+00] [-3.44597093e-02 2.41677004e-04 9.99406059e-01 -1.87097289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285871560000004 meters 0.018868015794437542 Centerline is valid? [True, True] Translation: X:50.37, Y:-4.73, Z:-1.87 [[ 9.93173693e-01 1.11543102e-01 3.41196721e-02 5.03705333e+01] [-1.11465835e-01 9.93759541e-01 -4.16437417e-03 -4.72590223e+00] [-3.43712569e-02 3.32769154e-04 9.99409078e-01 -1.87095007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315871560000005 meters 0.021893366021675912 Centerline is valid? [True, True] Translation: X:50.40, Y:-4.74, Z:-1.87 [[ 9.93681179e-01 1.07133115e-01 3.34695498e-02 5.04017247e+01] [-1.07056037e-01 9.94244569e-01 -4.09174261e-03 -4.73795792e+00] [-3.37152792e-02 4.82770256e-04 9.99431362e-01 -1.87246625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345871560000006 meters 0.02434157666942425 Centerline is valid? [True, True] Translation: X:50.43, Y:-4.75, Z:-1.88 [[ 9.93840031e-01 1.05639605e-01 3.35002474e-02 5.04320146e+01] [-1.05561523e-01 9.94404338e-01 -4.09593224e-03 -4.74801024e+00] [-3.37454840e-02 5.34364296e-04 9.99430316e-01 -1.87519311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37587156 meters 0.02501733454138815 Centerline is valid? [True, True] Translation: X:50.46, Y:-4.76, Z:-1.88 [[ 9.93976797e-01 1.04264626e-01 3.37492811e-02 5.04632799e+01] [-1.04184409e-01 9.94549415e-01 -4.13158245e-03 -4.75583033e+00] [-3.39961057e-02 5.90548203e-04 9.99421791e-01 -1.87511647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40587156 meters 0.027457520642103907 Centerline is valid? [True, True] Translation: X:50.49, Y:-4.77, Z:-1.88 [[ 9.94253441e-01 1.01669386e-01 3.35176199e-02 5.04945090e+01] [-1.01588561e-01 9.94818009e-01 -4.11008142e-03 -4.76779842e+00] [-3.37618013e-02 6.81455824e-04 9.99429676e-01 -1.87650793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43587156 meters 0.028401858257670668 Centerline is valid? [True, True] Translation: X:50.53, Y:-4.78, Z:-1.88 [[ 9.94322807e-01 1.00847842e-01 3.39391972e-02 5.05258548e+01] [-1.00764479e-01 9.94901601e-01 -4.16216514e-03 -4.77550424e+00] [-3.41859071e-02 7.18670211e-04 9.99415233e-01 -1.87710997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465871560000004 meters 0.026620947174598505 Centerline is valid? [True, True] Translation: X:50.55, Y:-4.79, Z:-1.88 [[ 9.93745286e-01 1.02349709e-01 4.46636650e-02 5.05510179e+01] [-1.03073719e-01 9.94572154e-01 1.42140430e-02 -4.79269603e+00] [-4.29664343e-02 -1.87287882e-02 9.98900955e-01 -1.87887875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495871560000005 meters 0.027552122332381523 Centerline is valid? [True, True] Translation: X:50.59, Y:-4.78, Z:-1.88 [[ 9.93961110e-01 1.02932373e-01 3.80294369e-02 5.05857989e+01] [-1.02357029e-01 9.94606131e-01 -1.67833919e-02 -4.78398050e+00] [-3.95518655e-02 1.27894587e-02 9.99135666e-01 -1.88221664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525871560000006 meters 0.029984221299913988 Centerline is valid? [True, True] Translation: X:50.62, Y:-4.80, Z:-1.88 [[ 9.94538762e-01 9.92783299e-02 3.21941592e-02 5.06177357e+01] [-9.89998991e-02 9.95035838e-01 -1.01341107e-02 -4.79852487e+00] [-3.30404398e-02 6.89154736e-03 9.99430256e-01 -1.88331182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55587156 meters 0.03438778515726664 Centerline is valid? [True, True] Translation: X:50.65, Y:-4.81, Z:-1.89 [[ 9.94520699e-01 9.95512934e-02 3.19079704e-02 5.06498097e+01] [-9.94763237e-02 9.95032159e-01 -3.93241502e-03 -4.80867061e+00] [-3.21409337e-02 7.36780537e-04 9.99483075e-01 -1.88637934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58587156 meters 0.028477603545756743 Centerline is valid? [True, True] Translation: X:50.68, Y:-4.81, Z:-1.89 [[ 9.94417395e-01 1.00547145e-01 3.20049494e-02 5.06812304e+01] [-1.00472019e-01 9.94932039e-01 -3.95102555e-03 -4.81484169e+00] [-3.22400140e-02 7.13366649e-04 9.99479901e-01 -1.88658663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61587156 meters 0.02675536588192235 Centerline is valid? [True, True] Translation: X:50.71, Y:-4.82, Z:-1.89 [[ 9.94087257e-01 1.03661149e-01 3.23247767e-02 5.07109355e+01] [-1.03585909e-01 9.94612474e-01 -3.99816874e-03 -4.82149635e+00] [-3.25650809e-02 6.26137211e-04 9.99469421e-01 -1.88854804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64587156 meters 0.031065779417750915 Centerline is valid? [True, True] Translation: X:50.74, Y:-4.82, Z:-1.89 [[ 9.93935854e-01 1.05301457e-01 3.16720860e-02 5.07426291e+01] [-1.05230113e-01 9.94440190e-01 -3.91571019e-03 -4.82499948e+00] [-3.19083251e-02 5.59107571e-04 9.99490643e-01 -1.89130093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675871560000004 meters 0.026358255979602323 Centerline is valid? [True, True] Translation: X:50.77, Y:-4.83, Z:-1.89 [[ 9.93744295e-01 1.07045927e-01 3.18346688e-02 5.07745899e+01] [-1.06974567e-01 9.94253946e-01 -3.94128960e-03 -4.82975939e+00] [-3.20736441e-02 5.11134144e-04 9.99485378e-01 -1.89233968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705871560000006 meters 0.030419923848175053 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.84, Z:-1.89 [[ 9.93360922e-01 1.10529977e-01 3.18936089e-02 5.08058903e+01] [-1.10459971e-01 9.93872708e-01 -3.95404999e-03 -4.83645930e+00] [-3.21352285e-02 4.04831642e-04 9.99483448e-01 -1.89438585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73587156 meters 0.02857994203278928 Centerline is valid? [True, True] Translation: X:50.84, Y:-4.84, Z:-1.90 [[ 9.93171687e-01 1.12253899e-01 3.17657303e-02 5.08373219e+01] [-1.12185163e-01 9.93679494e-01 -3.94356912e-03 -4.84153607e+00] [-3.20076358e-02 3.52997581e-04 9.99487562e-01 -1.89610044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76587156 meters 0.029108202010151123 Centerline is valid? [True, True] Translation: X:50.87, Y:-4.85, Z:-1.90 [[ 9.92967364e-01 1.14047662e-01 3.17639065e-02 5.08676309e+01] [-1.13979672e-01 9.93475234e-01 -3.94891515e-03 -4.84719037e+00] [-3.20070190e-02 3.00704221e-04 9.99487599e-01 -1.89897850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79587156 meters 0.017525601825801096 Centerline is valid? [True, True] Translation: X:50.90, Y:-4.85, Z:-1.90 [[ 9.92617659e-01 1.17026385e-01 3.18591955e-02 5.08996183e+01] [-1.16959361e-01 9.93128784e-01 -3.96569114e-03 -4.85373102e+00] [-3.21043745e-02 2.10183899e-04 9.99484500e-01 -1.89897355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82587156 meters 0.016937289490398653 Centerline is valid? [True, True] Translation: X:50.93, Y:-4.86, Z:-1.90 [[ 9.92400559e-01 1.18876857e-01 3.17714350e-02 5.09303450e+01] [-1.18810976e-01 9.92908993e-01 -3.96022608e-03 -4.85919971e+00] [-3.20169227e-02 1.55335390e-04 9.99487315e-01 -1.90094417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855871560000004 meters 0.016415712837727883 Centerline is valid? [True, True] Translation: X:50.96, Y:-4.86, Z:-1.90 [[ 9.92172891e-01 1.20819255e-01 3.15541279e-02 5.09633422e+01] [-1.20755114e-01 9.92674518e-01 -3.93750793e-03 -4.86472744e+00] [-3.17987055e-02 9.63663046e-05 9.99494289e-01 -1.90255701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885871560000005 meters 0.01589912943700954 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.87, Z:-1.90 [[ 9.91697041e-01 1.24689254e-01 3.14574197e-02 5.09960275e+01] [-1.24627263e-01 9.92195842e-01 -3.93137658e-03 -4.86992260e+00] [-3.17021215e-02 -2.17176095e-05 9.99497361e-01 -1.90403956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91587156000001 meters 0.015953488702339154 Centerline is valid? [True, True] Translation: X:51.03, Y:-4.87, Z:-1.90 [[ 9.91415276e-01 1.26784394e-01 3.19604057e-02 5.10291126e+01] [-1.26721293e-01 9.91930295e-01 -4.00044938e-03 -4.87470596e+00] [-3.22096893e-02 -8.39573053e-05 9.99481130e-01 -1.90490344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94587156 meters 0.01715748317002848 Centerline is valid? [True, True] Translation: X:51.06, Y:-4.88, Z:-1.91 [[ 9.90942555e-01 1.30399922e-01 3.20735457e-02 5.10603161e+01] [-1.30338052e-01 9.91461458e-01 -4.02120031e-03 -4.87922202e+00] [-3.23240486e-02 -1.95624962e-04 9.99477422e-01 -1.90528448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97587156 meters 0.018566382654661744 Centerline is valid? [True, True] Translation: X:51.09, Y:-4.88, Z:-1.91 [[ 9.90635812e-01 1.32651498e-01 3.23151251e-02 5.10914390e+01] [-1.32589726e-01 9.91162706e-01 -4.05651478e-03 -4.88234683e+00] [-3.25676496e-02 -2.66124771e-04 9.99469498e-01 -1.90655679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00587156 meters 0.019786161819864936 Centerline is valid? [True, True] Translation: X:51.12, Y:-4.89, Z:-1.91 [[ 9.90382216e-01 1.34465010e-01 3.25918307e-02 5.11229993e+01] [-1.34402995e-01 9.90918289e-01 -4.09616652e-03 -4.88582385e+00] [-3.28466322e-02 -3.23669187e-04 9.99460351e-01 -1.90842335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035871560000004 meters 0.022139104395204893 Centerline is valid? [True, True] Translation: X:51.15, Y:-4.89, Z:-1.91 [[ 9.89890214e-01 1.37852678e-01 3.33766905e-02 5.11546375e+01] [-1.37789378e-01 9.90452646e-01 -4.20031480e-03 -4.88988755e+00] [-3.36370561e-02 -4.41102906e-04 9.99434017e-01 -1.90819104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065871560000005 meters 0.023391834273174737 Centerline is valid? [True, True] Translation: X:51.19, Y:-4.89, Z:-1.91 [[ 9.89660898e-01 1.39405962e-01 3.37236636e-02 5.11861944e+01] [-1.39342052e-01 9.90235191e-01 -4.24949914e-03 -4.89419002e+00] [-3.39867640e-02 -4.93561369e-04 9.99422161e-01 -1.90961241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095871560000006 meters 0.02473278112809568 Centerline is valid? [True, True] Translation: X:51.22, Y:-4.90, Z:-1.91 [[ 9.89516382e-01 1.40380175e-01 3.39225151e-02 5.12166943e+01] [-1.40315890e-01 9.90097536e-01 -4.28016161e-03 -4.89840888e+00] [-3.41874485e-02 -5.24577862e-04 9.99415301e-01 -1.91158045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12587156 meters 0.025411330684841183 Centerline is valid? [True, True] Translation: X:51.25, Y:-4.91, Z:-1.91 [[ 9.89345191e-01 1.41497920e-01 3.42699756e-02 5.12481269e+01] [-1.41432808e-01 9.89938392e-01 -4.32901373e-03 -4.90566521e+00] [-3.45377110e-02 -5.64009964e-04 9.99403236e-01 -1.91199305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15587156 meters 0.02779900932863646 Centerline is valid? [True, True] Translation: X:51.28, Y:-4.91, Z:-1.91 [[ 9.89023498e-01 1.43726135e-01 3.42829265e-02 5.12786132e+01] [-1.43662094e-01 9.89617297e-01 -4.33694213e-03 -4.90940177e+00] [-3.45503089e-02 -6.35819318e-04 9.99402758e-01 -1.91335071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18587156 meters 0.02779900932863646 Centerline is valid? [True, True] Translation: X:51.31, Y:-4.91, Z:-1.91 [[ 9.88998111e-01 1.43900766e-01 3.42827212e-02 5.13108112e+01] [-1.43836773e-01 9.89591916e-01 -4.33856460e-03 -4.91368197e+00] [-3.45502265e-02 -6.40283798e-04 9.99402758e-01 -1.91482370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215871560000004 meters 0.030222886486600695 Centerline is valid? [True, True] Translation: X:51.34, Y:-4.92, Z:-1.92 [[ 9.88724249e-01 1.45860918e-01 3.38961807e-02 5.13431888e+01] [-1.45799298e-01 9.89304862e-01 -4.29589722e-03 -4.91579289e+00] [-3.41602599e-02 -6.94581590e-04 9.99416127e-01 -1.91728953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245871560000005 meters 0.03260782546792125 Centerline is valid? [True, True] Translation: X:51.38, Y:-4.92, Z:-1.92 [[ 9.88440445e-01 1.47945972e-01 3.31281618e-02 5.13752324e+01] [-1.47888071e-01 9.88995165e-01 -4.20489512e-03 -4.91724384e+00] [-3.33856891e-02 -7.42971525e-04 9.99442266e-01 -1.91967382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275871560000006 meters 0.0311300627764744 Centerline is valid? [True, True] Translation: X:51.41, Y:-4.92, Z:-1.92 [[ 9.88109224e-01 1.50355128e-01 3.21480437e-02 5.14069901e+01] [-1.50301833e-01 9.88631730e-01 -4.08182379e-03 -4.92339256e+00] [-3.23962992e-02 -7.98622154e-04 9.99474783e-01 -1.91958208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30587156 meters 0.040585370897746685 Centerline is valid? [True, True] Translation: X:51.44, Y:-4.91, Z:-1.92 [[ 9.87301760e-01 1.55710942e-01 3.14537345e-02 5.14381180e+01] [-1.55662580e-01 9.87802206e-01 -3.99547932e-03 -4.91271846e+00] [-3.16922082e-02 -9.51425691e-04 9.99497223e-01 -1.92478727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33587156 meters 0.04568532527459667 Centerline is valid? [True, True] Translation: X:51.47, Y:-4.91, Z:-1.93 [[ 9.86861681e-01 1.58504579e-01 3.13100955e-02 5.14692932e+01] [-1.58458033e-01 9.87357699e-01 -3.97811879e-03 -4.90857248e+00] [-3.15448139e-02 -1.03548314e-03 9.99501802e-01 -1.92776697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36587156 meters 0.044863888832970246 Centerline is valid? [True, True] Translation: X:51.50, Y:-4.91, Z:-1.93 [[ 9.86031130e-01 1.63540580e-01 3.15767278e-02 5.15002310e+01] [-1.63495800e-01 9.86535870e-01 -4.01244366e-03 -4.91102522e+00] [-3.18077721e-02 -1.20626802e-03 9.99493277e-01 -1.92522640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39587156 meters 0.05613285826804583 Centerline is valid? [True, True] Translation: X:51.53, Y:-4.90, Z:-1.93 [[ 9.85630181e-01 1.65840893e-01 3.20927420e-02 5.15315900e+01] [-1.65795873e-01 9.86151663e-01 -4.07746190e-03 -4.89882885e+00] [-3.23245208e-02 -1.30197465e-03 9.99476578e-01 -1.92934522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425871560000004 meters 0.04857904147969047 Centerline is valid? [True, True] Translation: X:51.56, Y:-4.91, Z:-1.93 [[ 9.85343508e-01 1.67427755e-01 3.26514556e-02 5.15627494e+01] [-1.67381953e-01 9.85883388e-01 -4.15056298e-03 -4.91060498e+00] [-3.28854471e-02 -1.37553411e-03 9.99458181e-01 -1.92611391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455871560000006 meters 0.060056303587270744 Centerline is valid? [True, True] Translation: X:51.60, Y:-4.90, Z:-1.93 [[ 9.85109047e-01 1.68609834e-01 3.36287060e-02 5.15955019e+01] [-1.68561920e-01 9.85681795e-01 -4.27526001e-03 -4.89620006e+00] [-3.38680541e-02 -1.45692194e-03 9.99425251e-01 -1.93019096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48587156000001 meters 0.060132697618807046 Centerline is valid? [True, True] Translation: X:51.63, Y:-4.90, Z:-1.93 [[ 9.85113951e-01 1.68531492e-01 3.38768382e-02 5.16265170e+01] [-1.68482594e-01 9.85695191e-01 -4.31349905e-03 -4.89804980e+00] [-3.41191969e-02 -1.45836949e-03 9.99416707e-01 -1.93076674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51587156 meters 0.046499506307835926 Centerline is valid? [True, True] Translation: X:51.66, Y:-4.92, Z:-1.93 [[ 9.85219472e-01 1.67881482e-01 3.40352831e-02 5.16572269e+01] [-1.67831727e-01 9.85806131e-01 -4.33397107e-03 -4.91709573e+00] [-3.42797843e-02 -1.44228767e-03 9.99411235e-01 -1.92780516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54587156 meters 0.043282996193242954 Centerline is valid? [True, True] Translation: X:51.69, Y:-4.92, Z:-1.93 [[ 9.85802303e-01 1.64487686e-01 3.37286262e-02 5.16878232e+01] [-1.64436753e-01 9.86378267e-01 -4.29749701e-03 -4.91984891e+00] [-3.39760692e-02 -1.30974332e-03 9.99421788e-01 -1.93039202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57587156 meters 0.047124193828251046 Centerline is valid? [True, True] Translation: X:51.72, Y:-4.92, Z:-1.94 [[ 9.86206066e-01 1.62102589e-01 3.34715801e-02 5.17187024e+01] [-1.62051044e-01 9.86773159e-01 -4.26514819e-03 -4.91652280e+00] [-3.37202484e-02 -1.21778947e-03 9.99430569e-01 -1.93504522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605871560000004 meters 0.037719136500716476 Centerline is valid? [True, True] Translation: X:51.75, Y:-4.93, Z:-1.94 [[ 9.87128204e-01 1.56425342e-01 3.33019747e-02 5.17479686e+01] [-1.56371070e-01 9.87689261e-01 -4.24407544e-03 -4.92890330e+00] [-3.35558837e-02 -1.01801886e-03 9.99436324e-01 -1.93538819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635871560000005 meters 0.03525209388884682 Centerline is valid? [True, True] Translation: X:51.78, Y:-4.93, Z:-1.94 [[ 9.87627733e-01 1.53191616e-01 3.35229840e-02 5.17777185e+01] [-1.53134763e-01 9.88196080e-01 -4.27214465e-03 -4.93487951e+00] [-3.37817382e-02 -9.14245700e-04 9.99428816e-01 -1.93740113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66587156000001 meters 0.03084180867331813 Centerline is valid? [True, True] Translation: X:51.81, Y:-4.94, Z:-1.94 [[ 9.88127820e-01 1.49929648e-01 3.35337381e-02 5.18082476e+01] [-1.49870872e-01 9.88696342e-01 -4.27377748e-03 -4.94399098e+00] [-3.37954501e-02 -8.02692155e-04 9.99428448e-01 -1.93764725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69587156 meters 0.02486449213107117 Centerline is valid? [True, True] Translation: X:51.84, Y:-4.95, Z:-1.94 [[ 9.89117967e-01 1.43095077e-01 3.41971644e-02 5.18370045e+01] [-1.43029834e-01 9.89708777e-01 -4.35930112e-03 -4.95343359e+00] [-3.44690283e-02 -5.79351662e-04 9.99405599e-01 -1.93821508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72587156 meters 0.021377887404693936 Centerline is valid? [True, True] Translation: X:51.87, Y:-4.96, Z:-1.94 [[ 9.89604990e-01 1.39689397e-01 3.41882319e-02 5.18687984e+01] [-1.39622159e-01 9.90195264e-01 -4.35805255e-03 -4.96174964e+00] [-3.44617990e-02 -4.60684191e-04 9.99405910e-01 -1.93941460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75587156 meters 0.016516174145753158 Centerline is valid? [True, True] Translation: X:51.90, Y:-4.97, Z:-1.94 [[ 9.90587604e-01 1.32575632e-01 3.40573095e-02 5.18989117e+01] [-1.32504618e-01 9.91172870e-01 -4.34378312e-03 -4.97383720e+00] [-3.43325610e-02 -2.09853062e-04 9.99410442e-01 -1.94064994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785871560000004 meters 0.015353365028975644 Centerline is valid? [True, True] Translation: X:51.93, Y:-4.98, Z:-1.94 [[ 9.90978749e-01 1.29533814e-01 3.43818386e-02 5.19302389e+01] [-1.29459593e-01 9.91575000e-01 -4.38563179e-03 -4.98182302e+00] [-3.46602593e-02 -1.04990942e-04 9.99399147e-01 -1.94233104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815871560000005 meters 0.01716206084668486 Centerline is valid? [True, True] Translation: X:51.96, Y:-4.99, Z:-1.94 [[ 9.91345713e-01 1.26956480e-01 3.34025248e-02 5.19627953e+01] [-1.26884953e-01 9.91908288e-01 -4.26107512e-03 -4.99012615e+00] [-3.36732122e-02 -1.40792337e-05 9.99432896e-01 -1.94455700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845871560000006 meters 0.021765073841714822 Centerline is valid? [True, True] Translation: X:51.99, Y:-5.00, Z:-1.95 [[ 9.91844459e-01 1.23196272e-01 3.26687478e-02 5.19934123e+01] [-1.23125592e-01 9.92382318e-01 -4.17417196e-03 -4.99868766e+00] [-3.29341301e-02 1.17770405e-04 9.99457517e-01 -1.94782123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87587156 meters 0.016065993448240116 Centerline is valid? [True, True] Translation: X:52.02, Y:-5.00, Z:-1.95 [[ 9.91935384e-01 1.22035319e-01 3.42282723e-02 5.20242552e+01] [-1.21956837e-01 9.92525744e-01 -4.37924937e-03 -5.00380182e+00] [-3.45068645e-02 1.69560590e-04 9.99404446e-01 -1.94716706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90587156 meters 0.01663924860511836 Centerline is valid? [True, True] Translation: X:52.06, Y:-5.01, Z:-1.95 [[ 9.92053190e-01 1.20957021e-01 3.46390941e-02 5.20554629e+01] [-1.20875803e-01 9.92657722e-01 -4.43703986e-03 -5.00958906e+00] [-3.49214554e-02 2.14751251e-04 9.99390037e-01 -1.94741649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93587156 meters 0.02934656966208484 Centerline is valid? [True, True] Translation: X:52.09, Y:-5.02, Z:-1.95 [[ 9.92214699e-01 1.19922590e-01 3.35941040e-02 5.20872745e+01] [-1.19845410e-01 9.92783214e-01 -4.30901604e-03 -5.01580019e+00] [-3.38684109e-02 2.49369889e-04 9.99426270e-01 -1.94826269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965871560000004 meters 0.01778523231768058 Centerline is valid? [True, True] Translation: X:52.12, Y:-5.02, Z:-1.95 [[ 9.92150636e-01 1.19894311e-01 3.55312597e-02 5.21179337e+01] [-1.19807717e-01 9.92786624e-01 -4.56403549e-03 -5.01927486e+00] [-3.58221612e-02 2.71291607e-04 9.99358144e-01 -1.94915928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995871560000005 meters 0.0170806324088773 Centerline is valid? [True, True] Translation: X:52.15, Y:-5.02, Z:-1.95 [[ 9.92098561e-01 1.20368406e-01 3.53821029e-02 5.21508245e+01] [-1.20282654e-01 9.92729258e-01 -4.55004444e-03 -5.02115976e+00] [-3.56725304e-02 2.58239301e-04 9.99363499e-01 -1.94911966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025871560000006 meters 0.016447245183354935 Centerline is valid? [True, True] Translation: X:52.18, Y:-5.02, Z:-1.95 [[ 9.91867900e-01 1.22258236e-01 3.53693623e-02 5.21817440e+01] [-1.22173496e-01 9.92498305e-01 -4.55544948e-03 -5.02118543e+00] [-3.56609734e-02 1.97205473e-04 9.99363926e-01 -1.95193096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05587156 meters 0.015511442596477763 Centerline is valid? [True, True] Translation: X:52.21, Y:-5.02, Z:-1.95 [[ 9.91673946e-01 1.23893841e-01 3.51155426e-02 5.22149863e+01] [-1.23811163e-01 9.92295468e-01 -4.52768365e-03 -5.02218306e+00] [-3.54059459e-02 1.42289742e-04 9.99373003e-01 -1.95257304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08587156 meters 0.015116691074509818 Centerline is valid? [True, True] Translation: X:52.25, Y:-5.02, Z:-1.95 [[ 9.91468220e-01 1.25666937e-01 3.46206679e-02 5.22476189e+01] [-1.25587424e-01 9.92072484e-01 -4.47047273e-03 -5.02316460e+00] [-3.49080026e-02 8.44111486e-05 9.99390526e-01 -1.95462230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11587156 meters 0.0277926649752163 Centerline is valid? [True, True] Translation: X:52.28, Y:-5.02, Z:-1.96 [[ 9.90984526e-01 1.30012194e-01 3.23496365e-02 5.22788670e+01] [-1.29944853e-01 9.91512393e-01 -4.18438431e-03 -5.01923633e+00] [-3.26190864e-02 -5.70086356e-05 9.99467854e-01 -1.95934709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14587156 meters 0.015833802919300196 Centerline is valid? [True, True] Translation: X:52.31, Y:-5.02, Z:-1.96 [[ 9.90624804e-01 1.32421354e-01 3.35720614e-02 5.23113113e+01] [-1.32350139e-01 9.91193506e-01 -4.34453891e-03 -5.01690038e+00] [-3.38517189e-02 -1.39458990e-04 9.99426857e-01 -1.95892468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175871560000004 meters 0.016881568591683625 Centerline is valid? [True, True] Translation: X:52.34, Y:-5.01, Z:-1.96 [[ 9.90253598e-01 1.35109368e-01 3.38122711e-02 5.23444977e+01] [-1.35038497e-01 9.90830665e-01 -4.38144175e-03 -5.01470422e+00] [-3.40942089e-02 -2.27219825e-04 9.99418598e-01 -1.95987054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205871560000006 meters 0.020345943472561318 Centerline is valid? [True, True] Translation: X:52.38, Y:-5.01, Z:-1.96 [[ 9.89426055e-01 1.40744799e-01 3.50283224e-02 5.23782065e+01] [-1.40672046e-01 9.90045815e-01 -4.54523483e-03 -5.00525508e+00] [-3.53193622e-02 -4.30331994e-04 9.99375984e-01 -1.95978938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23587156000001 meters 0.02783309803792446 Centerline is valid? [True, True] Translation: X:52.41, Y:-5.00, Z:-1.96 [[ 9.89035251e-01 1.43595721e-01 3.44897382e-02 5.24098166e+01] [-1.43526716e-01 9.89636297e-01 -4.48121572e-03 -5.00383841e+00] [-3.47757802e-02 -5.18118549e-04 9.99395005e-01 -1.96157551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26587156 meters 0.02474044906127684 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.00, Z:-1.96 [[ 9.88656346e-01 1.45831922e-01 3.59399415e-02 5.24427407e+01] [-1.45758257e-01 9.89309189e-01 -4.67542234e-03 -5.00237503e+00] [-3.62375402e-02 -6.16157272e-04 9.99343015e-01 -1.96118199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29587156 meters 0.033760575862830565 Centerline is valid? [True, True] Translation: X:52.47, Y:-5.00, Z:-1.96 [[ 9.88227564e-01 1.48919864e-01 3.50593281e-02 5.24748238e+01] [-1.48851503e-01 9.88849016e-01 -4.56662685e-03 -4.99948111e+00] [-3.53484435e-02 -7.05767160e-04 9.99374799e-01 -1.96420752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32587156 meters 0.0285333377281603 Centerline is valid? [True, True] Translation: X:52.51, Y:-5.00, Z:-1.96 [[ 9.88046379e-01 1.49756456e-01 3.65698855e-02 5.25078227e+01] [-1.49682441e-01 9.88722622e-01 -4.76902774e-03 -4.99897268e+00] [-3.68716658e-02 -7.61849131e-04 9.99319719e-01 -1.96386496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355871560000004 meters 0.02989582666170337 Centerline is valid? [True, True] Translation: X:52.54, Y:-5.00, Z:-1.97 [[ 9.87900775e-01 1.50689829e-01 3.66692398e-02 5.25399194e+01] [-1.50615766e-01 9.88580775e-01 -4.78972963e-03 -4.99655575e+00] [-3.69722691e-02 -7.91188047e-04 9.99315979e-01 -1.96643573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385871560000005 meters 0.02999173320464109 Centerline is valid? [True, True] Translation: X:52.57, Y:-5.00, Z:-1.97 [[ 9.87821060e-01 1.51241409e-01 3.65457111e-02 5.25722182e+01] [-1.51168122e-01 9.88496528e-01 -4.77631790e-03 -4.99865149e+00] [-3.68476856e-02 -8.06399084e-04 9.99320568e-01 -1.96800409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41587156000001 meters 0.03072117326942288 Centerline is valid? [True, True] Translation: X:52.60, Y:-5.00, Z:-1.97 [[ 9.87751205e-01 1.51666139e-01 3.66734020e-02 5.26041172e+01] [-1.51592412e-01 9.88431440e-01 -4.79891186e-03 -4.99973774e+00] [-3.69769760e-02 -8.19278488e-04 9.99315782e-01 -1.96954677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44587156 meters 0.029530707783504574 Centerline is valid? [True, True] Translation: X:52.64, Y:-5.00, Z:-1.97 [[ 9.87672892e-01 1.52143086e-01 3.68067789e-02 5.26365772e+01] [-1.52068921e-01 9.88358126e-01 -4.82262538e-03 -5.00289100e+00] [-3.71120081e-02 -8.33990779e-04 9.99310764e-01 -1.97014621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47587156 meters 0.03057305467284449 Centerline is valid? [True, True] Translation: X:52.67, Y:-5.00, Z:-1.97 [[ 9.87500718e-01 1.53486071e-01 3.58379484e-02 5.26690726e+01] [-1.53416394e-01 9.88150442e-01 -4.70255507e-03 -5.00092636e+00] [-3.61350613e-02 -8.54352299e-04 9.99346550e-01 -1.97387679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50587156 meters 0.031058599085620357 Centerline is valid? [True, True] Translation: X:52.70, Y:-5.00, Z:-1.98 [[ 9.87422276e-01 1.54136538e-01 3.52019272e-02 5.27014781e+01] [-1.54069517e-01 9.88049186e-01 -4.62495972e-03 -5.00177293e+00] [-3.54941108e-02 -8.56755668e-04 9.99369518e-01 -1.97647551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535871560000004 meters 0.03281010097074669 Centerline is valid? [True, True] Translation: X:52.73, Y:-4.99, Z:-1.98 [[ 9.87272690e-01 1.56135750e-01 3.02367759e-02 5.27328568e+01] [-1.55533066e-01 9.87599584e-01 -2.13664960e-02 -4.99089362e+00] [-3.31979012e-02 1.63917395e-02 9.99314370e-01 -1.97706759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565871560000005 meters 0.03294512036068781 Centerline is valid? [True, True] Translation: X:52.76, Y:-5.00, Z:-1.98 [[ 9.87402774e-01 1.54943854e-01 3.20649836e-02 5.27623632e+01] [-1.54863148e-01 9.87923277e-01 -5.00040353e-03 -4.99742392e+00] [-3.24525254e-02 -2.82719934e-05 9.99473278e-01 -1.97850924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595871560000006 meters 0.034680090722938046 Centerline is valid? [True, True] Translation: X:52.79, Y:-5.01, Z:-1.98 [[ 9.87434495e-01 1.53445231e-01 3.77846291e-02 5.27915443e+01] [-1.54042747e-01 9.87972930e-01 1.34284230e-02 -5.00652667e+00] [-3.52696633e-02 -1.90801362e-02 9.99195676e-01 -1.98351196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62587156 meters 0.028342589697018795 Centerline is valid? [True, True] Translation: X:52.82, Y:-5.00, Z:-1.98 [[ 9.87577776e-01 1.52957008e-01 3.59762315e-02 5.28236197e+01] [-1.52885698e-01 9.88232505e-01 -4.74117784e-03 -5.00232901e+00] [-3.62780778e-02 -8.17969407e-04 9.99341399e-01 -1.98103915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65587156 meters 0.02764537991095849 Centerline is valid? [True, True] Translation: X:52.86, Y:-5.00, Z:-1.98 [[ 9.87667561e-01 1.52996669e-01 3.32386707e-02 5.28552948e+01] [-1.52488982e-01 9.88153362e-01 -1.73217554e-02 -4.99757086e+00] [-3.54950750e-02 1.20396049e-02 9.99297327e-01 -1.98104340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68587156 meters 0.02735414195469718 Centerline is valid? [True, True] Translation: X:52.88, Y:-5.00, Z:-1.98 [[ 9.87967427e-01 1.51050418e-01 3.32285172e-02 5.28848595e+01] [-1.50772131e-01 9.88510185e-01 -1.07414707e-02 -5.00285610e+00] [-3.44692313e-02 5.60228885e-03 9.99390057e-01 -1.98338023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715871560000004 meters 0.02685386927215928 Centerline is valid? [True, True] Translation: X:52.91, Y:-5.02, Z:-1.99 [[ 9.88260816e-01 1.47779491e-01 3.87528373e-02 5.29137910e+01] [-1.48435654e-01 9.88813934e-01 1.46239784e-02 -5.01616708e+00] [-3.61582214e-02 -2.02046076e-02 9.99141810e-01 -1.98891180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745871560000005 meters 0.02352266809440447 Centerline is valid? [True, True] Translation: X:52.95, Y:-5.01, Z:-1.99 [[ 9.88385079e-01 1.47638128e-01 3.60266414e-02 5.29466891e+01] [-1.47562841e-01 9.89041254e-01 -4.75452184e-03 -5.01055305e+00] [-3.63337833e-02 -6.16895106e-04 9.99339520e-01 -1.98824047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775871560000006 meters 0.029733380708659097 Centerline is valid? [True, True] Translation: X:52.98, Y:-5.01, Z:-2.00 [[ 9.88552458e-01 1.46800473e-01 3.48376046e-02 5.29771546e+01] [-1.46729502e-01 9.89165963e-01 -4.59910741e-03 -5.01070771e+00] [-3.51353238e-02 -5.65245429e-04 9.99382404e-01 -1.99523386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80587156 meters 0.023946877069599425 Centerline is valid? [True, True] Translation: X:53.01, Y:-5.01, Z:-2.00 [[ 9.88784595e-01 1.45247279e-01 3.47599399e-02 5.30074737e+01] [-1.45175644e-01 9.89395254e-01 -4.58941386e-03 -5.01365211e+00] [-3.50579195e-02 -5.08354952e-04 9.99385153e-01 -1.99615363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83587156 meters 0.029999817981152452 Centerline is valid? [True, True] Translation: X:53.04, Y:-5.02, Z:-2.00 [[ 9.89247742e-01 1.42385358e-01 3.33963416e-02 5.30360300e+01] [-1.42317599e-01 9.89811223e-01 -4.40950825e-03 -5.01818566e+00] [-3.36839231e-02 -3.90791082e-04 9.99432459e-01 -2.00184443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86587156 meters 0.01961755424023498 Centerline is valid? [True, True] Translation: X:53.07, Y:-5.02, Z:-2.00 [[ 9.89539144e-01 1.40068784e-01 3.45400967e-02 5.30659251e+01] [-1.39994912e-01 9.90141723e-01 -4.55999034e-03 -5.02173777e+00] [-3.48383032e-02 -3.23148847e-04 9.99392910e-01 -2.00088738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89587156 meters 0.017902624141226824 Centerline is valid? [True, True] Translation: X:53.10, Y:-5.03, Z:-2.00 [[ 9.89854284e-01 1.37807081e-01 3.46078662e-02 5.30956282e+01] [-1.37731536e-01 9.90459060e-01 -4.56893727e-03 -5.02759457e+00] [-3.49073065e-02 -2.44012429e-04 9.99390524e-01 -2.00269732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925871560000004 meters 0.015253008404659449 Centerline is valid? [True, True] Translation: X:53.13, Y:-5.04, Z:-2.00 [[ 9.90482442e-01 1.33057737e-01 3.52160467e-02 5.31254894e+01] [-1.32976560e-01 9.91108285e-01 -4.64780642e-03 -5.03663966e+00] [-3.55213422e-02 -7.93380785e-05 9.99368915e-01 -2.00305526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955871560000006 meters 0.014798765101609603 Centerline is valid? [True, True] Translation: X:53.16, Y:-5.04, Z:-2.00 [[ 9.90771054e-01 1.30793656e-01 3.55772018e-02 5.31570464e+01] [-1.30709159e-01 9.91409612e-01 -4.70066278e-03 -5.04368782e+00] [-3.58863967e-02 7.01449633e-06 9.99355876e-01 -2.00402974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98587156000001 meters 0.015020582873376048 Centerline is valid? [True, True] Translation: X:53.19, Y:-5.05, Z:-2.01 [[ 9.91021389e-01 1.28853422e-01 3.56847634e-02 5.31887755e+01] [-1.28766939e-01 9.91663647e-01 -4.72088518e-03 -5.05090931e+00] [-3.59955849e-02 8.34804329e-05 9.99351945e-01 -2.00544968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01587156 meters 0.01655584476640041 Centerline is valid? [True, True] Translation: X:53.22, Y:-5.06, Z:-2.01 [[ 9.91441075e-01 1.25580400e-01 3.56953602e-02 5.32186087e+01] [-1.25491593e-01 9.92083424e-01 -4.72648801e-03 -5.06088024e+00] [-3.60063294e-02 2.06566758e-04 9.99351541e-01 -2.00753963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04587156 meters 0.01730587031856439 Centerline is valid? [True, True] Translation: X:53.25, Y:-5.07, Z:-2.01 [[ 9.91556371e-01 1.24670360e-01 3.56828335e-02 5.32509640e+01] [-1.24580944e-01 9.92198187e-01 -4.72710171e-03 -5.06657692e+00] [-3.59937722e-02 2.41786738e-04 9.99351985e-01 -2.00899348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07587156 meters 0.01730587031856439 Centerline is valid? [True, True] Translation: X:53.28, Y:-5.07, Z:-2.01 [[ 9.91534815e-01 1.24841916e-01 3.56820142e-02 5.32831478e+01] [-1.24752389e-01 9.92176616e-01 -4.73327658e-03 -5.07105758e+00] [-3.59937715e-02 2.41792008e-04 9.99351985e-01 -2.01046721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105871560000004 meters 0.016649855512445518 Centerline is valid? [True, True] Translation: X:53.32, Y:-5.07, Z:-2.01 [[ 9.91585479e-01 1.24516923e-01 3.54086571e-02 5.33165358e+01] [-1.24428340e-01 9.92217451e-01 -4.70305160e-03 -5.07388061e+00] [-3.57186970e-02 2.57637269e-04 9.99361851e-01 -2.00985003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135871560000005 meters 0.017792363090356846 Centerline is valid? [True, True] Translation: X:53.35, Y:-5.08, Z:-2.01 [[ 9.91582392e-01 1.24484548e-01 3.56083925e-02 5.33479660e+01] [-1.24394673e-01 9.92221510e-01 -4.73706439e-03 -5.07981305e+00] [-3.59211044e-02 2.67695290e-04 9.99354593e-01 -2.01404961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16587156000001 meters 0.016089070521152153 Centerline is valid? [True, True] Translation: X:53.38, Y:-5.08, Z:-2.01 [[ 9.91623252e-01 1.23209257e-01 3.87660283e-02 5.33820490e+01] [-1.23088132e-01 9.92380475e-01 -5.50500295e-03 -5.08105400e+00] [-3.91489168e-02 6.87250901e-04 9.99233151e-01 -2.01174778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19587156 meters 0.016318178370284958 Centerline is valid? [True, True] Translation: X:53.41, Y:-5.09, Z:-2.01 [[ 9.91430789e-01 1.25456747e-01 3.64087165e-02 5.34112027e+01] [-1.25371450e-01 9.92099090e-01 -4.62549054e-03 -5.08733770e+00] [-3.67013535e-02 2.12401448e-05 9.99326278e-01 -2.01476447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22587156 meters 0.015834036943592866 Centerline is valid? [True, True] Translation: X:53.44, Y:-5.09, Z:-2.02 [[ 9.91343195e-01 1.26539875e-01 3.50189779e-02 5.34429900e+01] [-1.26453752e-01 9.91961501e-01 -4.67227770e-03 -5.09079441e+00] [-3.53287073e-02 2.03549562e-04 9.99375726e-01 -2.01818416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25587156 meters 0.01535108710013913 Centerline is valid? [True, True] Translation: X:53.48, Y:-5.09, Z:-2.02 [[ 9.91218499e-01 1.27515169e-01 3.50109734e-02 5.34761571e+01] [-1.27429667e-01 9.91836606e-01 -4.67195155e-03 -5.09460360e+00] [-3.53209097e-02 1.69488135e-04 9.99376008e-01 -2.01937891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285871560000004 meters 0.024441944558467585 Centerline is valid? [True, True] Translation: X:53.51, Y:-5.10, Z:-2.03 [[ 9.91086155e-01 1.28748239e-01 3.42362897e-02 5.35068904e+01] [-1.28666985e-01 9.91677303e-01 -4.57523241e-03 -5.10088819e+00] [-3.45404045e-02 1.29369328e-04 9.99403294e-01 -2.02809785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315871560000005 meters 0.014907024465027738 Centerline is valid? [True, True] Translation: X:53.54, Y:-5.10, Z:-2.02 [[ 9.90951502e-01 1.29890513e-01 3.38167787e-02 5.35404557e+01] [-1.29811702e-01 9.91528338e-01 -4.52506972e-03 -5.10194284e+00] [-3.41180580e-02 9.43110491e-05 9.99417805e-01 -2.02430924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345871560000006 meters 0.029919607157988654 Centerline is valid? [True, True] Translation: X:53.57, Y:-5.11, Z:-2.03 [[ 9.90760853e-01 1.31350486e-01 3.37636127e-02 5.35719277e+01] [-1.31272516e-01 9.91335991e-01 -4.52540056e-03 -5.10737951e+00] [-3.40654981e-02 5.13553091e-05 9.99419601e-01 -2.02981651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37587156 meters 0.014500730933741683 Centerline is valid? [True, True] Translation: X:53.61, Y:-5.10, Z:-2.02 [[ 9.90812661e-01 1.31576743e-01 3.12703099e-02 5.36052555e+01] [-1.31030070e-01 9.91197445e-01 -1.89406100e-02 -5.10079889e+00] [-3.34871951e-02 1.46692453e-02 9.99331487e-01 -2.02399598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40587156 meters 0.01460284055710662 Centerline is valid? [True, True] Translation: X:53.63, Y:-5.12, Z:-2.03 [[ 9.90377392e-01 1.33314136e-01 3.71478540e-02 5.36347465e+01] [-1.33763077e-01 9.90964260e-01 9.86283701e-03 -5.12191024e+00] [-3.54973400e-02 -1.47369420e-02 9.99261108e-01 -2.02886055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43587156 meters 0.01470394424817792 Centerline is valid? [True, True] Translation: X:53.67, Y:-5.12, Z:-2.03 [[ 9.90183255e-01 1.35313618e-01 3.50335109e-02 5.36690424e+01] [-1.35231742e-01 9.90802815e-01 -4.70713462e-03 -5.11597004e+00] [-3.53482406e-02 -7.67168285e-05 9.99375053e-01 -2.02914361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465871560000004 meters 0.015031475292435068 Centerline is valid? [True, True] Translation: X:53.70, Y:-5.12, Z:-2.03 [[ 9.90025519e-01 1.36480233e-01 3.49659481e-02 5.37013713e+01] [-1.36399152e-01 9.90642788e-01 -4.70507292e-03 -5.11874257e+00] [-3.52809138e-02 -1.11183407e-04 9.99377429e-01 -2.03121403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495871560000005 meters 0.015220402668977005 Centerline is valid? [True, True] Translation: X:53.73, Y:-5.12, Z:-2.03 [[ 9.89956119e-01 1.37073661e-01 3.46077187e-02 5.37330069e+01] [-1.36994394e-01 9.90560849e-01 -4.66263202e-03 -5.12271341e+00] [-3.49201753e-02 -1.25262372e-04 9.99390097e-01 -2.03343447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525871560000006 meters 0.015160478946039764 Centerline is valid? [True, True] Translation: X:53.76, Y:-5.13, Z:-2.04 [[ 9.89955567e-01 1.37070885e-01 3.46345034e-02 5.37645816e+01] [-1.36991289e-01 9.90561234e-01 -4.67208343e-03 -5.12837324e+00] [-3.49480030e-02 -1.19470276e-04 9.99389125e-01 -2.03505745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55587156 meters 0.020515577307552935 Centerline is valid? [True, True] Translation: X:53.80, Y:-5.13, Z:-2.04 [[ 9.89963007e-01 1.37053671e-01 3.44896474e-02 5.37958289e+01] [-1.36974529e-01 9.90563617e-01 -4.65830361e-03 -5.13480424e+00] [-3.48026275e-02 -1.12654970e-04 9.99394199e-01 -2.03826973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58587156 meters 0.020333081979865678 Centerline is valid? [True, True] Translation: X:53.83, Y:-5.14, Z:-2.04 [[ 9.90156656e-01 1.35618480e-01 3.46038325e-02 5.38278603e+01] [-1.35537741e-01 9.90761134e-01 -4.67935268e-03 -5.14396537e+00] [-3.49187391e-02 -5.68330810e-05 9.99390153e-01 -2.03912232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61587156 meters 0.02173082908233892 Centerline is valid? [True, True] Translation: X:53.86, Y:-5.15, Z:-2.04 [[ 9.90266715e-01 1.34785959e-01 3.47070419e-02 5.38593001e+01] [-1.34703982e-01 9.90874737e-01 -4.70024922e-03 -5.15151244e+00] [-3.50238586e-02 -2.06763911e-05 9.99386476e-01 -2.04110525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64587156 meters 0.01429547882140336 Centerline is valid? [True, True] Translation: X:53.89, Y:-5.16, Z:-2.04 [[ 9.90398869e-01 1.33605425e-01 3.54918421e-02 5.38913681e+01] [-1.33518700e-01 9.91034606e-01 -4.81324069e-03 -5.15780199e+00] [-3.58167188e-02 2.82035270e-05 9.99358375e-01 -2.03900050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675871560000004 meters 0.014476942980073541 Centerline is valid? [True, True] Translation: X:53.92, Y:-5.17, Z:-2.04 [[ 9.90594623e-01 1.32103471e-01 3.56506121e-02 5.39233111e+01] [-1.32014781e-01 9.91235928e-01 -4.84073433e-03 -5.16614263e+00] [-3.59776454e-02 8.87976545e-05 9.99352591e-01 -2.04045309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705871560000006 meters 0.014803419735065056 Centerline is valid? [True, True] Translation: X:53.95, Y:-5.17, Z:-2.04 [[ 9.90664844e-01 1.31586899e-01 3.56097615e-02 5.39543129e+01] [-1.31497801e-01 9.91304633e-01 -4.84287516e-03 -5.17259595e+00] [-3.59373805e-02 1.15060831e-04 9.99354037e-01 -2.04262113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73587156000001 meters 0.014994414917512638 Centerline is valid? [True, True] Translation: X:53.99, Y:-5.18, Z:-2.04 [[ 9.90680806e-01 1.31387300e-01 3.59014946e-02 5.39861101e+01] [-1.31296462e-01 9.91331106e-01 -4.88648797e-03 -5.17924533e+00] [-3.62322908e-02 1.27210611e-04 9.99343387e-01 -2.04373180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76587156 meters 0.014709117531492174 Centerline is valid? [True, True] Translation: X:54.02, Y:-5.19, Z:-2.04 [[ 9.90623256e-01 1.31702822e-01 3.63308637e-02 5.40188478e+01] [-1.31609774e-01 9.91289237e-01 -4.95134653e-03 -5.18618566e+00] [-3.66665005e-02 1.23422249e-04 9.99327550e-01 -2.04386069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79587156 meters 0.02651491832093499 Centerline is valid? [True, True] Translation: X:54.05, Y:-5.19, Z:-2.05 [[ 9.90573401e-01 1.32359603e-01 3.52884224e-02 5.40494295e+01] [-1.32271991e-01 9.91201758e-01 -4.81615757e-03 -5.19326140e+00] [-3.56154110e-02 1.03087686e-04 9.99365565e-01 -2.05018388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82587156 meters 0.01462779761622593 Centerline is valid? [True, True] Translation: X:54.08, Y:-5.20, Z:-2.05 [[ 9.90651945e-01 1.30624188e-01 3.93197889e-02 5.40833214e+01] [-1.30611066e-01 9.91429403e-01 -2.91338696e-03 -5.19756838e+00] [-3.93633536e-02 -2.24944710e-03 9.99222431e-01 -2.04825522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855871560000004 meters 0.014494613406970829 Centerline is valid? [True, True] Translation: X:54.11, Y:-5.20, Z:-2.05 [[ 9.90338934e-01 1.34297737e-01 3.45385871e-02 5.41131324e+01] [-1.34124024e-01 9.90937601e-01 -7.30876372e-03 -5.20095706e+00] [-3.52071351e-02 2.60569899e-03 9.99376640e-01 -2.04997059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885871560000005 meters 0.014715949616578503 Centerline is valid? [True, True] Translation: X:54.14, Y:-5.21, Z:-2.05 [[ 9.90170967e-01 1.35541873e-01 3.44942921e-02 5.41441629e+01] [-1.35459616e-01 9.90771619e-01 -4.72139890e-03 -5.20676864e+00] [-3.48159129e-02 2.40854442e-06 9.99393742e-01 -2.05321385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91587156000001 meters 0.026162015254037288 Centerline is valid? [True, True] Translation: X:54.18, Y:-5.21, Z:-2.06 [[ 9.89953265e-01 1.37281479e-01 3.38574652e-02 5.41767862e+01] [-1.37203044e-01 9.90532076e-01 -4.64025041e-03 -5.21207041e+00] [-3.41739258e-02 -5.17162298e-05 9.99415899e-01 -2.05779417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94587156 meters 0.015387983185324975 Centerline is valid? [True, True] Translation: X:54.21, Y:-5.21, Z:-2.06 [[ 9.89543673e-01 1.40001478e-01 3.46829356e-02 5.42100427e+01] [-1.39920599e-01 9.90151284e-01 -4.76025151e-03 -5.21483918e+00] [-3.50077955e-02 -1.42380371e-04 9.99387029e-01 -2.05559273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97587156 meters 0.015963104847688522 Centerline is valid? [True, True] Translation: X:54.24, Y:-5.22, Z:-2.06 [[ 9.89291229e-01 1.41712688e-01 3.49339005e-02 5.42423927e+01] [-1.41631456e-01 9.89907811e-01 -4.80164262e-03 -5.21828013e+00] [-3.52617947e-02 -1.97516244e-04 9.99378090e-01 -2.05659355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00587156 meters 0.017081280402236488 Centerline is valid? [True, True] Translation: X:54.27, Y:-5.22, Z:-2.06 [[ 9.89007559e-01 1.43609949e-01 3.52169165e-02 5.42739039e+01] [-1.43528358e-01 9.89634334e-01 -4.84725199e-03 -5.22036388e+00] [-3.55479833e-02 -2.60657360e-04 9.99367937e-01 -2.05750002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035871560000004 meters 0.028720165061903308 Centerline is valid? [True, True] Translation: X:54.31, Y:-5.22, Z:-2.06 [[ 9.88504139e-01 1.47111953e-01 3.48947089e-02 5.43057641e+01] [-1.47033842e-01 9.89119776e-01 -4.80820005e-03 -5.22337824e+00] [-3.52223903e-02 -3.77777450e-04 9.99379428e-01 -2.06082052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065871560000005 meters 0.020527771495192585 Centerline is valid? [True, True] Translation: X:54.34, Y:-5.23, Z:-2.06 [[ 9.88242581e-01 1.48801189e-01 3.51398337e-02 5.43378354e+01] [-1.48722831e-01 9.88867037e-01 -4.84795558e-03 -5.22509462e+00] [-3.54700047e-02 -4.35139423e-04 9.99370647e-01 -2.05960803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095871560000006 meters 0.022446636517085977 Centerline is valid? [True, True] Translation: X:54.37, Y:-5.23, Z:-2.06 [[ 9.87967105e-01 1.50598059e-01 3.52309984e-02 5.43685558e+01] [-1.50520174e-01 9.88594953e-01 -4.86788887e-03 -5.22624229e+00] [-3.55622818e-02 -4.93661923e-04 9.99367340e-01 -2.06161713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12587156 meters 0.025650983262207345 Centerline is valid? [True, True] Translation: X:54.40, Y:-5.22, Z:-2.06 [[ 9.87458641e-01 1.54061285e-01 3.45043859e-02 5.43994865e+01] [-1.53988655e-01 9.88061109e-01 -4.76854841e-03 -5.22458183e+00] [-3.48270905e-02 -6.04539665e-04 9.99393170e-01 -2.06387460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15587156 meters 0.03654567523846153 Centerline is valid? [True, True] Translation: X:54.43, Y:-5.23, Z:-2.07 [[ 9.87270265e-01 1.55471647e-01 3.35557806e-02 5.44291404e+01] [-1.55403773e-01 9.87840150e-01 -4.63739890e-03 -5.22846470e+00] [-3.38687314e-02 -6.36328854e-04 9.99426087e-01 -2.06841580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18587156 meters 0.027240077810841527 Centerline is valid? [True, True] Translation: X:54.46, Y:-5.23, Z:-2.07 [[ 9.87117004e-01 1.56290276e-01 3.42544832e-02 5.44592108e+01] [-1.56220026e-01 9.87710934e-01 -4.73429460e-03 -5.23092578e+00] [-3.45734518e-02 -6.77933550e-04 9.99401930e-01 -2.06671547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215871560000004 meters 0.02721095321467041 Centerline is valid? [True, True] Translation: X:54.49, Y:-5.24, Z:-2.07 [[ 9.86944383e-01 1.57325243e-01 3.44898803e-02 5.44896349e+01] [-1.57254674e-01 9.87546581e-01 -4.76628215e-03 -5.23587990e+00] [-3.48102199e-02 -7.19639495e-04 9.99393682e-01 -2.06678361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245871560000005 meters 0.027671469782656975 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.24, Z:-2.07 [[ 9.86956627e-01 1.57190810e-01 3.47514832e-02 5.45184986e+01] [-1.57119079e-01 9.87567988e-01 -4.80255894e-03 -5.24004791e+00] [-3.50743705e-02 -7.20203652e-04 9.99384445e-01 -2.06818085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275871560000006 meters 0.027715730274594095 Centerline is valid? [True, True] Translation: X:54.55, Y:-5.24, Z:-2.07 [[ 9.87059813e-01 1.56576631e-01 3.45931121e-02 5.45476053e+01] [-1.56505190e-01 9.87665568e-01 -4.78024606e-03 -5.24467070e+00] [-3.49149006e-02 -6.95612825e-04 9.99390047e-01 -2.07008280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30587156 meters 0.02771969513240628 Centerline is valid? [True, True] Translation: X:54.58, Y:-5.25, Z:-2.07 [[ 9.87250822e-01 1.55586785e-01 3.35941408e-02 5.45784354e+01] [-1.55518866e-01 9.87822018e-01 -4.64139547e-03 -5.25138358e+00] [-3.39071718e-02 -6.42301176e-04 9.99424780e-01 -2.07214544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33587156 meters 0.028630302784213437 Centerline is valid? [True, True] Translation: X:54.61, Y:-5.26, Z:-2.07 [[ 9.87246110e-01 1.55650087e-01 3.34390451e-02 5.46090637e+01] [-1.55582792e-01 9.87812047e-01 -4.62107637e-03 -5.25549547e+00] [-3.37507625e-02 -6.40400332e-04 9.99430076e-01 -2.07372448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36587156 meters 0.02682876864164359 Centerline is valid? [True, True] Translation: X:54.64, Y:-5.26, Z:-2.07 [[ 9.87193950e-01 1.55841811e-01 3.40798202e-02 5.46392028e+01] [-1.55772050e-01 9.87781805e-01 -4.70892853e-03 -5.25661043e+00] [-3.43972742e-02 -6.60057705e-04 9.99408021e-01 -2.07432223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39587156 meters 0.028858482842632503 Centerline is valid? [True, True] Translation: X:54.67, Y:-5.26, Z:-2.07 [[ 9.86971806e-01 1.57129222e-01 3.45985695e-02 5.46687107e+01] [-1.57058004e-01 9.87577794e-01 -4.78367796e-03 -5.25833136e+00] [-3.49204346e-02 -7.12626989e-04 9.99389842e-01 -2.07434703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425871560000004 meters 0.030709133601104135 Centerline is valid? [True, True] Translation: X:54.70, Y:-5.26, Z:-2.08 [[ 9.86871267e-01 1.57910394e-01 3.39029568e-02 5.46990325e+01] [-1.57842490e-01 9.87453179e-01 -4.68697491e-03 -5.26390112e+00] [-3.42177045e-02 -7.25886239e-04 9.99414139e-01 -2.07591710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455871560000006 meters 0.029043144753157328 Centerline is valid? [True, True] Translation: X:54.73, Y:-5.26, Z:-2.08 [[ 9.86694984e-01 1.58994886e-01 3.39652147e-02 5.47287873e+01] [-1.58927365e-01 9.87279110e-01 -4.69585103e-03 -5.26408871e+00] [-3.42797633e-02 -7.64629419e-04 9.99411984e-01 -2.07621845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48587156000001 meters 0.034245856892688345 Centerline is valid? [True, True] Translation: X:54.76, Y:-5.26, Z:-2.08 [[ 9.86337277e-01 1.61353721e-01 3.32227628e-02 5.47579540e+01] [-1.61290479e-01 9.86896291e-01 -4.59253968e-03 -5.25945149e+00] [-3.35284448e-02 -8.28722244e-04 9.99437420e-01 -2.08069471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51587156 meters 0.035255731378761444 Centerline is valid? [True, True] Translation: X:54.79, Y:-5.26, Z:-2.08 [[ 9.86218212e-01 1.62081948e-01 3.32126555e-02 5.47866501e+01] [-1.62019193e-01 9.86776931e-01 -4.59006990e-03 -5.26067224e+00] [-3.35174497e-02 -8.54277105e-04 9.99437767e-01 -2.08200333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54587156 meters 0.034736506478050114 Centerline is valid? [True, True] Translation: X:54.82, Y:-5.26, Z:-2.08 [[ 9.86059429e-01 1.63024953e-01 3.33116692e-02 5.48153913e+01] [-1.62962412e-01 9.86621544e-01 -4.60222993e-03 -5.26369286e+00] [-3.36162888e-02 -8.90477735e-04 9.99434416e-01 -2.08225013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57587156 meters 0.03564635616329526 Centerline is valid? [True, True] Translation: X:54.84, Y:-5.26, Z:-2.08 [[ 9.85934161e-01 1.63808139e-01 3.31771521e-02 5.48443858e+01] [-1.63746597e-01 9.86491792e-01 -4.58207439e-03 -5.26491222e+00] [-3.34795694e-02 -9.15022105e-04 9.99438983e-01 -2.08339276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605871560000004 meters 0.03710275241215658 Centerline is valid? [True, True] Translation: X:54.87, Y:-5.26, Z:-2.08 [[ 9.85710973e-01 1.65069146e-01 3.35567514e-02 5.48737845e+01] [-1.65006974e-01 9.86281519e-01 -4.63286808e-03 -5.26374770e+00] [-3.38611474e-02 -9.70429093e-04 9.99426076e-01 -2.08329744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635871560000005 meters 0.03713499574411254 Centerline is valid? [True, True] Translation: X:54.90, Y:-5.27, Z:-2.08 [[ 9.85621073e-01 1.65616229e-01 3.35017071e-02 5.49029186e+01] [-1.65554630e-01 9.86189782e-01 -4.62367743e-03 -5.26591521e+00] [-3.38047972e-02 -9.89168803e-04 9.99427965e-01 -2.08424928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66587156000001 meters 0.036179378538668205 Centerline is valid? [True, True] Translation: X:54.93, Y:-5.27, Z:-2.09 [[ 9.85582786e-01 1.65867469e-01 3.33849355e-02 5.49313836e+01] [-1.65806496e-01 9.86147550e-01 -4.60597404e-03 -5.26918969e+00] [-3.36864536e-02 -9.95870445e-04 9.99431954e-01 -2.08507528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69587156 meters 0.037136800237098186 Centerline is valid? [True, True] Translation: X:54.96, Y:-5.27, Z:-2.09 [[ 9.85628586e-01 1.65609661e-01 3.33126197e-02 5.49598330e+01] [-1.65548854e-01 9.86190888e-01 -4.59455459e-03 -5.26811519e+00] [-3.36135047e-02 -9.86341662e-04 9.99434420e-01 -2.08656611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72587156 meters 0.04280103161796955 Centerline is valid? [True, True] Translation: X:54.99, Y:-5.27, Z:-2.09 [[ 9.85730690e-01 1.65137403e-01 3.26288890e-02 5.49879025e+01] [-1.65078877e-01 9.86270111e-01 -4.49812878e-03 -5.27016666e+00] [-3.29237072e-02 -9.52396761e-04 9.99457414e-01 -2.09061526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75587156 meters 0.03689804053486784 Centerline is valid? [True, True] Translation: X:55.02, Y:-5.27, Z:-2.09 [[ 9.85744498e-01 1.64922370e-01 3.32925997e-02 5.50165550e+01] [-1.64861389e-01 9.86306077e-01 -4.58745247e-03 -5.27201702e+00] [-3.35932669e-02 -9.66608213e-04 9.99435119e-01 -2.08899314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785871560000004 meters 0.03701187773818748 Centerline is valid? [True, True] Translation: X:55.04, Y:-5.27, Z:-2.09 [[ 9.85812144e-01 1.64503008e-01 3.33643029e-02 5.50445254e+01] [-1.64441574e-01 9.86376118e-01 -4.59586183e-03 -5.27298336e+00] [-3.36657846e-02 -9.55822063e-04 9.99432690e-01 -2.09040462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815871560000005 meters 0.03698927610483398 Centerline is valid? [True, True] Translation: X:55.07, Y:-5.27, Z:-2.09 [[ 9.85878201e-01 1.64105266e-01 3.33711682e-02 5.50727667e+01] [-1.64043647e-01 9.86442380e-01 -4.59481056e-03 -5.27238473e+00] [-3.36727672e-02 -9.44404562e-04 9.99432465e-01 -2.09188805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845871560000006 meters 0.03669171021942096 Centerline is valid? [True, True] Translation: X:55.10, Y:-5.27, Z:-2.09 [[ 9.85925817e-01 1.63808516e-01 3.34223389e-02 5.51016057e+01] [-1.63746608e-01 9.86491708e-01 -4.59974586e-03 -5.27475806e+00] [-3.37243378e-02 -9.37786441e-04 9.99430733e-01 -2.09350493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87587156 meters 0.03468045343958387 Centerline is valid? [True, True] Translation: X:55.13, Y:-5.28, Z:-2.09 [[ 9.86085867e-01 1.62754694e-01 3.38463080e-02 5.51304538e+01] [-1.62690641e-01 9.86666140e-01 -4.65647326e-03 -5.27765987e+00] [-3.41528689e-02 -9.14795069e-04 9.99416202e-01 -2.09345953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90587156 meters 0.039832639176456276 Centerline is valid? [True, True] Translation: X:55.16, Y:-5.28, Z:-2.10 [[ 9.86263906e-01 1.61740735e-01 3.35178008e-02 5.51579600e+01] [-1.61677384e-01 9.86832900e-01 -4.60981847e-03 -5.27758660e+00] [-3.38220640e-02 -8.72572767e-04 9.99427489e-01 -2.09826683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93587156 meters 0.03307549271789054 Centerline is valid? [True, True] Translation: X:55.19, Y:-5.28, Z:-2.10 [[ 9.86335332e-01 1.61198189e-01 3.40258159e-02 5.51858931e+01] [-1.61132655e-01 9.86921673e-01 -4.67748410e-03 -5.28467365e+00] [-3.43348171e-02 -8.69102245e-04 9.99410008e-01 -2.09586644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965871560000004 meters 0.030078903504429468 Centerline is valid? [True, True] Translation: X:55.21, Y:-5.29, Z:-2.10 [[ 9.86830368e-01 1.58269815e-01 3.34139178e-02 5.52144878e+01] [-1.58204987e-01 9.87395613e-01 -4.59197538e-03 -5.29020077e+00] [-3.37195270e-02 -7.54747662e-04 9.99431050e-01 -2.09785999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995871560000005 meters 0.030078903504429468 Centerline is valid? [True, True] Translation: X:55.24, Y:-5.29, Z:-2.10 [[ 9.86837945e-01 1.58222499e-01 3.34142357e-02 5.52425419e+01] [-1.58157721e-01 9.87403195e-01 -4.58966101e-03 -5.29396311e+00] [-3.37195107e-02 -7.55467738e-04 9.99431050e-01 -2.09914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025871560000006 meters 0.03552113053369635 Centerline is valid? [True, True] Translation: X:55.27, Y:-5.30, Z:-2.10 [[ 9.87258607e-01 1.55802494e-01 3.23423300e-02 5.52692567e+01] [-1.55740553e-01 9.87788012e-01 -4.44106916e-03 -5.30005633e+00] [-3.26392955e-02 -6.52528598e-04 9.99466983e-01 -2.10353424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05587156000001 meters 0.02636674716333208 Centerline is valid? [True, True] Translation: X:55.30, Y:-5.30, Z:-2.10 [[ 9.87514510e-01 1.54020213e-01 3.30585365e-02 5.52975046e+01] [-1.53954573e-01 9.88067509e-01 -4.53720224e-03 -5.30491658e+00] [-3.33628867e-02 -6.08959823e-04 9.99443118e-01 -2.10270983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08587156 meters 0.02374050180767847 Centerline is valid? [True, True] Translation: X:55.33, Y:-5.31, Z:-2.10 [[ 9.87846983e-01 1.51844033e-01 3.31922821e-02 5.53256251e+01] [-1.51776687e-01 9.88404320e-01 -4.55395546e-03 -5.31196751e+00] [-3.34988860e-02 -5.39203454e-04 9.99438609e-01 -2.10337586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11587156 meters 0.021361739101983728 Centerline is valid? [True, True] Translation: X:55.35, Y:-5.32, Z:-2.10 [[ 9.88341134e-01 1.48569626e-01 3.32996864e-02 5.53538437e+01] [-1.48500044e-01 9.88901856e-01 -4.56690479e-03 -5.31809034e+00] [-3.36086250e-02 -4.31345034e-04 9.99434978e-01 -2.10399629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14587156 meters 0.02201056096013032 Centerline is valid? [True, True] Translation: X:55.38, Y:-5.32, Z:-2.11 [[ 9.88488565e-01 1.47544395e-01 3.34814574e-02 5.53826035e+01] [-1.47473505e-01 9.89055353e-01 -4.59059377e-03 -5.32018876e+00] [-3.37923310e-02 -3.99878427e-04 9.99428796e-01 -2.10725435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175871560000004 meters 0.019528592967439858 Centerline is valid? [True, True] Translation: X:55.41, Y:-5.33, Z:-2.11 [[ 9.88618098e-01 1.46738106e-01 3.31991741e-02 5.54112315e+01] [-1.46667997e-01 9.89175309e-01 -4.55057616e-03 -5.32676692e+00] [-3.35075462e-02 -3.70474413e-04 9.99438396e-01 -2.10639433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205871560000006 meters 0.019954792630336556 Centerline is valid? [True, True] Translation: X:55.44, Y:-5.33, Z:-2.11 [[ 9.88660226e-01 1.46546645e-01 3.27877746e-02 5.54393982e+01] [-1.46478183e-01 9.89203695e-01 -4.49342898e-03 -5.33023581e+00] [-3.30922847e-02 -3.60219121e-04 9.99452235e-01 -2.11020257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23587156000001 meters 0.019976301118744526 Centerline is valid? [True, True] Translation: X:55.47, Y:-5.33, Z:-2.11 [[ 9.88738113e-01 1.46196718e-01 3.19916023e-02 5.54689219e+01] [-1.46131385e-01 9.89255479e-01 -4.38347128e-03 -5.33440429e+00] [-3.22887170e-02 -3.40872033e-04 9.99478525e-01 -2.11302646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26587156 meters 0.019365084828998194 Centerline is valid? [True, True] Translation: X:55.50, Y:-5.34, Z:-2.12 [[ 9.88880491e-01 1.45458657e-01 3.09379045e-02 5.54978818e+01] [-1.45397218e-01 9.89364283e-01 -4.23840198e-03 -5.33916445e+00] [-3.12253699e-02 -3.07012222e-04 9.99512322e-01 -2.11550941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29587156 meters 0.018910859610748173 Centerline is valid? [True, True] Translation: X:55.53, Y:-5.34, Z:-2.12 [[ 9.88980023e-01 1.44812242e-01 3.07884430e-02 5.55265643e+01] [-1.44751095e-01 9.89459111e-01 -4.21753215e-03 -5.34293699e+00] [-3.10746558e-02 -2.85605800e-04 9.99517025e-01 -2.11692929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32587156 meters 0.018103528655287696 Centerline is valid? [True, True] Translation: X:55.56, Y:-5.35, Z:-2.12 [[ 9.89060856e-01 1.44349040e-01 3.03641027e-02 5.55560649e+01] [-1.44289403e-01 9.89526797e-01 -4.15764584e-03 -5.34764187e+00] [-3.06462455e-02 -2.69053484e-04 9.99530257e-01 -2.11722609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355871560000004 meters 0.024417458121909482 Centerline is valid? [True, True] Translation: X:55.58, Y:-5.35, Z:-2.12 [[ 9.89180703e-01 1.43694140e-01 2.95555617e-02 5.55848039e+01] [-1.43637360e-01 9.89622117e-01 -4.04642112e-03 -5.35065164e+00] [-2.98302846e-02 -2.42641166e-04 9.99554949e-01 -2.12133279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385871560000005 meters 0.01873972937307247 Centerline is valid? [True, True] Translation: X:55.61, Y:-5.35, Z:-2.12 [[ 9.89042768e-01 1.44462932e-01 3.04115672e-02 5.56139433e+01] [-1.44403209e-01 9.89510175e-01 -4.16261161e-03 -5.35221080e+00] [-3.06938983e-02 -2.74526985e-04 9.99528794e-01 -2.12047095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41587156000001 meters 0.01892197617653711 Centerline is valid? [True, True] Translation: X:55.64, Y:-5.35, Z:-2.12 [[ 9.88922017e-01 1.45141885e-01 3.10978608e-02 5.56424548e+01] [-1.45079819e-01 9.89410805e-01 -4.25501472e-03 -5.35453521e+00] [-3.13861403e-02 -3.03794265e-04 9.99507288e-01 -2.12041373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44587156 meters 0.02492779488228594 Centerline is valid? [True, True] Translation: X:55.67, Y:-5.35, Z:-2.12 [[ 9.88691249e-01 1.46496484e-01 3.20685741e-02 5.56709914e+01] [-1.46431239e-01 9.89211126e-01 -4.38643853e-03 -5.35108065e+00] [-3.23651881e-02 -3.59007659e-04 9.99476046e-01 -2.12430110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47587156 meters 0.019872986782133686 Centerline is valid? [True, True] Translation: X:55.70, Y:-5.36, Z:-2.12 [[ 9.88518151e-01 1.47549670e-01 3.25723773e-02 5.56992654e+01] [-1.47483007e-01 9.89054565e-01 -4.45301135e-03 -5.35587094e+00] [-3.28728988e-02 -4.01989601e-04 9.99459459e-01 -2.11866476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50587156 meters 0.020126655508103535 Centerline is valid? [True, True] Translation: X:55.73, Y:-5.36, Z:-2.12 [[ 9.88392339e-01 1.48320978e-01 3.28857509e-02 5.57276157e+01] [-1.48253503e-01 9.88939179e-01 -4.49435202e-03 -5.35746550e+00] [-3.31886142e-02 -4.33244660e-04 9.99449012e-01 -2.11940784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535871560000004 meters 0.021722214930469143 Centerline is valid? [True, True] Translation: X:55.76, Y:-5.36, Z:-2.12 [[ 9.88308431e-01 1.48881340e-01 3.28753883e-02 5.57553500e+01] [-1.48814286e-01 9.88854964e-01 -4.49086019e-03 -5.35725056e+00] [-3.31775962e-02 -4.53972442e-04 9.99449369e-01 -2.12171178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565871560000005 meters 0.022846207575336838 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.36, Z:-2.12 [[ 9.88217681e-01 1.49586503e-01 3.23989707e-02 5.57833456e+01] [-1.49521823e-01 9.88748530e-01 -4.42377073e-03 -5.35685403e+00] [-3.26961711e-02 -4.72704722e-04 9.99465225e-01 -2.12405946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595871560000006 meters 0.023025007814873363 Centerline is valid? [True, True] Translation: X:55.81, Y:-5.36, Z:-2.13 [[ 9.88213945e-01 1.49622155e-01 3.23482538e-02 5.58124120e+01] [-1.49557765e-01 9.88743134e-01 -4.41473925e-03 -5.35915844e+00] [-3.26446566e-02 -4.75225660e-04 9.99466908e-01 -2.12520573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62587156 meters 0.022597445041905282 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.36, Z:-2.13 [[ 9.88201395e-01 1.49654292e-01 3.25821523e-02 5.58412618e+01] [-1.49589036e-01 9.88738267e-01 -4.44510209e-03 -5.36189319e+00] [-3.28804494e-02 -4.81276662e-04 9.99459176e-01 -2.12598366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65587156 meters 0.028141907775688344 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.36, Z:-2.13 [[ 9.88138684e-01 1.50129341e-01 3.22973912e-02 5.58694912e+01] [-1.50065528e-01 9.88666241e-01 -4.40462815e-03 -5.35517929e+00] [-3.25926043e-02 -4.94341600e-04 9.99468598e-01 -2.13249525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68587156 meters 0.029274969374962344 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.36, Z:-2.13 [[ 9.88156472e-01 1.50147957e-01 3.16603574e-02 5.58977423e+01] [-1.50086685e-01 9.88663418e-01 -4.31653252e-03 -5.36452767e+00] [-3.19495557e-02 -4.86388549e-04 9.99489364e-01 -2.12994749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715871560000004 meters 0.02461248928240759 Centerline is valid? [True, True] Translation: X:55.93, Y:-5.36, Z:-2.13 [[ 9.87828570e-01 1.52008499e-01 3.29868639e-02 5.59276563e+01] [-1.51943077e-01 9.88379021e-01 -4.49571183e-03 -5.36246968e+00] [-3.32869106e-02 -5.71133012e-04 9.99445674e-01 -2.12825371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745871560000005 meters 0.02640756108367095 Centerline is valid? [True, True] Translation: X:55.96, Y:-5.36, Z:-2.13 [[ 9.87701697e-01 1.52919701e-01 3.25718221e-02 5.59557695e+01] [-1.52856457e-01 9.88238438e-01 -4.43773163e-03 -5.36147890e+00] [-3.28673432e-02 -5.95658258e-04 9.99459545e-01 -2.13087414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775871560000006 meters 0.026468495257417356 Centerline is valid? [True, True] Translation: X:55.98, Y:-5.36, Z:-2.13 [[ 9.87524731e-01 1.54124823e-01 3.22559198e-02 5.59849082e+01] [-1.54063510e-01 9.88051183e-01 -4.39260137e-03 -5.36286604e+00] [-3.25475086e-02 -6.31657728e-04 9.99469990e-01 -2.13209389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80587156000001 meters 0.028575458648529298 Centerline is valid? [True, True] Translation: X:56.01, Y:-5.36, Z:-2.13 [[ 9.87382800e-01 1.55060521e-01 3.21160637e-02 5.60129708e+01] [-1.55000279e-01 9.87904751e-01 -4.37213922e-03 -5.36126993e+00] [-3.24055581e-02 -6.61023760e-04 9.99474583e-01 -2.13468026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83587156 meters 0.032256165590778374 Centerline is valid? [True, True] Translation: X:56.04, Y:-5.35, Z:-2.14 [[ 9.87134246e-01 1.56481563e-01 3.28557503e-02 5.60421002e+01] [-1.56419370e-01 9.87680613e-01 -4.47073786e-03 -5.35472813e+00] [-3.31505757e-02 -7.26057321e-04 9.99450105e-01 -2.13631051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86587156 meters 0.030037189812879207 Centerline is valid? [True, True] Translation: X:56.07, Y:-5.36, Z:-2.14 [[ 9.87104781e-01 1.56639513e-01 3.29880946e-02 5.60703678e+01] [-1.56576976e-01 9.87655568e-01 -4.48662956e-03 -5.35777649e+00] [-3.32836588e-02 -7.36402628e-04 9.99445674e-01 -2.13531377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89587156 meters 0.029999346452389632 Centerline is valid? [True, True] Translation: X:56.10, Y:-5.36, Z:-2.14 [[ 9.87092948e-01 1.56643574e-01 3.33211970e-02 5.60998030e+01] [-1.56579824e-01 9.87654917e-01 -4.53030838e-03 -5.35822474e+00] [-3.36194877e-02 -7.45591707e-04 9.99434427e-01 -2.13617230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925871560000004 meters 0.02851974189742167 Centerline is valid? [True, True] Translation: X:56.13, Y:-5.36, Z:-2.14 [[ 9.87259447e-01 1.55608000e-01 3.32405509e-02 5.61288177e+01] [-1.55544026e-01 9.87818630e-01 -4.51775134e-03 -5.35898422e+00] [-3.35386337e-02 -7.10176420e-04 9.99437169e-01 -2.13699863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955871560000006 meters 0.027443152307045852 Centerline is valid? [True, True] Translation: X:56.16, Y:-5.36, Z:-2.14 [[ 9.87423409e-01 1.54603672e-01 3.30562518e-02 5.61574249e+01] [-1.54539896e-01 9.87976341e-01 -4.49110534e-03 -5.36208079e+00] [-3.33531361e-02 -6.73887185e-04 9.99443402e-01 -2.13814454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98587156000001 meters 0.027077346304716025 Centerline is valid? [True, True] Translation: X:56.18, Y:-5.36, Z:-2.14 [[ 9.87638640e-01 1.53262785e-01 3.28699774e-02 5.61848891e+01] [-1.53199031e-01 9.88185269e-01 -4.46435178e-03 -5.36367545e+00] [-3.31658464e-02 -6.26482378e-04 9.99449666e-01 -2.14030834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01587156 meters 0.02440418505350931 Centerline is valid? [True, True] Translation: X:56.21, Y:-5.37, Z:-2.14 [[ 9.88135556e-01 1.50020411e-01 3.28937496e-02 5.62126535e+01] [-1.49954836e-01 9.88682763e-01 -4.46557392e-03 -5.36675582e+00] [-3.31914104e-02 -5.19984442e-04 9.99448878e-01 -2.14243299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04587156 meters 0.021128568628395395 Centerline is valid? [True, True] Translation: X:56.24, Y:-5.37, Z:-2.14 [[ 9.88463405e-01 1.48004306e-01 3.21686708e-02 5.62407054e+01] [-1.47940587e-01 9.88986617e-01 -4.36516814e-03 -5.37304553e+00] [-3.24604486e-02 -4.44243080e-04 9.99472922e-01 -2.14277795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07587156 meters 0.019978129164626962 Centerline is valid? [True, True] Translation: X:56.27, Y:-5.38, Z:-2.15 [[ 9.88764680e-01 1.46013767e-01 3.20060485e-02 5.62683628e+01] [-1.45949694e-01 9.89282486e-01 -4.34168268e-03 -5.37593367e+00] [-3.22969686e-02 -3.78370482e-04 9.99478245e-01 -2.14530117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105871560000004 meters 0.03049094608455154 Centerline is valid? [True, True] Translation: X:56.30, Y:-5.38, Z:-2.15 [[ 9.89129059e-01 1.43728686e-01 3.10768408e-02 5.62952750e+01] [-1.43667205e-01 9.89617086e-01 -4.21396321e-03 -5.37949235e+00] [-3.13598400e-02 -2.96569378e-04 9.99508115e-01 -2.15050539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135871560000005 meters 0.016010541141146792 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.39, Z:-2.15 [[ 9.89588109e-01 1.40184665e-01 3.26134149e-02 5.63236672e+01] [-1.40115121e-01 9.90125356e-01 -4.41944651e-03 -5.38630387e+00] [-3.29109077e-02 -1.96200868e-04 9.99458270e-01 -2.14728851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16587156000001 meters 0.015530872395198564 Centerline is valid? [True, True] Translation: X:56.35, Y:-5.39, Z:-2.15 [[ 9.89871698e-01 1.38118325e-01 3.28230147e-02 5.63514601e+01] [-1.38046795e-01 9.90415727e-01 -4.44643042e-03 -5.39039157e+00] [-3.31225635e-02 -1.29716369e-04 9.99451289e-01 -2.14981689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19587156 meters 0.01430346636123728 Centerline is valid? [True, True] Translation: X:56.38, Y:-5.40, Z:-2.15 [[ 9.90154183e-01 1.36020271e-01 3.30632674e-02 5.63800825e+01] [-1.35946597e-01 9.90706052e-01 -4.47668340e-03 -5.39574971e+00] [-3.33648988e-02 -6.22318858e-05 9.99443235e-01 -2.14839770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22587156 meters 0.01449951822803964 Centerline is valid? [True, True] Translation: X:56.41, Y:-5.40, Z:-2.15 [[ 9.90833430e-01 1.30906016e-01 3.33575894e-02 5.64075083e+01] [-1.30828177e-01 9.91394777e-01 -4.51500583e-03 -5.40331301e+00] [-3.36615813e-02 1.09506105e-04 9.99433282e-01 -2.14980250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25587156 meters 0.015414126323363562 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.41, Z:-2.15 [[ 9.91177935e-01 1.28267832e-01 3.33716171e-02 5.64358814e+01] [-1.28188505e-01 9.91739545e-01 -4.51471555e-03 -5.40974053e+00] [-3.36750451e-02 1.97028712e-04 9.99432815e-01 -2.15085926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285871560000004 meters 0.01645852472977348 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.42, Z:-2.15 [[ 9.91472289e-01 1.25904917e-01 3.36251798e-02 5.64651580e+01] [-1.25823085e-01 9.92042275e-01 -4.54712782e-03 -5.41596117e+00] [-3.39301057e-02 2.77527350e-04 9.99424170e-01 -2.15208953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315871560000005 meters 0.01784590239979502 Centerline is valid? [True, True] Translation: X:56.49, Y:-5.42, Z:-2.15 [[ 9.91782683e-01 1.23506859e-01 3.33641392e-02 5.64940610e+01] [-1.23424964e-01 9.92343655e-01 -4.51103540e-03 -5.42205998e+00] [-3.36658356e-02 3.55999130e-04 9.99433082e-01 -2.15335191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345871560000006 meters 0.020506502776089338 Centerline is valid? [True, True] Translation: X:56.52, Y:-5.43, Z:-2.15 [[ 9.92304323e-01 1.19314141e-01 3.31099248e-02 5.65239705e+01] [-1.19231190e-01 9.92856431e-01 -4.47559017e-03 -5.43026254e+00] [-3.34074030e-02 4.93411725e-04 9.99441695e-01 -2.15442106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37587156 meters 0.022781750839241836 Centerline is valid? [True, True] Translation: X:56.55, Y:-5.44, Z:-2.16 [[ 9.92483108e-01 1.17776949e-01 3.32546213e-02 5.65514586e+01] [-1.17692395e-01 9.93039924e-01 -4.49557538e-03 -5.43719860e+00] [-3.35526418e-02 5.47966613e-04 9.99436801e-01 -2.15697117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40587156 meters 0.023945440108361114 Centerline is valid? [True, True] Translation: X:56.58, Y:-5.44, Z:-2.16 [[ 9.92630502e-01 1.16546544e-01 3.31902063e-02 5.65809229e+01] [-1.16461680e-01 9.93185058e-01 -4.48536571e-03 -5.44291107e+00] [-3.34867708e-02 5.86923643e-04 9.99438988e-01 -2.15810506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43587156 meters 0.02483344077603735 Centerline is valid? [True, True] Translation: X:56.61, Y:-5.45, Z:-2.16 [[ 9.92860087e-01 1.14584812e-01 3.31537052e-02 5.66106531e+01] [-1.14499059e-01 9.93413255e-01 -4.47990481e-03 -5.44823380e+00] [-3.34486593e-02 6.51850641e-04 9.99440224e-01 -2.15877228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465871560000004 meters 0.02662350488220892 Centerline is valid? [True, True] Translation: X:56.64, Y:-5.45, Z:-2.16 [[ 9.92933554e-01 1.13990262e-01 3.30027054e-02 5.66403390e+01] [-1.13904965e-01 9.93481642e-01 -4.45935857e-03 -5.45438324e+00] [-3.32959054e-02 6.68674762e-04 9.99445314e-01 -2.16094814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495871560000005 meters 0.026025144305057334 Centerline is valid? [True, True] Translation: X:56.67, Y:-5.46, Z:-2.16 [[ 9.92994250e-01 1.13502342e-01 3.28578320e-02 5.66705920e+01] [-1.13417508e-01 9.93537494e-01 -4.44031796e-03 -5.45700844e+00] [-3.31494746e-02 6.82556797e-04 9.99450172e-01 -2.16201673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525871560000006 meters 0.030513197430020594 Centerline is valid? [True, True] Translation: X:56.70, Y:-5.46, Z:-2.16 [[ 9.93086940e-01 1.12807998e-01 3.24451207e-02 5.67006222e+01] [-1.12724912e-01 9.93616561e-01 -4.38454528e-03 -5.46186891e+00] [-3.27326210e-02 6.96861284e-04 9.99463901e-01 -2.16426910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55587156000001 meters 0.027720484597528825 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.47, Z:-2.16 [[ 9.93102693e-01 1.12329379e-01 3.36028576e-02 5.67302872e+01] [-1.12239986e-01 9.93670753e-01 -4.54086525e-03 -5.46787801e+00] [-3.39002494e-02 7.37961249e-04 9.99424949e-01 -2.16375322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58587156 meters 0.027081133980790935 Centerline is valid? [True, True] Translation: X:56.76, Y:-5.47, Z:-2.16 [[ 9.93157259e-01 1.11871121e-01 3.35188169e-02 5.67614558e+01] [-1.11781906e-01 9.93722439e-01 -4.52976257e-03 -5.47195402e+00] [-3.38151501e-02 7.51969347e-04 9.99427821e-01 -2.16456249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61587156 meters 0.029671622825207307 Centerline is valid? [True, True] Translation: X:56.79, Y:-5.48, Z:-2.17 [[ 9.93207488e-01 1.11382693e-01 3.36568226e-02 5.67917135e+01] [-1.11292483e-01 9.93777290e-01 -4.54774482e-03 -5.48049740e+00] [-3.39539260e-02 7.71102831e-04 9.99423102e-01 -2.16748056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64587156 meters 0.030442896570431203 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.49, Z:-2.17 [[ 9.93378672e-01 1.09765729e-01 3.39160522e-02 5.68232390e+01] [-1.09673002e-01 9.93957133e-01 -4.58803780e-03 -5.48891939e+00] [-3.42147113e-02 8.37983645e-04 9.99414154e-01 -2.16805003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675871560000004 meters 0.029952033983611032 Centerline is valid? [True, True] Translation: X:56.85, Y:-5.49, Z:-2.17 [[ 9.93488336e-01 1.08755897e-01 3.39570448e-02 5.68548231e+01] [-1.08662166e-01 9.94068097e-01 -4.59912003e-03 -5.49451671e+00] [-3.42557963e-02 8.79326061e-04 9.99412711e-01 -2.16867099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705871560000006 meters 0.03500502777976517 Centerline is valid? [True, True] Translation: X:56.89, Y:-5.50, Z:-2.17 [[ 9.93682527e-01 1.07316466e-01 3.28361287e-02 5.68859963e+01] [-1.07227813e-01 9.94224500e-01 -4.45408709e-03 -5.50326599e+00] [-3.31244806e-02 9.05002239e-04 9.99450824e-01 -2.17195051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73587156000001 meters 0.03318495133251578 Centerline is valid? [True, True] Translation: X:56.92, Y:-5.51, Z:-2.17 [[ 9.93682246e-01 1.06954641e-01 3.40043934e-02 5.69163882e+01] [-1.06859344e-01 9.94263447e-01 -4.61284019e-03 -5.51432033e+00] [-3.43026901e-02 9.50010218e-04 9.99411038e-01 -2.17231007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76587156 meters 0.03142780195866158 Centerline is valid? [True, True] Translation: X:56.95, Y:-5.52, Z:-2.17 [[ 9.93676059e-01 1.07084980e-01 3.37741979e-02 5.69489292e+01] [-1.06990845e-01 9.94249422e-01 -4.58749131e-03 -5.51863628e+00] [-3.40712282e-02 9.44950323e-04 9.99418960e-01 -2.17268323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79587156 meters 0.03404400635218256 Centerline is valid? [True, True] Translation: X:56.98, Y:-5.53, Z:-2.18 [[ 9.93612297e-01 1.07686454e-01 3.37376902e-02 5.69793351e+01] [-1.07592630e-01 9.94184471e-01 -4.58953786e-03 -5.52814466e+00] [-3.40357187e-02 9.30294432e-04 9.99420184e-01 -2.17634613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82587156 meters 0.031231137693047147 Centerline is valid? [True, True] Translation: X:57.01, Y:-5.53, Z:-2.18 [[ 9.93471222e-01 1.09071756e-01 3.34407512e-02 5.70115973e+01] [-1.08980188e-01 9.94033489e-01 -4.55428012e-03 -5.53269925e+00] [-3.37379699e-02 8.80166895e-04 9.99430325e-01 -2.17735716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855871560000004 meters 0.02986526841344213 Centerline is valid? [True, True] Translation: X:57.04, Y:-5.54, Z:-2.18 [[ 9.93378600e-01 1.09967839e-01 3.32570397e-02 5.70436987e+01] [-1.09877592e-01 9.93934782e-01 -4.53473185e-03 -5.53785667e+00] [-3.35540032e-02 8.50502140e-04 9.99436544e-01 -2.17849212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885871560000005 meters 0.02986526841344213 Centerline is valid? [True, True] Translation: X:57.08, Y:-5.54, Z:-2.18 [[ 9.93357613e-01 1.10157481e-01 3.32563232e-02 5.70758909e+01] [-1.10067164e-01 9.93913783e-01 -4.53997959e-03 -5.54242205e+00] [-3.35540307e-02 8.49394102e-04 9.99436544e-01 -2.17996623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91587156000001 meters 0.0290471995824887 Centerline is valid? [True, True] Translation: X:57.11, Y:-5.55, Z:-2.18 [[ 9.93230308e-01 1.11329662e-01 3.31551069e-02 5.71071385e+01] [-1.11240323e-01 9.93783198e-01 -4.53286339e-03 -5.54838360e+00] [-3.34536303e-02 8.13992505e-04 9.99439939e-01 -2.18162492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94587156 meters 0.027638482773266637 Centerline is valid? [True, True] Translation: X:57.14, Y:-5.56, Z:-2.18 [[ 9.92921593e-01 1.14177671e-01 3.27134313e-02 5.71374597e+01] [-1.14092055e-01 9.93460090e-01 -4.47810431e-03 -5.55560769e+00] [-3.30107879e-02 7.14063858e-04 9.99454740e-01 -2.18402052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97587156 meters 0.026216233663946997 Centerline is valid? [True, True] Translation: X:57.17, Y:-5.56, Z:-2.19 [[ 9.92727144e-01 1.15960740e-01 3.23407601e-02 5.71697991e+01] [-1.15877806e-01 9.93253583e-01 -4.43335050e-03 -5.56001230e+00] [-3.26366705e-02 6.53531063e-04 9.99467068e-01 -2.18621397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00587156 meters 0.02723149265287661 Centerline is valid? [True, True] Translation: X:57.20, Y:-5.56, Z:-2.19 [[ 9.92507913e-01 1.18014743e-01 3.16316852e-02 5.72013145e+01] [-1.17936380e-01 9.93011676e-01 -4.33828270e-03 -5.56384266e+00] [-3.19226141e-02 5.75253449e-04 9.99490178e-01 -2.18906051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035871560000004 meters 0.023176655027821895 Centerline is valid? [True, True] Translation: X:57.23, Y:-5.56, Z:-2.19 [[ 9.91852474e-01 1.23535735e-01 3.11061296e-02 5.72322726e+01] [-1.23462623e-01 9.92340047e-01 -4.26760345e-03 -5.56342290e+00] [-3.13950597e-02 3.92388686e-04 9.99506977e-01 -2.19069865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065871560000005 meters 0.01759666245492904 Centerline is valid? [True, True] Translation: X:57.26, Y:-5.56, Z:-2.19 [[ 9.91449835e-01 1.26716440e-01 3.11475126e-02 5.72622386e+01] [-1.26644673e-01 9.91938939e-01 -4.27421340e-03 -5.56326786e+00] [-3.14380437e-02 2.93001616e-04 9.99505660e-01 -2.19102372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095871560000006 meters 0.021923719481389117 Centerline is valid? [True, True] Translation: X:57.29, Y:-5.56, Z:-2.20 [[ 9.91073486e-01 1.29825901e-01 3.03080861e-02 5.72906268e+01] [-1.29759420e-01 9.91536787e-01 -4.15848745e-03 -5.56395327e+00] [-3.05914617e-02 1.88606977e-04 9.99531954e-01 -2.19511862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12587156 meters 0.015087133572005227 Centerline is valid? [True, True] Translation: X:57.32, Y:-5.56, Z:-2.19 [[ 9.90615812e-01 1.33172895e-01 3.07456326e-02 5.73197885e+01] [-1.33106122e-01 9.91092817e-01 -4.21754493e-03 -5.56260348e+00] [-3.10334383e-02 8.55347758e-05 9.99518343e-01 -2.19448257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15587156 meters 0.01618349937921356 Centerline is valid? [True, True] Translation: X:57.35, Y:-5.56, Z:-2.20 [[ 9.89731370e-01 1.39277876e-01 3.21479089e-02 5.73486877e+01] [-1.39208137e-01 9.90253332e-01 -4.40839090e-03 -5.55734607e+00] [-3.24485652e-02 -1.12127724e-04 9.99473400e-01 -2.19771482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18587156 meters 0.016420845950337087 Centerline is valid? [True, True] Translation: X:57.38, Y:-5.56, Z:-2.20 [[ 9.89366389e-01 1.41694137e-01 3.28164709e-02 5.73782344e+01] [-1.41622868e-01 9.89910467e-01 -4.49785505e-03 -5.55872379e+00] [-3.31226877e-02 -1.97536126e-04 9.99451274e-01 -2.19517047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215871560000004 meters 0.01726658335736882 Centerline is valid? [True, True] Translation: X:57.41, Y:-5.56, Z:-2.20 [[ 9.89109088e-01 1.43361107e-01 3.33287363e-02 5.74067588e+01] [-1.43288595e-01 9.89670413e-01 -4.56646384e-03 -5.55971846e+00] [-3.36391175e-02 -2.58896916e-04 9.99434011e-01 -2.19552223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245871560000005 meters 0.018592934684968226 Centerline is valid? [True, True] Translation: X:57.43, Y:-5.56, Z:-2.20 [[ 9.88897673e-01 1.44708587e-01 3.37759778e-02 5.74342011e+01] [-1.44634949e-01 9.89474269e-01 -4.62631432e-03 -5.56081605e+00] [-3.40899284e-02 -3.10235377e-04 9.99418721e-01 -2.19657369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275871560000006 meters 0.018259221408517486 Centerline is valid? [True, True] Translation: X:57.46, Y:-5.57, Z:-2.20 [[ 9.88731533e-01 1.45799304e-01 3.39487735e-02 5.74624847e+01] [-1.45725635e-01 9.89314126e-01 -4.64760163e-03 -5.56524936e+00] [-3.42636183e-02 -3.51976312e-04 9.99412768e-01 -2.19578747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30587156000001 meters 0.01923529696129734 Centerline is valid? [True, True] Translation: X:57.49, Y:-5.57, Z:-2.20 [[ 9.88778819e-01 1.45550792e-01 3.36364968e-02 5.74903654e+01] [-1.45478379e-01 9.89350722e-01 -4.60334595e-03 -5.56785313e+00] [-3.39483131e-02 -3.41692074e-04 9.99423531e-01 -2.19929823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33587156 meters 0.018032012544640322 Centerline is valid? [True, True] Translation: X:57.52, Y:-5.57, Z:-2.20 [[ 9.88920779e-01 1.44764014e-01 3.28492436e-02 5.75187238e+01] [-1.44694589e-01 9.89466161e-01 -4.49349413e-03 -5.57456917e+00] [-3.31537112e-02 -3.09398085e-04 9.99450217e-01 -2.20096034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36587156 meters 0.01713910309707918 Centerline is valid? [True, True] Translation: X:57.55, Y:-5.58, Z:-2.21 [[ 9.89296450e-01 1.42449123e-01 3.16351199e-02 5.75458817e+01] [-1.42383593e-01 9.89802100e-01 -4.32616238e-03 -5.58232347e+00] [-3.19287662e-02 -2.24464942e-04 9.99490122e-01 -2.20551418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39587156 meters 0.016365367222131215 Centerline is valid? [True, True] Translation: X:57.57, Y:-5.59, Z:-2.21 [[ 9.89542714e-01 1.40799101e-01 3.13182057e-02 5.75744846e+01] [-1.40734121e-01 9.90038173e-01 -4.28058976e-03 -5.58895666e+00] [-3.16089223e-02 -1.71713741e-04 9.99500298e-01 -2.20749884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425871560000004 meters 0.015882778700252835 Centerline is valid? [True, True] Translation: X:57.60, Y:-5.60, Z:-2.21 [[ 9.90010281e-01 1.37606034e-01 3.07282002e-02 5.76009413e+01] [-1.37541982e-01 9.90487039e-01 -4.19867281e-03 -5.59810705e+00] [-3.10136467e-02 -6.96882936e-05 9.99518959e-01 -2.21185154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455871560000006 meters 0.014984969389679113 Centerline is valid? [True, True] Translation: X:57.63, Y:-5.61, Z:-2.21 [[ 9.90248803e-01 1.35951495e-01 3.04055672e-02 5.76288995e+01] [-1.35888060e-01 9.90715494e-01 -4.15263793e-03 -5.60538085e+00] [-3.06878238e-02 -1.96088014e-05 9.99529018e-01 -2.21004262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48587156000001 meters 0.015102042662185929 Centerline is valid? [True, True] Translation: X:57.66, Y:-5.61, Z:-2.21 [[ 9.90421291e-01 1.34629617e-01 3.06681018e-02 5.76562678e+01] [-1.34564489e-01 9.90895991e-01 -4.18720062e-03 -5.61196768e+00] [-3.09526203e-02 2.02552127e-05 9.99520853e-01 -2.21241845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51587156 meters 0.015068188265584323 Centerline is valid? [True, True] Translation: X:57.68, Y:-5.62, Z:-2.21 [[ 9.90516285e-01 1.33764454e-01 3.13776893e-02 5.76847213e+01] [-1.33695922e-01 9.91013153e-01 -4.28158027e-03 -5.61790190e+00] [-3.16684260e-02 4.59058994e-05 9.99498429e-01 -2.21312985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54587156 meters 0.01481030665045652 Centerline is valid? [True, True] Translation: X:57.71, Y:-5.62, Z:-2.21 [[ 9.90572801e-01 1.33148082e-01 3.22042490e-02 5.77135246e+01] [-1.33075608e-01 9.91096153e-01 -4.39301833e-03 -5.62310206e+00] [-3.25024292e-02 6.60044683e-05 9.99471654e-01 -2.21274628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57587156 meters 0.014641250899656455 Centerline is valid? [True, True] Translation: X:57.74, Y:-5.63, Z:-2.21 [[ 9.90544330e-01 1.33274940e-01 3.25533470e-02 5.77429004e+01] [-1.33200980e-01 9.91079102e-01 -4.43986149e-03 -5.62729534e+00] [-3.28546641e-02 6.17419013e-05 9.99460138e-01 -2.21268617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605871560000004 meters 0.014529514342321567 Centerline is valid? [True, True] Translation: X:57.77, Y:-5.63, Z:-2.21 [[ 9.90505179e-01 1.33614630e-01 3.23515097e-02 5.77725259e+01] [-1.33541791e-01 9.91033364e-01 -4.41157151e-03 -5.63107147e+00] [-3.26508760e-02 4.94058868e-05 9.99466817e-01 -2.21409238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635871560000005 meters 0.016881765722015624 Centerline is valid? [True, True] Translation: X:57.80, Y:-5.63, Z:-2.22 [[ 9.90425613e-01 1.34276930e-01 3.20438945e-02 5.78007857e+01] [-1.34205836e-01 9.90943846e-01 -4.36900982e-03 -5.63457565e+00] [-3.23403573e-02 2.67015895e-05 9.99476913e-01 -2.21767028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66587156000001 meters 0.014562409429236598 Centerline is valid? [True, True] Translation: X:57.83, Y:-5.64, Z:-2.22 [[ 9.90234049e-01 1.35674095e-01 3.20790963e-02 5.78300813e+01] [-1.35603615e-01 9.90753521e-01 -4.37264240e-03 -5.63609594e+00] [-3.23757319e-02 -2.01020333e-05 9.99475768e-01 -2.21797908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69587156 meters 0.024781174903031826 Centerline is valid? [True, True] Translation: X:57.86, Y:-5.64, Z:-2.22 [[ 9.90169854e-01 1.36189019e-01 3.18780761e-02 5.78587982e+01] [-1.36119718e-01 9.90682870e-01 -4.34425692e-03 -5.63999059e+00] [-3.21727041e-02 -3.76825075e-05 9.99482324e-01 -2.22145864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72587156 meters 0.014648205904248082 Centerline is valid? [True, True] Translation: X:57.89, Y:-5.64, Z:-2.22 [[ 9.90146563e-01 1.36306897e-01 3.20969468e-02 5.78878156e+01] [-1.36236755e-01 9.90666658e-01 -4.37251285e-03 -5.64384885e+00] [-3.23933787e-02 -4.33552954e-05 9.99475196e-01 -2.22127651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75587156 meters 0.015036584624015272 Centerline is valid? [True, True] Translation: X:57.92, Y:-5.65, Z:-2.22 [[ 9.90125981e-01 1.36427102e-01 3.22209214e-02 5.79154586e+01] [-1.36356524e-01 9.90650112e-01 -4.38803679e-03 -5.64779525e+00] [-3.25183065e-02 -4.88236083e-05 9.99471139e-01 -2.22420136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785871560000004 meters 0.014671371632095637 Centerline is valid? [True, True] Translation: X:57.94, Y:-5.65, Z:-2.22 [[ 9.90126419e-01 1.36357775e-01 3.24997106e-02 5.79436528e+01] [-1.36286010e-01 9.90659656e-01 -4.42364862e-03 -5.65205264e+00] [-3.27993510e-02 -4.92845183e-05 9.99461955e-01 -2.22361537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815871560000005 meters 0.014553766748284628 Centerline is valid? [True, True] Translation: X:57.97, Y:-5.66, Z:-2.22 [[ 9.90109742e-01 1.36403936e-01 3.28125660e-02 5.79719490e+01] [-1.36330860e-01 9.90653301e-01 -4.46464820e-03 -5.65586270e+00] [-3.31148724e-02 -5.28736662e-05 9.99451551e-01 -2.22462991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845871560000006 meters 0.01442577714026973 Centerline is valid? [True, True] Translation: X:58.00, Y:-5.66, Z:-2.23 [[ 9.90264021e-01 1.35308593e-01 3.26917994e-02 5.80007523e+01] [-1.35235519e-01 9.90803504e-01 -4.44637116e-03 -5.66172601e+00] [-3.29927817e-02 -1.80110690e-05 9.99455590e-01 -2.22538724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87587156 meters 0.0244237214309259 Centerline is valid? [True, True] Translation: X:58.03, Y:-5.67, Z:-2.23 [[ 9.90329854e-01 1.34766780e-01 3.29347202e-02 5.80291588e+01] [-1.34692342e-01 9.90877346e-01 -4.47861983e-03 -5.66729745e+00] [-3.32378373e-02 -7.43658336e-07 9.99447470e-01 -2.22875978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90587156 meters 0.02292513200283482 Centerline is valid? [True, True] Translation: X:58.06, Y:-5.67, Z:-2.23 [[ 9.90408559e-01 1.34162655e-01 3.30343383e-02 5.80588210e+01] [-1.34087458e-01 9.90959324e-01 -4.49131699e-03 -5.67288949e+00] [-3.33382526e-02 1.87483193e-05 9.99444126e-01 -2.22961947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93587156 meters 0.01465192768080184 Centerline is valid? [True, True] Translation: X:58.09, Y:-5.68, Z:-2.23 [[ 9.90534617e-01 1.33147948e-01 3.33585964e-02 5.80879885e+01] [-1.33070724e-01 9.91096172e-01 -4.53446060e-03 -5.67891613e+00] [-3.36653313e-02 5.24876294e-05 9.99433161e-01 -2.23043785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965871560000004 meters 0.014551858775574248 Centerline is valid? [True, True] Translation: X:58.12, Y:-5.69, Z:-2.23 [[ 9.90671178e-01 1.32217536e-01 3.30021380e-02 5.81175786e+01] [-1.32141455e-01 9.91220720e-01 -4.48547918e-03 -5.68591402e+00] [-3.33054620e-02 8.26844105e-05 9.99445216e-01 -2.23021646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995871560000005 meters 0.014396089331869904 Centerline is valid? [True, True] Translation: X:58.15, Y:-5.69, Z:-2.23 [[ 9.90676496e-01 1.32221664e-01 3.28254631e-02 5.81475113e+01] [-1.32146398e-01 9.91220170e-01 -4.46146644e-03 -5.69023228e+00] [-3.31271636e-02 8.21032391e-05 9.99451142e-01 -2.23059342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025871560000006 meters 0.014481618009269533 Centerline is valid? [True, True] Translation: X:58.18, Y:-5.69, Z:-2.23 [[ 9.90653764e-01 1.32382464e-01 3.28633979e-02 5.81764353e+01] [-1.32307108e-01 9.91198707e-01 -4.46676910e-03 -5.69463954e+00] [-3.31654794e-02 7.69605028e-05 9.99449871e-01 -2.23285105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05587156000001 meters 0.01436595764891808 Centerline is valid? [True, True] Translation: X:58.21, Y:-5.70, Z:-2.23 [[ 9.90648841e-01 1.32389934e-01 3.29815010e-02 5.82061465e+01] [-1.32314057e-01 9.91197710e-01 -4.48227200e-03 -5.69899812e+00] [-3.32845960e-02 7.64413610e-05 9.99445911e-01 -2.23357562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08587156 meters 0.014350816006867896 Centerline is valid? [True, True] Translation: X:58.24, Y:-5.70, Z:-2.24 [[ 9.90605676e-01 1.32928605e-01 3.20995341e-02 5.82359699e+01] [-1.32857016e-01 9.91125614e-01 -4.36241040e-03 -5.70318239e+00] [-3.23945596e-02 5.67801929e-05 9.99475157e-01 -2.23517601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11587156 meters 0.014545636830009253 Centerline is valid? [True, True] Translation: X:58.26, Y:-5.71, Z:-2.24 [[ 9.90550192e-01 1.33351064e-01 3.20595059e-02 5.82646803e+01] [-1.33279880e-01 9.91068863e-01 -4.35678940e-03 -5.70774774e+00] [-3.23541606e-02 4.27314719e-05 9.99476466e-01 -2.23866220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14587156 meters 0.01448305255925447 Centerline is valid? [True, True] Translation: X:58.29, Y:-5.71, Z:-2.24 [[ 9.90486974e-01 1.33792441e-01 3.21735531e-02 5.82945190e+01] [-1.33720962e-01 9.91009375e-01 -4.37292365e-03 -5.71249127e+00] [-3.24693569e-02 2.90454463e-05 9.99472731e-01 -2.24017791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175871560000004 meters 0.01408549920499143 Centerline is valid? [True, True] Translation: X:58.33, Y:-5.72, Z:-2.24 [[ 9.90453606e-01 1.33880170e-01 3.28291615e-02 5.83250495e+01] [-1.33805795e-01 9.90997527e-01 -4.46203180e-03 -5.71735263e+00] [-3.31309955e-02 2.67034191e-05 9.99451018e-01 -2.23970213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205871560000006 meters 0.02302344063736854 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.72, Z:-2.24 [[ 9.90347303e-01 1.34745417e-01 3.24945064e-02 5.83542634e+01] [-1.34673007e-01 9.90880251e-01 -4.41685632e-03 -5.72148905e+00] [-3.27933158e-02 -1.91113038e-06 9.99462155e-01 -2.24125011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23587156000001 meters 0.014248846236826464 Centerline is valid? [True, True] Translation: X:58.38, Y:-5.72, Z:-2.24 [[ 9.90339643e-01 1.34682833e-01 3.29837165e-02 5.83837099e+01] [-1.34608224e-01 9.90888760e-01 -4.48236260e-03 -5.72485469e+00] [-3.32868913e-02 -8.18119937e-07 9.99445838e-01 -2.24230897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26587156 meters 0.014393490329073722 Centerline is valid? [True, True] Translation: X:58.41, Y:-5.73, Z:-2.24 [[ 9.90311589e-01 1.34922607e-01 3.28457932e-02 5.84128629e+01] [-1.34848766e-01 9.90856140e-01 -4.46320646e-03 -5.72887933e+00] [-3.31476433e-02 -9.24960792e-06 9.99450466e-01 -2.24423995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29587156 meters 0.014365354323862815 Centerline is valid? [True, True] Translation: X:58.44, Y:-5.73, Z:-2.25 [[ 9.90296132e-01 1.35186972e-01 3.22188497e-02 5.84434378e+01] [-1.35116081e-01 9.90820106e-01 -4.37749276e-03 -5.73334806e+00] [-3.25148641e-02 -1.82705663e-05 9.99471252e-01 -2.24589057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32587156 meters 0.025832600849036522 Centerline is valid? [True, True] Translation: X:58.47, Y:-5.74, Z:-2.25 [[ 9.90213683e-01 1.35974167e-01 3.14306883e-02 5.84738917e+01] [-1.35907099e-01 9.90712382e-01 -4.27040729e-03 -5.73792272e+00] [-3.17194372e-02 -4.30379316e-05 9.99496811e-01 -2.24893489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355871560000004 meters 0.014985395651453511 Centerline is valid? [True, True] Translation: X:58.50, Y:-5.74, Z:-2.25 [[ 9.90061343e-01 1.37017972e-01 3.16956381e-02 5.85035544e+01] [-1.36950297e-01 9.90568559e-01 -4.30656806e-03 -5.74174002e+00] [-3.19867798e-02 -7.69605108e-05 9.99488289e-01 -2.25014002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385871560000005 meters 0.014947277943368953 Centerline is valid? [True, True] Translation: X:58.53, Y:-5.75, Z:-2.25 [[ 9.90048668e-01 1.37172139e-01 3.14235302e-02 5.85325925e+01] [-1.37105707e-01 9.90547221e-01 -4.26937346e-03 -5.74643616e+00] [-3.17121296e-02 -8.14578172e-05 9.99497041e-01 -2.25158624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41587156000001 meters 0.015115703966503706 Centerline is valid? [True, True] Translation: X:58.56, Y:-5.75, Z:-2.25 [[ 9.90025211e-01 1.37376856e-01 3.12679004e-02 5.85612630e+01] [-1.37311221e-01 9.90518850e-01 -4.24700027e-03 -5.75095897e+00] [-3.15548842e-02 -8.87962333e-05 9.99502017e-01 -2.25335143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44587156 meters 0.015128022463646409 Centerline is valid? [True, True] Translation: X:58.59, Y:-5.76, Z:-2.25 [[ 9.90027110e-01 1.37282499e-01 3.16202045e-02 5.85895448e+01] [-1.37215297e-01 9.90531932e-01 -4.29581948e-03 -5.75511622e+00] [-3.19105631e-02 -8.57980140e-05 9.99490725e-01 -2.25456003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47587156 meters 0.015031769198156717 Centerline is valid? [True, True] Translation: X:58.62, Y:-5.76, Z:-2.26 [[ 9.90140595e-01 1.36459360e-01 3.16298155e-02 5.86184245e+01] [-1.36391739e-01 9.90645668e-01 -4.29582231e-03 -5.76106087e+00] [-3.19201449e-02 -6.05774725e-05 9.99490421e-01 -2.25551016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50587156 meters 0.014609477916074906 Centerline is valid? [True, True] Translation: X:58.65, Y:-5.77, Z:-2.26 [[ 9.90267252e-01 1.35559875e-01 3.15323753e-02 5.86485084e+01] [-1.35492248e-01 9.90769155e-01 -4.28153487e-03 -5.76766007e+00] [-3.18217092e-02 -3.25286337e-05 9.99493561e-01 -2.25610473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535871560000004 meters 0.014763850213821064 Centerline is valid? [True, True] Translation: X:58.68, Y:-5.78, Z:-2.26 [[ 9.90413319e-01 1.34459644e-01 3.16553589e-02 5.86775010e+01] [-1.34390921e-01 9.90919070e-01 -4.29839335e-03 -5.77531215e+00] [-3.19458593e-02 2.99317718e-06 9.99489601e-01 -2.25822937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565871560000005 meters 0.029812062937919194 Centerline is valid? [True, True] Translation: X:58.71, Y:-5.79, Z:-2.26 [[ 9.90780738e-01 1.31664542e-01 3.19057703e-02 5.87073566e+01] [-1.31593305e-01 9.91294326e-01 -4.33153634e-03 -5.78943164e+00] [-3.21983188e-02 9.30169960e-05 9.99481495e-01 -2.26027709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595871560000006 meters 0.019422124475824802 Centerline is valid? [True, True] Translation: X:58.74, Y:-5.80, Z:-2.26 [[ 9.90996283e-01 1.29961379e-01 3.21932753e-02 5.87372460e+01] [-1.29887983e-01 9.91519046e-01 -4.36967707e-03 -5.79869789e+00] [-3.24881348e-02 1.48814138e-04 9.99472110e-01 -2.26074998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62587156000001 meters 0.015748859233360047 Centerline is valid? [True, True] Translation: X:58.77, Y:-5.81, Z:-2.26 [[ 9.91191370e-01 1.28396724e-01 3.24646010e-02 5.87698671e+01] [-1.28321094e-01 9.91722864e-01 -4.41113425e-03 -5.80705165e+00] [-3.27622623e-02 2.06385086e-04 9.99463152e-01 -2.25894278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65587156 meters 0.016994781386132925 Centerline is valid? [True, True] Translation: X:58.80, Y:-5.82, Z:-2.26 [[ 9.91332550e-01 1.27200108e-01 3.28619417e-02 5.88004782e+01] [-1.27121734e-01 9.91877042e-01 -4.47188826e-03 -5.81650318e+00] [-3.31638302e-02 2.55661397e-04 9.99449896e-01 -2.26130522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68587156 meters 0.019200780263995344 Centerline is valid? [True, True] Translation: X:58.83, Y:-5.83, Z:-2.26 [[ 9.91436611e-01 1.26292287e-01 3.32220459e-02 5.88327720e+01] [-1.26211472e-01 9.91993030e-01 -4.52696126e-03 -5.82750421e+00] [-3.35277583e-02 2.95191819e-04 9.99437743e-01 -2.26139975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715871560000004 meters 0.01757953756753426 Centerline is valid? [True, True] Translation: X:58.86, Y:-5.83, Z:-2.26 [[ 9.91399834e-01 1.26520860e-01 3.34490911e-02 5.88639715e+01] [-1.26438837e-01 9.91963903e-01 -4.56466768e-03 -5.83474905e+00] [-3.37578167e-02 2.96146583e-04 9.99429999e-01 -2.26224618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745871560000005 meters 0.020297619069073985 Centerline is valid? [True, True] Translation: X:58.90, Y:-5.84, Z:-2.26 [[ 9.91287242e-01 1.27468989e-01 3.31852565e-02 5.88967259e+01] [-1.27388591e-01 9.91842520e-01 -4.53447201e-03 -5.84041883e+00] [-3.34925530e-02 2.67541175e-04 9.99438931e-01 -2.26324668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775871560000006 meters 0.015935744647322867 Centerline is valid? [True, True] Translation: X:58.93, Y:-5.85, Z:-2.26 [[ 9.91160824e-01 1.28421500e-01 3.32887208e-02 5.89284630e+01] [-1.28340904e-01 9.91719648e-01 -4.55555562e-03 -5.84569198e+00] [-3.35981097e-02 2.42983745e-04 9.99435395e-01 -2.26329562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80587156000001 meters 0.015935744647322867 Centerline is valid? [True, True] Translation: X:58.96, Y:-5.85, Z:-2.26 [[ 9.91135657e-01 1.28615783e-01 3.32879811e-02 5.89606325e+01] [-1.28535115e-01 9.91694470e-01 -4.56095312e-03 -5.85028155e+00] [-3.35981173e-02 2.41848782e-04 9.99435395e-01 -2.26476924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83587156 meters 0.01486068699113117 Centerline is valid? [True, True] Translation: X:58.99, Y:-5.86, Z:-2.27 [[ 9.90698945e-01 1.31758063e-01 3.39913771e-02 5.89911763e+01] [-1.31675543e-01 9.91281893e-01 -4.66472361e-03 -5.85541804e+00] [-3.43096516e-02 1.45503712e-04 9.99411240e-01 -2.26616548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86587156 meters 0.020233749014735472 Centerline is valid? [True, True] Translation: X:59.02, Y:-5.86, Z:-2.27 [[ 9.90409055e-01 1.34001572e-01 3.36672221e-02 5.90236990e+01] [-1.33921745e-01 9.90981117e-01 -4.62522912e-03 -5.85980193e+00] [-3.39833693e-02 7.20956867e-05 9.99422396e-01 -2.26883641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89587156 meters 0.02315432994762847 Centerline is valid? [True, True] Translation: X:59.06, Y:-5.86, Z:-2.27 [[ 9.90138663e-01 1.35938729e-01 3.38539622e-02 5.90552096e+01] [-1.35858914e-01 9.90717246e-01 -4.65763772e-03 -5.86397806e+00] [-3.41728576e-02 1.23446365e-05 9.99415937e-01 -2.27197793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925871560000004 meters 0.014450783416681236 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.87, Z:-2.27 [[ 9.89641564e-01 1.39519397e-01 3.38217678e-02 5.90884450e+01] [-1.39441619e-01 9.90219333e-01 -4.65919592e-03 -5.86726511e+00] [-3.41410166e-02 -1.05228132e-04 9.99417020e-01 -2.27032315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955871560000006 meters 0.015388196882651263 Centerline is valid? [True, True] Translation: X:59.12, Y:-5.87, Z:-2.27 [[ 9.89361376e-01 1.41540283e-01 3.36216643e-02 5.91193249e+01] [-1.41464354e-01 9.89932483e-01 -4.63856190e-03 -5.87067937e+00] [-3.39397210e-02 -1.67053041e-04 9.99423868e-01 -2.27275759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98587156000001 meters 0.016060763152702943 Centerline is valid? [True, True] Translation: X:59.15, Y:-5.88, Z:-2.27 [[ 9.89071281e-01 1.43545124e-01 3.36570836e-02 5.91509346e+01] [-1.43470018e-01 9.89643746e-01 -4.64862946e-03 -5.87505026e+00] [-3.39758104e-02 -2.30956495e-04 9.99422629e-01 -2.27338210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01587156000001 meters 0.018393047221509237 Centerline is valid? [True, True] Translation: X:59.18, Y:-5.88, Z:-2.28 [[ 9.88615012e-01 1.46722637e-01 3.33590580e-02 5.91811390e+01] [-1.46650441e-01 9.89177617e-01 -4.61406347e-03 -5.87955147e+00] [-3.36750211e-02 -3.30588162e-04 9.99432781e-01 -2.27595658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04587156000001 meters 0.020060730001526875 Centerline is valid? [True, True] Translation: X:59.21, Y:-5.88, Z:-2.28 [[ 9.88411732e-01 1.48234427e-01 3.26925331e-02 5.92112260e+01] [-1.48165812e-01 9.88952181e-01 -4.52498339e-03 -5.88337548e+00] [-3.30021103e-02 -3.71369059e-04 9.99455213e-01 -2.27897012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07587156000001 meters 0.021285686577043526 Centerline is valid? [True, True] Translation: X:59.24, Y:-5.89, Z:-2.28 [[ 9.88217747e-01 1.49683961e-01 3.19436304e-02 5.92413409e+01] [-1.49619139e-01 9.88733809e-01 -4.42354923e-03 -5.88744913e+00] [-3.22458818e-02 -4.07948618e-04 9.99479883e-01 -2.28163129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10587156 meters 0.02345436984536064 Centerline is valid? [True, True] Translation: X:59.27, Y:-5.89, Z:-2.28 [[ 9.87981265e-01 1.51284866e-01 3.17160606e-02 5.92702676e+01] [-1.51221779e-01 9.88490102e-01 -4.39234824e-03 -5.88973808e+00] [-3.20155077e-02 -4.56601335e-04 9.99487268e-01 -2.28429066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13587156 meters 0.02610688288141479 Centerline is valid? [True, True] Translation: X:59.30, Y:-5.89, Z:-2.28 [[ 9.87398470e-01 1.54931530e-01 3.22565081e-02 5.93000301e+01] [-1.54868243e-01 9.87925037e-01 -4.46641054e-03 -5.89325184e+00] [-3.25589998e-02 -5.85381812e-04 9.99469644e-01 -2.28376820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16587156 meters 0.031013690406546796 Centerline is valid? [True, True] Translation: X:59.33, Y:-5.90, Z:-2.29 [[ 9.87066934e-01 1.57014359e-01 3.23320042e-02 5.93297371e+01] [-1.56951923e-01 9.87596102e-01 -4.47594359e-03 -5.89690441e+00] [-3.26337487e-02 -6.56514307e-04 9.99467162e-01 -2.28590833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19587156 meters 0.028133689076192268 Centerline is valid? [True, True] Translation: X:59.36, Y:-5.90, Z:-2.28 [[ 9.86752441e-01 1.58932133e-01 3.25606564e-02 5.93601435e+01] [-1.58869871e-01 9.87289244e-01 -4.50705348e-03 -5.90106855e+00] [-3.28631015e-02 -7.25561255e-04 9.99459599e-01 -2.28409076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22587156 meters 0.031165631569628434 Centerline is valid? [True, True] Translation: X:59.39, Y:-5.90, Z:-2.29 [[ 9.86420385e-01 1.60975601e-01 3.25834455e-02 5.93888162e+01] [-1.60914350e-01 9.86958067e-01 -4.51066347e-03 -5.90119687e+00] [-3.28846012e-02 -7.93733552e-04 9.99458840e-01 -2.28590011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25587156 meters 0.04129287379435462 Centerline is valid? [True, True] Translation: X:59.42, Y:-5.89, Z:-2.29 [[ 9.85762657e-01 1.64858914e-01 3.30684478e-02 5.94180599e+01] [-1.64798052e-01 9.86316713e-01 -4.57646817e-03 -5.89270353e+00] [-3.33704343e-02 -9.38304365e-04 9.99442612e-01 -2.28984716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28587156 meters 0.03685541358603543 Centerline is valid? [True, True] Translation: X:59.45, Y:-5.90, Z:-2.29 [[ 9.85438511e-01 1.66680321e-01 3.35948289e-02 5.94470053e+01] [-1.66618599e-01 9.86010465e-01 -4.64823317e-03 -5.90253866e+00] [-3.38996218e-02 -1.01697535e-03 9.99424725e-01 -2.28732215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31587156 meters 0.04038544715382176 Centerline is valid? [True, True] Translation: X:59.48, Y:-5.90, Z:-2.29 [[ 9.85137514e-01 1.68449480e-01 3.35983947e-02 5.94754534e+01] [-1.68388805e-01 9.85709698e-01 -4.64776552e-03 -5.90226883e+00] [-3.39011772e-02 -1.07890536e-03 9.99424608e-01 -2.28894802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34587156 meters 0.039745928887349014 Centerline is valid? [True, True] Translation: X:59.50, Y:-5.91, Z:-2.29 [[ 9.84892967e-01 1.69847451e-01 3.37296147e-02 5.95047438e+01] [-1.69787127e-01 9.85469717e-01 -4.66569939e-03 -5.90723968e+00] [-3.40319710e-02 -1.13163985e-03 9.99420104e-01 -2.28946776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37587156000001 meters 0.04266727374369897 Centerline is valid? [True, True] Translation: X:59.53, Y:-5.91, Z:-2.29 [[ 9.84676910e-01 1.71066216e-01 3.38782028e-02 5.95330661e+01] [-1.71006094e-01 9.85258828e-01 -4.68582357e-03 -5.90775003e+00] [-3.41803845e-02 -1.17935685e-03 9.99414984e-01 -2.29170569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40587156000001 meters 0.04277792131823526 Centerline is valid? [True, True] Translation: X:59.56, Y:-5.91, Z:-2.29 [[ 9.84511034e-01 1.72129528e-01 3.33083986e-02 5.95617707e+01] [-1.72072090e-01 9.85073597e-01 -4.60490619e-03 -5.91061639e+00] [-3.36038643e-02 -1.19786479e-03 9.99434513e-01 -2.29336576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43587156000001 meters 0.042050300361722776 Centerline is valid? [True, True] Translation: X:59.59, Y:-5.91, Z:-2.29 [[ 9.84397184e-01 1.73175474e-01 3.11839439e-02 5.95900306e+01] [-1.72759842e-01 9.84840695e-01 -1.55834152e-02 -5.90796685e+00] [-3.34098823e-02 9.95293682e-03 9.99392175e-01 -2.29360471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46587156000001 meters 0.04123627720338299 Centerline is valid? [True, True] Translation: X:59.62, Y:-5.93, Z:-2.30 [[ 9.84574592e-01 1.71538809e-01 3.44573608e-02 5.96176501e+01] [-1.71861637e-01 9.85098893e-01 6.61426912e-03 -5.92523672e+00] [-3.28093042e-02 -1.24341397e-02 9.99384281e-01 -2.29683458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49587156 meters 0.03977443694953549 Centerline is valid? [True, True] Translation: X:59.65, Y:-5.92, Z:-2.30 [[ 9.84705819e-01 1.71052790e-01 3.30967067e-02 5.96469987e+01] [-1.70995620e-01 9.85261185e-01 -4.57122899e-03 -5.92326554e+00] [-3.33908219e-02 -1.15807610e-03 9.99441700e-01 -2.29696235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52587156 meters 0.041122074534513456 Centerline is valid? [True, True] Translation: X:59.68, Y:-5.93, Z:-2.30 [[ 9.84850983e-01 1.70281442e-01 3.27531952e-02 5.96758193e+01] [-1.70225084e-01 9.85394830e-01 -4.52203683e-03 -5.92804615e+00] [-3.30448482e-02 -1.12188299e-03 9.99453240e-01 -2.29949160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55587156 meters 0.039152497913194084 Centerline is valid? [True, True] Translation: X:59.70, Y:-5.92, Z:-2.30 [[ 9.84911345e-01 1.70561316e-01 2.92998161e-02 5.97042617e+01] [-1.69981792e-01 9.85217752e-01 -2.12643310e-02 -5.92064663e+00] [-3.24935712e-02 1.59630456e-02 9.99344460e-01 -2.29770882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58587156 meters 0.03701194637190082 Centerline is valid? [True, True] Translation: X:59.73, Y:-5.94, Z:-2.30 [[ 9.85117289e-01 1.69058329e-01 3.10356026e-02 5.97317608e+01] [-1.68946031e-01 9.85605647e-01 -6.22473259e-03 -5.93592494e+00] [-3.16412081e-02 8.88749821e-04 9.99498896e-01 -2.29923644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61587156 meters 0.03585585979870775 Centerline is valid? [True, True] Translation: X:59.76, Y:-5.94, Z:-2.30 [[ 9.85400670e-01 1.67486939e-01 3.05556087e-02 5.97607799e+01] [-1.67338210e-01 9.85871931e-01 -7.37960413e-03 -5.93966781e+00] [-3.13599043e-02 2.15874600e-03 9.99505826e-01 -2.30002515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64587156 meters 0.04020447879689369 Centerline is valid? [True, True] Translation: X:59.79, Y:-5.96, Z:-2.31 [[ 9.85942720e-01 1.63175991e-01 3.59242097e-02 5.97892792e+01] [-1.63833106e-01 9.86355723e-01 1.61586093e-02 -5.95521037e+00] [-3.27973527e-02 -2.18170381e-02 9.99223874e-01 -2.30701160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67587156 meters 0.03427445925821826 Centerline is valid? [True, True] Translation: X:59.82, Y:-5.95, Z:-2.31 [[ 9.86112321e-01 1.62635736e-01 3.36468022e-02 5.98203105e+01] [-1.62571992e-01 9.86685774e-01 -4.64002339e-03 -5.94801325e+00] [-3.39534547e-02 -8.94443439e-04 9.99423015e-01 -2.30527677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70587156 meters 0.030411967279114983 Centerline is valid? [True, True] Translation: X:59.85, Y:-5.95, Z:-2.30 [[ 9.86256426e-01 1.62268924e-01 3.10975783e-02 5.98490670e+01] [-1.61841112e-01 9.86689858e-01 -1.58296918e-02 -5.95075693e+00] [-3.32523322e-02 1.05792686e-02 9.99390995e-01 -2.30443875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73587156 meters 0.029100441425435462 Centerline is valid? [True, True] Translation: X:59.88, Y:-5.97, Z:-2.31 [[ 9.86949262e-01 1.57115785e-01 3.52956832e-02 5.98778869e+01] [-1.57448226e-01 9.87503637e-01 6.82808440e-03 -5.96830493e+00] [-3.37818157e-02 -1.22962156e-02 9.99353587e-01 -2.30847457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76587156000001 meters 0.036500779849087485 Centerline is valid? [True, True] Translation: X:59.91, Y:-5.97, Z:-2.31 [[ 9.87277905e-01 1.55541537e-01 3.30025601e-02 5.99083753e+01] [-1.55476320e-01 9.87829146e-01 -4.54898428e-03 -5.96914064e+00] [-3.33084468e-02 -6.40004913e-04 9.99444915e-01 -2.31115643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79587156000001 meters 0.024058332025940515 Centerline is valid? [True, True] Translation: X:59.94, Y:-5.98, Z:-2.31 [[ 9.87657126e-01 1.52910694e-01 3.39370049e-02 5.99378047e+01] [-1.52840178e-01 9.88239849e-01 -4.67778565e-03 -5.97501625e+00] [-3.42531841e-02 -5.66889535e-04 9.99413027e-01 -2.30998962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82587156000001 meters 0.019014343470453075 Centerline is valid? [True, True] Translation: X:59.97, Y:-5.99, Z:-2.31 [[ 9.88422118e-01 1.47805603e-01 3.42814879e-02 5.99677504e+01] [-1.47730585e-01 9.89016354e-01 -4.72501305e-03 -5.98724712e+00] [-3.46033356e-02 -3.94116871e-04 9.99401048e-01 -2.30988611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85587156 meters 0.027774427746982532 Centerline is valid? [True, True] Translation: X:60.00, Y:-5.99, Z:-2.31 [[ 9.88779884e-01 1.45454353e-01 3.40201840e-02 5.99978497e+01] [-1.45379082e-01 9.89364915e-01 -4.68905853e-03 -5.99489935e+00] [-3.43404204e-02 -3.09376351e-04 9.99410146e-01 -2.31430230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88587156 meters 0.016340400562418086 Centerline is valid? [True, True] Translation: X:60.03, Y:-6.00, Z:-2.31 [[ 9.89063370e-01 1.43416125e-01 3.44305828e-02 6.00281318e+01] [-1.43337690e-01 9.89662447e-01 -4.74850966e-03 -6.00197909e+00] [-3.47556677e-02 -2.38623252e-04 9.99395811e-01 -2.31428987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91587156 meters 0.014880023626379158 Centerline is valid? [True, True] Translation: X:60.06, Y:-6.01, Z:-2.31 [[ 9.89275178e-01 1.42404808e-01 3.24883558e-02 6.00582922e+01] [-1.42024520e-01 9.89767788e-01 -1.37390574e-02 -6.00532622e+00] [-3.41124359e-02 8.97756533e-03 9.99377679e-01 -2.31376197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94587156 meters 0.01439039187349691 Centerline is valid? [True, True] Translation: X:60.09, Y:-6.03, Z:-2.32 [[ 9.89839895e-01 1.37840682e-01 3.48845007e-02 6.00900668e+01] [-1.38083217e-01 9.90409808e-01 4.62997067e-03 -6.02584823e+00] [-3.39117533e-02 -9.39989377e-03 9.99380626e-01 -2.31850110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97587156 meters 0.01426129789466895 Centerline is valid? [True, True] Translation: X:60.12, Y:-6.03, Z:-2.32 [[ 9.89974078e-01 1.37249913e-01 3.33734250e-02 6.01230608e+01] [-1.37172252e-01 9.90536451e-01 -4.61650149e-03 -6.02724962e+00] [-3.36912083e-02 -7.69104005e-06 9.99432290e-01 -2.31953551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00587156 meters 0.014188520409941384 Centerline is valid? [True, True] Translation: X:60.16, Y:-6.03, Z:-2.32 [[ 9.90082292e-01 1.36476658e-01 3.33343165e-02 6.01552800e+01] [-1.36398525e-01 9.90643287e-01 -4.61748337e-03 -6.03341415e+00] [-3.36525955e-02 2.49369243e-05 9.99433591e-01 -2.32038360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03587156 meters 0.014422628919999951 Centerline is valid? [True, True] Translation: X:60.19, Y:-6.04, Z:-2.32 [[ 9.90204354e-01 1.35698442e-01 3.28826824e-02 6.01862496e+01] [-1.35621763e-01 9.90750185e-01 -4.56156205e-03 -6.03929359e+00] [-3.31975205e-02 5.72712630e-05 9.99448809e-01 -2.32274096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06587156 meters 0.020595876938980674 Centerline is valid? [True, True] Translation: X:60.22, Y:-6.05, Z:-2.33 [[ 9.90360281e-01 1.34801868e-01 3.18585910e-02 6.02165208e+01] [-1.34729207e-01 9.90872569e-01 -4.42637486e-03 -6.04648543e+00] [-3.21644875e-02 9.14231541e-05 9.99482585e-01 -2.32857562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09587156 meters 0.014755536731450507 Centerline is valid? [True, True] Translation: X:60.25, Y:-6.05, Z:-2.33 [[ 9.90371188e-01 1.34674720e-01 3.20566582e-02 6.02494554e+01] [-1.34601030e-01 9.90889858e-01 -4.45561560e-03 -6.05214166e+00] [-3.23646762e-02 9.78541047e-05 9.99476122e-01 -2.32696245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12587156000001 meters 0.014886930739307335 Centerline is valid? [True, True] Translation: X:60.28, Y:-6.06, Z:-2.33 [[ 9.90365393e-01 1.34653096e-01 3.23253973e-02 6.02810614e+01] [-1.34577933e-01 9.90892796e-01 -4.49971388e-03 -6.05798426e+00] [-3.26369037e-02 1.06075761e-04 9.99467269e-01 -2.32823754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15587156000001 meters 0.014859179444192253 Centerline is valid? [True, True] Translation: X:60.31, Y:-6.06, Z:-2.33 [[ 9.90372195e-01 1.34500236e-01 3.27505923e-02 6.03140579e+01] [-1.34422795e-01 9.90913554e-01 -4.56505807e-03 -6.06357531e+00] [-3.30670072e-02 1.18680408e-04 9.99453130e-01 -2.32961676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18587156000001 meters 0.02875701407948871 Centerline is valid? [True, True] Translation: X:60.35, Y:-6.07, Z:-2.33 [[ 9.90351272e-01 1.34651157e-01 3.27631559e-02 6.03453689e+01] [-1.34573520e-01 9.90893057e-01 -4.57345027e-03 -6.06953890e+00] [-3.30806041e-02 1.20269089e-04 9.99452680e-01 -2.33443733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21587156000001 meters 0.02480686816032057 Centerline is valid? [True, True] Translation: X:60.38, Y:-6.07, Z:-2.33 [[ 9.90257945e-01 1.35309590e-01 3.28712118e-02 6.03783069e+01] [-1.35231604e-01 9.90803363e-01 -4.59448667e-03 -6.07407062e+00] [-3.31905853e-02 1.04500253e-04 9.99449035e-01 -2.33422383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24587156 meters 0.029667811595979005 Centerline is valid? [True, True] Translation: X:60.41, Y:-6.08, Z:-2.34 [[ 9.90094667e-01 1.36462885e-01 3.30216676e-02 6.04109180e+01] [-1.36384606e-01 9.90645182e-01 -4.62206284e-03 -6.07807785e+00] [-3.33434959e-02 7.26326314e-05 9.99443948e-01 -2.33536577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27587156 meters 0.014558632872399066 Centerline is valid? [True, True] Translation: X:60.44, Y:-6.08, Z:-2.34 [[ 9.89885347e-01 1.37973667e-01 3.30191938e-02 6.04432452e+01] [-1.37896015e-01 9.90435897e-01 -4.62845088e-03 -6.08148337e+00] [-3.33419991e-02 2.84204694e-05 9.99444001e-01 -2.33546042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30587156 meters 0.014893324714339094 Centerline is valid? [True, True] Translation: X:60.48, Y:-6.08, Z:-2.34 [[ 9.89402415e-01 1.41533523e-01 3.24210134e-02 6.04752549e+01] [-1.41460371e-01 9.89933460e-01 -4.55067942e-03 -6.08221936e+00] [-3.27387196e-02 -8.38353605e-05 9.99463941e-01 -2.33711695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33587156 meters 0.015325942066620149 Centerline is valid? [True, True] Translation: X:60.51, Y:-6.08, Z:-2.34 [[ 9.89080212e-01 1.43675612e-01 3.28276303e-02 6.05084153e+01] [-1.43601617e-01 9.89624826e-01 -4.61303789e-03 -6.08423454e+00] [-3.31498189e-02 -1.51436297e-04 9.99450382e-01 -2.33733415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36587156 meters 0.01586601930129141 Centerline is valid? [True, True] Translation: X:60.54, Y:-6.09, Z:-2.34 [[ 9.88751537e-01 1.45886252e-01 3.29787672e-02 6.05410048e+01] [-1.45812582e-01 9.89301346e-01 -4.64089635e-03 -6.08632554e+00] [-3.33029818e-02 -2.20025785e-04 9.99445278e-01 -2.33701309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39587156 meters 0.017452748992456895 Centerline is valid? [True, True] Translation: X:60.57, Y:-6.09, Z:-2.34 [[ 9.88413845e-01 1.48033347e-01 3.35290771e-02 6.05723041e+01] [-1.47958223e-01 9.88982327e-01 -4.72448528e-03 -6.08644482e+00] [-3.38590461e-02 -2.91156013e-04 9.99426576e-01 -2.33924568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42587156 meters 0.01951044162478824 Centerline is valid? [True, True] Translation: X:60.61, Y:-6.09, Z:-2.34 [[ 9.87810938e-01 1.51934598e-01 3.38441956e-02 6.06051079e+01] [-1.51860158e-01 9.88390459e-01 -4.77430992e-03 -6.08508721e+00] [-3.41766628e-02 -4.23469310e-04 9.99415718e-01 -2.33897716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45587156 meters 0.021640936325848913 Centerline is valid? [True, True] Translation: X:60.64, Y:-6.09, Z:-2.34 [[ 9.87581214e-01 1.53344895e-01 3.41860932e-02 6.06355881e+01] [-1.53269521e-01 9.88172618e-01 -4.83023053e-03 -6.08551857e+00] [-3.45224524e-02 -4.69441204e-04 9.99403812e-01 -2.34145185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48587156 meters 0.02271796874584277 Centerline is valid? [True, True] Translation: X:60.67, Y:-6.09, Z:-2.34 [[ 9.87396645e-01 1.54542882e-01 3.41227522e-02 6.06656480e+01] [-1.54468483e-01 9.87985950e-01 -4.82183153e-03 -6.08820498e+00] [-3.44579795e-02 -5.09829491e-04 9.99406017e-01 -2.34305865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51587156000001 meters 0.022762800837959476 Centerline is valid? [True, True] Translation: X:60.70, Y:-6.09, Z:-2.34 [[ 9.87287680e-01 1.55262892e-01 3.40069207e-02 6.06962062e+01] [-1.55189429e-01 9.87873043e-01 -4.80533608e-03 -6.09234306e+00] [-3.43406107e-02 -5.33265500e-04 9.99410045e-01 -2.34423475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54587156000001 meters 0.030092376402413933 Centerline is valid? [True, True] Translation: X:60.73, Y:-6.09, Z:-2.35 [[ 9.87209558e-01 1.55877321e-01 3.34596641e-02 6.07258732e+01] [-1.55806539e-01 9.87776272e-01 -4.72853806e-03 -6.09425282e+00] [-3.37877341e-02 -5.45176479e-04 9.99428883e-01 -2.34958097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57587156000001 meters 0.027621368732329784 Centerline is valid? [True, True] Translation: X:60.76, Y:-6.10, Z:-2.35 [[ 9.87215454e-01 1.55810163e-01 3.35982071e-02 6.07561894e+01] [-1.55738754e-01 9.87786868e-01 -4.74811703e-03 -6.09851452e+00] [-3.39276726e-02 -5.45128396e-04 9.99424142e-01 -2.35007990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60587156 meters 0.022645745637085626 Centerline is valid? [True, True] Translation: X:60.79, Y:-6.10, Z:-2.35 [[ 9.87237112e-01 1.55593378e-01 3.39644565e-02 6.07867133e+01] [-1.55520275e-01 9.87821039e-01 -4.79987560e-03 -6.10373489e+00] [-3.42976336e-02 -5.43546301e-04 9.99411515e-01 -2.34781979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63587156 meters 0.021974889224735405 Centerline is valid? [True, True] Translation: X:60.82, Y:-6.11, Z:-2.35 [[ 9.87377411e-01 1.54743042e-01 3.37703938e-02 6.08178997e+01] [-1.54670284e-01 9.87954619e-01 -4.77218382e-03 -6.10858332e+00] [-3.41020788e-02 -5.11329906e-04 9.99418224e-01 -2.34995440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66587156 meters 0.021974889224735405 Centerline is valid? [True, True] Translation: X:60.85, Y:-6.11, Z:-2.35 [[ 9.87373637e-01 1.54767147e-01 3.37702775e-02 6.08484007e+01] [-1.54694375e-01 9.87950843e-01 -4.77300635e-03 -6.11293936e+00] [-3.41020787e-02 -5.11331314e-04 9.99418224e-01 -2.35134060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69587156 meters 0.021443739645135084 Centerline is valid? [True, True] Translation: X:60.88, Y:-6.12, Z:-2.35 [[ 9.87467014e-01 1.54143827e-01 3.38906505e-02 6.08794173e+01] [-1.54070139e-01 9.88048298e-01 -4.79086750e-03 -6.11853657e+00] [-3.42240822e-02 -4.90713620e-04 9.99414064e-01 -2.35304879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72587156 meters 0.02177447836278429 Centerline is valid? [True, True] Translation: X:60.91, Y:-6.12, Z:-2.36 [[ 9.87587808e-01 1.53341567e-01 3.40100845e-02 6.09095850e+01] [-1.53266849e-01 9.88173137e-01 -4.80873085e-03 -6.12286184e+00] [-3.43452302e-02 -4.63574532e-04 9.99409921e-01 -2.35536682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75587156 meters 0.02112878799165697 Centerline is valid? [True, True] Translation: X:60.94, Y:-6.13, Z:-2.36 [[ 9.87672315e-01 1.52760521e-01 3.41704723e-02 6.09401217e+01] [-1.52684734e-01 9.88263136e-01 -4.83183471e-03 -6.12822854e+00] [-3.45075317e-02 -4.45040110e-04 9.99404339e-01 -2.35601739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78587156 meters 0.021020747594791077 Centerline is valid? [True, True] Translation: X:60.97, Y:-6.13, Z:-2.36 [[ 9.87712145e-01 1.52398340e-01 3.46332876e-02 6.09701440e+01] [-1.52320249e-01 9.88319055e-01 -4.89770012e-03 -6.13115259e+00] [-3.49751394e-02 -4.37833108e-04 9.99388087e-01 -2.35663116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81587156 meters 0.020739471815495174 Centerline is valid? [True, True] Translation: X:61.00, Y:-6.14, Z:-2.36 [[ 9.87659928e-01 1.51673526e-01 3.90257416e-02 6.10013943e+01] [-1.51842882e-01 9.88403658e-01 1.39554899e-03 -6.13852140e+00] [-3.83615179e-02 -7.30410889e-03 9.99237231e-01 -2.35871961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84587156 meters 0.019127167776541165 Centerline is valid? [True, True] Translation: X:61.03, Y:-6.14, Z:-2.36 [[ 9.87461833e-01 1.53032140e-01 3.87336198e-02 6.10340464e+01] [-1.53015563e-01 9.88217897e-01 -3.40975248e-03 -6.14256684e+00] [-3.87990580e-02 -2.55984620e-03 9.99243754e-01 -2.35765878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87587156000001 meters 0.02132021180220407 Centerline is valid? [True, True] Translation: X:61.06, Y:-6.14, Z:-2.36 [[ 9.87437165e-01 1.54340160e-01 3.38668047e-02 6.10640876e+01] [-1.53964063e-01 9.87984749e-01 -1.34611416e-02 -6.13686707e+00] [-3.55374813e-02 8.07776069e-03 9.99335698e-01 -2.36020614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90587156000001 meters 0.023682272623513925 Centerline is valid? [True, True] Translation: X:61.09, Y:-6.14, Z:-2.37 [[ 9.87257118e-01 1.55467404e-01 3.39598298e-02 6.10927663e+01] [-1.55393935e-01 9.87840881e-01 -4.80830549e-03 -6.14376617e+00] [-3.42944429e-02 -5.30117751e-04 9.99411632e-01 -2.36519004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93587156000001 meters 0.022312446112050622 Centerline is valid? [True, True] Translation: X:61.12, Y:-6.16, Z:-2.37 [[ 9.87055292e-01 1.55493790e-01 3.92878058e-02 6.11223491e+01] [-1.55843573e-01 9.87763619e-01 5.98440120e-03 -6.15679601e+00] [-3.78765280e-02 -1.20296869e-02 9.99210016e-01 -2.36651194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96587156000001 meters 0.02279945502806799 Centerline is valid? [True, True] Translation: X:61.16, Y:-6.15, Z:-2.37 [[ 9.86815885e-01 1.57344432e-01 3.79096065e-02 6.11550587e+01] [-1.57215884e-01 9.87543733e-01 -6.36713752e-03 -6.15319327e+00] [-3.84392279e-02 3.23200150e-04 9.99260888e-01 -2.36675220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99587156 meters 0.026166761455687332 Centerline is valid? [True, True] Translation: X:61.19, Y:-6.15, Z:-2.37 [[ 9.86759103e-01 1.58807570e-01 3.29640620e-02 6.11865188e+01] [-1.58382434e-01 9.87261650e-01 -1.51472536e-02 -6.14518791e+00] [-3.49496527e-02 9.72576203e-03 9.99341749e-01 -2.36836897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02587156 meters 0.025989327150000407 Centerline is valid? [True, True] Translation: X:61.22, Y:-6.16, Z:-2.37 [[ 9.86741705e-01 1.58589332e-01 3.44997411e-02 6.12155006e+01] [-1.58515231e-01 9.87344423e-01 -4.88999172e-03 -6.15505326e+00] [-3.48386275e-02 -6.43575665e-04 9.99392744e-01 -2.36960957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05587156 meters 0.026440019439968616 Centerline is valid? [True, True] Translation: X:61.24, Y:-6.16, Z:-2.37 [[ 9.86715571e-01 1.58672057e-01 3.48648728e-02 6.12442277e+01] [-1.58596456e-01 9.87331125e-01 -4.94101655e-03 -6.15765777e+00] [-3.52071754e-02 -6.54067301e-04 9.99379821e-01 -2.37052616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08587156 meters 0.03349904660304149 Centerline is valid? [True, True] Translation: X:61.27, Y:-6.16, Z:-2.37 [[ 9.86699595e-01 1.58698239e-01 3.51962684e-02 6.12729661e+01] [-1.58621261e-01 9.87326911e-01 -4.98657532e-03 -6.16217633e+00] [-3.55415837e-02 -6.62624605e-04 9.99367979e-01 -2.37355065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11587156 meters 0.026700219044154896 Centerline is valid? [True, True] Translation: X:61.30, Y:-6.16, Z:-2.37 [[ 9.86674157e-01 1.58768812e-01 3.55889327e-02 6.13019522e+01] [-1.58690179e-01 9.87315558e-01 -5.04144597e-03 -6.16391395e+00] [-3.59379313e-02 -6.73349633e-04 9.99353797e-01 -2.37201486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14587156 meters 0.026785302197408843 Centerline is valid? [True, True] Translation: X:61.33, Y:-6.17, Z:-2.37 [[ 9.86619181e-01 1.59049562e-01 3.58584463e-02 6.13317613e+01] [-1.58969970e-01 9.87270358e-01 -5.07819724e-03 -6.16718347e+00] [-3.62096662e-02 -6.90169340e-04 9.99343977e-01 -2.37242025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17587156 meters 0.02631880077510372 Centerline is valid? [True, True] Translation: X:61.36, Y:-6.17, Z:-2.37 [[ 9.86482630e-01 1.59813297e-01 3.62178369e-02 6.13616218e+01] [-1.59732647e-01 9.87146991e-01 -5.12822015e-03 -6.17066295e+00] [-3.65718865e-02 -7.26270878e-04 9.99330761e-01 -2.37233043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20587156 meters 0.029050867329731726 Centerline is valid? [True, True] Translation: X:61.39, Y:-6.17, Z:-2.37 [[ 9.86305993e-01 1.60862217e-01 3.63845448e-02 6.13908170e+01] [-1.60781565e-01 9.86976573e-01 -5.15103206e-03 -6.16886216e+00] [-3.67392998e-02 -7.69470281e-04 9.99324588e-01 -2.37394759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23587156 meters 0.034023300696605044 Centerline is valid? [True, True] Translation: X:61.42, Y:-6.16, Z:-2.38 [[ 9.85823560e-01 1.63809974e-01 3.63070492e-02 6.14208664e+01] [-1.63731712e-01 9.86491521e-01 -5.13871669e-03 -6.16132797e+00] [-3.66583693e-02 -8.78747337e-04 9.99327470e-01 -2.37568924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26587156000001 meters 0.037628537109625264 Centerline is valid? [True, True] Translation: X:61.45, Y:-6.17, Z:-2.38 [[ 9.85618974e-01 1.65103714e-01 3.60000255e-02 6.14503464e+01] [-1.65027682e-01 9.86275781e-01 -5.09389049e-03 -6.16649850e+00] [-3.63469735e-02 -9.20365629e-04 9.99338807e-01 -2.37920469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29587156000001 meters 0.03260254431364 Centerline is valid? [True, True] Translation: X:61.48, Y:-6.17, Z:-2.38 [[ 9.85580991e-01 1.65438840e-01 3.54978809e-02 6.14797303e+01] [-1.65365153e-01 9.86219622e-01 -5.02223337e-03 -6.16776657e+00] [-3.58395791e-02 -9.20294757e-04 9.99357132e-01 -2.37824534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32587156000001 meters 0.033434403629855024 Centerline is valid? [True, True] Translation: X:61.51, Y:-6.17, Z:-2.38 [[ 9.85566906e-01 1.65551682e-01 3.53626120e-02 6.15078469e+01] [-1.65478685e-01 9.86200684e-01 -5.00150361e-03 -6.16890923e+00] [-3.57026395e-02 -9.22442108e-04 9.99362032e-01 -2.38034799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35587156 meters 0.031705878630860926 Centerline is valid? [True, True] Translation: X:61.54, Y:-6.17, Z:-2.38 [[ 9.85638672e-01 1.65184817e-01 3.50768472e-02 6.15363068e+01] [-1.65112841e-01 9.86262216e-01 -4.95887660e-03 -6.17363527e+00] [-3.54141002e-02 -9.03977366e-04 9.99372315e-01 -2.38148831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38587156 meters 0.03145325307651322 Centerline is valid? [True, True] Translation: X:61.56, Y:-6.18, Z:-2.38 [[ 9.85927409e-01 1.63305949e-01 3.57534658e-02 6.15646320e+01] [-1.63230000e-01 9.86575105e-01 -5.05271764e-03 -6.17506451e+00] [-3.60986181e-02 -8.54425421e-04 9.99347867e-01 -2.38329276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41587156 meters 0.03804359884968199 Centerline is valid? [True, True] Translation: X:61.59, Y:-6.18, Z:-2.39 [[ 9.86152111e-01 1.61840800e-01 3.62155903e-02 6.15930984e+01] [-1.61761955e-01 9.86816546e-01 -5.11620465e-03 -6.18083803e+00] [-3.65661544e-02 -8.12948653e-04 9.99330904e-01 -2.38618195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44587156 meters 0.027421211066005594 Centerline is valid? [True, True] Translation: X:61.62, Y:-6.19, Z:-2.38 [[ 9.86448256e-01 1.59930529e-01 3.66341906e-02 6.16213665e+01] [-1.59848599e-01 9.87127985e-01 -5.17356190e-03 -6.18588292e+00] [-3.69900453e-02 -7.52472928e-04 9.99315351e-01 -2.38364810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47587156 meters 0.0243272191874482 Centerline is valid? [True, True] Translation: X:61.65, Y:-6.19, Z:-2.39 [[ 9.87015502e-01 1.56398813e-01 3.66034227e-02 6.16508793e+01] [-1.56314670e-01 9.87693791e-01 -5.16711599e-03 -6.19275951e+00] [-3.69611042e-02 -6.21628349e-04 9.99316512e-01 -2.38522581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50587156 meters 0.02289404731110615 Centerline is valid? [True, True] Translation: X:61.68, Y:-6.20, Z:-2.39 [[ 9.87256719e-01 1.54886748e-01 3.65276052e-02 6.16797006e+01] [-1.54801931e-01 9.87932071e-01 -5.15607854e-03 -6.19836979e+00] [-3.68854009e-02 -5.64170652e-04 9.99319343e-01 -2.38686234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53587156 meters 0.022825280455838978 Centerline is valid? [True, True] Translation: X:61.71, Y:-6.21, Z:-2.39 [[ 9.87025341e-01 1.53923788e-01 4.56994939e-02 6.17066903e+01] [-1.54628015e-01 9.87896493e-01 1.22758182e-02 -6.21384926e+00] [-4.32568293e-02 -1.91829656e-02 9.98879803e-01 -2.39257494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56587156 meters 0.021698355370103495 Centerline is valid? [True, True] Translation: X:61.74, Y:-6.20, Z:-2.39 [[ 9.87618586e-01 1.53397633e-01 3.28434936e-02 6.17404785e+01] [-1.52641915e-01 9.87979992e-01 -2.44127331e-02 -6.19600436e+00] [-3.61935701e-02 1.90971752e-02 9.99162311e-01 -2.39018458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59587156 meters 0.01992238190023938 Centerline is valid? [True, True] Translation: X:61.77, Y:-6.21, Z:-2.39 [[ 9.87911208e-01 1.51037696e-01 3.49150281e-02 6.17676913e+01] [-1.50957680e-01 9.88527923e-01 -4.93188574e-03 -6.21288179e+00] [-3.52593809e-02 -3.98426423e-04 9.99378115e-01 -2.39394985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62587156000001 meters 0.019817374954121572 Centerline is valid? [True, True] Translation: X:61.80, Y:-6.22, Z:-2.40 [[ 9.87983860e-01 1.50635810e-01 3.45940165e-02 6.17973729e+01] [-1.50557040e-01 9.88589251e-01 -4.88572361e-03 -6.21647749e+00] [-3.49352378e-02 -3.81356665e-04 9.99389506e-01 -2.39631709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65587156000001 meters 0.021212315391060638 Centerline is valid? [True, True] Translation: X:61.82, Y:-6.23, Z:-2.40 [[ 9.87303600e-01 1.52556155e-01 4.42517832e-02 6.18214902e+01] [-1.53270650e-01 9.88095955e-01 1.32095359e-02 -6.23106706e+00] [-4.17098120e-02 -1.98243220e-02 9.98933075e-01 -2.40194042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68587156000001 meters 0.020253058741220513 Centerline is valid? [True, True] Translation: X:61.86, Y:-6.21, Z:-2.40 [[ 9.87933987e-01 1.51601297e-01 3.16778289e-02 6.18567818e+01] [-1.50893499e-01 9.88266694e-01 -2.36662835e-02 -6.21097862e+00] [-3.48939825e-02 1.86007473e-02 9.99217905e-01 -2.39814634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71587156000001 meters 0.021342833847167585 Centerline is valid? [True, True] Translation: X:61.88, Y:-6.22, Z:-2.40 [[ 9.87769370e-01 1.51890974e-01 3.52250468e-02 6.18831665e+01] [-1.51810073e-01 9.88397159e-01 -4.97565801e-03 -6.22188952e+00] [-3.55720937e-02 -4.32714333e-04 9.99367019e-01 -2.39939138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74587156 meters 0.022455244503563076 Centerline is valid? [True, True] Translation: X:61.91, Y:-6.22, Z:-2.40 [[ 9.87618866e-01 1.52848705e-01 3.53022446e-02 6.19122795e+01] [-1.52768138e-01 9.88249489e-01 -4.98438702e-03 -6.22259439e+00] [-3.56492823e-02 -4.70383510e-04 9.99364252e-01 -2.40057054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77587156 meters 0.023687839499122954 Centerline is valid? [True, True] Translation: X:61.94, Y:-6.22, Z:-2.40 [[ 9.87465895e-01 1.53905759e-01 3.49874710e-02 6.19415350e+01] [-1.53827341e-01 9.88085402e-01 -4.93835229e-03 -6.22297455e+00] [-3.53306502e-02 -5.05575181e-04 9.99375550e-01 -2.40294163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80587156 meters 0.025036715626972253 Centerline is valid? [True, True] Translation: X:61.97, Y:-6.22, Z:-2.41 [[ 9.87325912e-01 1.54987759e-01 3.41516983e-02 6.19707986e+01] [-1.54913744e-01 9.87916247e-01 -4.81886403e-03 -6.22366468e+00] [-3.44858826e-02 -5.32778108e-04 9.99405043e-01 -2.40591675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83587156 meters 0.032675484808758024 Centerline is valid? [True, True] Translation: X:62.00, Y:-6.22, Z:-2.41 [[ 9.87023493e-01 1.57060133e-01 3.34176348e-02 6.19998961e+01] [-1.56990503e-01 9.87588863e-01 -4.71379930e-03 -6.22164569e+00] [-3.37432339e-02 -5.93620637e-04 9.99430359e-01 -2.41158148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86587156 meters 0.028749857840158474 Centerline is valid? [True, True] Translation: X:62.03, Y:-6.22, Z:-2.41 [[ 9.86868987e-01 1.58007614e-01 3.35141213e-02 6.20287221e+01] [-1.57938179e-01 9.87437693e-01 -4.72587038e-03 -6.22137781e+00] [-3.38398302e-02 -6.29344379e-04 9.99427071e-01 -2.41105956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89587156 meters 0.031376419861850746 Centerline is valid? [True, True] Translation: X:62.06, Y:-6.22, Z:-2.41 [[ 9.86513871e-01 1.60166139e-01 3.37222412e-02 6.20585338e+01] [-1.60097151e-01 9.87089816e-01 -4.75366881e-03 -6.21732071e+00] [-3.40482576e-02 -7.09274504e-04 9.99419938e-01 -2.41200226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92587156 meters 0.029367670871531276 Centerline is valid? [True, True] Translation: X:62.09, Y:-6.22, Z:-2.41 [[ 9.86374835e-01 1.60943012e-01 3.40885946e-02 6.20873457e+01] [-1.60873033e-01 9.86963419e-01 -4.80377913e-03 -6.22142863e+00] [-3.44173306e-02 -7.45608772e-04 9.99407270e-01 -2.41076912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95587156 meters 0.041768867768585044 Centerline is valid? [True, True] Translation: X:62.12, Y:-6.22, Z:-2.42 [[ 9.86278114e-01 1.61482381e-01 3.43354530e-02 6.21154388e+01] [-1.61411765e-01 9.86875294e-01 -4.83701539e-03 -6.21750414e+00] [-3.46659030e-02 -7.71503651e-04 9.99398659e-01 -2.41678338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98587156 meters 0.03454362069238021 Centerline is valid? [True, True] Translation: X:62.14, Y:-6.22, Z:-2.42 [[ 9.86222608e-01 1.61759609e-01 3.46236368e-02 6.21439890e+01] [-1.61688042e-01 9.86829876e-01 -4.87566898e-03 -6.21673742e+00] [-3.49563255e-02 -7.89733046e-04 9.99388529e-01 -2.41562030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01587156000001 meters 0.034161506706697174 Centerline is valid? [True, True] Translation: X:62.17, Y:-6.22, Z:-2.42 [[ 9.86390386e-01 1.60858967e-01 3.40352540e-02 6.21730689e+01] [-1.60789360e-01 9.86977119e-01 -4.79037119e-03 -6.21796599e+00] [-3.43625911e-02 -7.47330624e-04 9.99409152e-01 -2.41903606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04587156000001 meters 0.032394081489791816 Centerline is valid? [True, True] Translation: X:62.20, Y:-6.23, Z:-2.42 [[ 9.86544326e-01 1.60026051e-01 3.34956034e-02 6.22003195e+01] [-1.59958261e-01 9.87112536e-01 -4.71126762e-03 -6.22892709e+00] [-3.38178556e-02 -7.10024123e-04 9.99427761e-01 -2.41962373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07587156000001 meters 0.027675567212055188 Centerline is valid? [True, True] Translation: X:62.23, Y:-6.23, Z:-2.42 [[ 9.86688567e-01 1.58976795e-01 3.42352067e-02 6.22283334e+01] [-1.58905402e-01 9.87282078e-01 -4.81367816e-03 -6.23187981e+00] [-3.45650691e-02 -6.90558069e-04 9.99402211e-01 -2.41840487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10587156 meters 0.025693259159082056 Centerline is valid? [True, True] Translation: X:62.26, Y:-6.24, Z:-2.42 [[ 9.86866526e-01 1.57763526e-01 3.47149757e-02 6.22563406e+01] [-1.57689448e-01 9.87476701e-01 -4.87884528e-03 -6.23692307e+00] [-3.50499336e-02 -6.59416256e-04 9.99385345e-01 -2.41805794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13587156 meters 0.02441230587639448 Centerline is valid? [True, True] Translation: X:62.28, Y:-6.24, Z:-2.42 [[ 9.87104940e-01 1.55883042e-01 3.63911322e-02 6.22841172e+01] [-1.55800425e-01 9.87775323e-01 -5.11260736e-03 -6.23859534e+00] [-3.67432312e-02 -6.23073867e-04 9.99324545e-01 -2.41672787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16587156 meters 0.02364511854722289 Centerline is valid? [True, True] Translation: X:62.31, Y:-6.24, Z:-2.42 [[ 9.87226656e-01 1.54978168e-01 3.69499338e-02 6.23132469e+01] [-1.54892442e-01 9.87917713e-01 -5.18890351e-03 -6.24178562e+00] [-3.73076608e-02 -6.00641615e-04 9.99303646e-01 -2.41725598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19587156 meters 0.022852312492574932 Centerline is valid? [True, True] Translation: X:62.34, Y:-6.25, Z:-2.42 [[ 9.87354861e-01 1.54091436e-01 3.72318203e-02 6.23416502e+01] [-1.54003882e-01 9.88056425e-01 -5.22540855e-03 -6.24558867e+00] [-3.75923300e-02 -5.74512337e-04 9.99292993e-01 -2.41853567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22587156 meters 0.02120861223918046 Centerline is valid? [True, True] Translation: X:62.37, Y:-6.25, Z:-2.42 [[ 9.87659353e-01 1.52244871e-01 3.67491841e-02 6.23700230e+01] [-1.52158360e-01 9.88342678e-01 -5.15593020e-03 -6.25064909e+00] [-3.71057510e-02 -4.99392897e-04 9.99311220e-01 -2.42102900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25587156 meters 0.030263666540113636 Centerline is valid? [True, True] Translation: X:62.40, Y:-6.25, Z:-2.43 [[ 9.87838462e-01 1.51167823e-01 3.63794129e-02 6.23987713e+01] [-1.51082381e-01 9.88508008e-01 -5.10223305e-03 -6.25498995e+00] [-3.67326344e-02 -4.56106277e-04 9.99325025e-01 -2.42540367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28587156 meters 0.02962105720897506 Centerline is valid? [True, True] Translation: X:62.43, Y:-6.26, Z:-2.43 [[ 9.87939612e-01 1.50470942e-01 3.65214783e-02 6.24269583e+01] [-1.50384401e-01 9.88614337e-01 -5.12093034e-03 -6.25817242e+00] [-3.68762083e-02 -4.33090695e-04 9.99319747e-01 -2.42634882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31587156 meters 0.01868702353846972 Centerline is valid? [True, True] Translation: X:62.46, Y:-6.26, Z:-2.42 [[ 9.88025270e-01 1.49847673e-01 3.67660240e-02 6.24561771e+01] [-1.49759605e-01 9.88709008e-01 -5.15340051e-03 -6.26131445e+00] [-3.71231242e-02 -4.14375301e-04 9.99310613e-01 -2.42483516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34587156 meters 0.01832878604238805 Centerline is valid? [True, True] Translation: X:62.49, Y:-6.26, Z:-2.43 [[ 9.88110151e-01 1.49361945e-01 3.64600945e-02 6.24855046e+01] [-1.49275073e-01 9.88782511e-01 -5.10872150e-03 -6.26265134e+00] [-3.68141524e-02 -3.94603702e-04 9.99322051e-01 -2.42726310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37587156000001 meters 0.01857249739103576 Centerline is valid? [True, True] Translation: X:62.51, Y:-6.26, Z:-2.43 [[ 9.88117024e-01 1.49400175e-01 3.61155762e-02 6.25142228e+01] [-1.49315032e-01 9.88776735e-01 -5.05856667e-03 -6.26442656e+00] [-3.64659923e-02 -3.94142563e-04 9.99334817e-01 -2.42941452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40587156000001 meters 0.022844986968162954 Centerline is valid? [True, True] Translation: X:62.54, Y:-6.27, Z:-2.43 [[ 9.88120106e-01 1.49453994e-01 3.58072492e-02 6.25432106e+01] [-1.49370376e-01 9.88768602e-01 -5.01419978e-03 -6.26729913e+00] [-3.61544759e-02 -3.93910666e-04 9.99346136e-01 -2.43232198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43587156000001 meters 0.02623386111518688 Centerline is valid? [True, True] Translation: X:62.57, Y:-6.27, Z:-2.44 [[ 9.88146039e-01 1.49271237e-01 3.58539273e-02 6.25712571e+01] [-1.49187341e-01 9.88796211e-01 -5.01908181e-03 -6.26713094e+00] [-3.62014320e-02 -3.89366269e-04 9.99344437e-01 -2.43599346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46587156000001 meters 0.0187371473247424 Centerline is valid? [True, True] Translation: X:62.60, Y:-6.27, Z:-2.44 [[ 9.88217125e-01 1.48869002e-01 3.55659030e-02 6.25995121e+01] [-1.48786280e-01 9.88856855e-01 -4.97621214e-03 -6.27020169e+00] [-3.59103908e-02 -3.74140335e-04 9.99354944e-01 -2.43545527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49587156 meters 0.01774867086657794 Centerline is valid? [True, True] Translation: X:62.63, Y:-6.27, Z:-2.44 [[ 9.88320185e-01 1.48212485e-01 3.54439059e-02 6.26284379e+01] [-1.48129967e-01 9.88955477e-01 -4.95746134e-03 -6.27442139e+00] [-3.57872026e-02 -3.50745513e-04 9.99359371e-01 -2.43625217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52587156 meters 0.01771357624068133 Centerline is valid? [True, True] Translation: X:62.66, Y:-6.28, Z:-2.44 [[ 9.88462446e-01 1.47237481e-01 3.55403584e-02 6.26561181e+01] [-1.47153943e-01 9.89101119e-01 -4.96928255e-03 -6.27665359e+00] [-3.58846729e-02 -3.17954701e-04 9.99355887e-01 -2.43863109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55587156 meters 0.016011997721277284 Centerline is valid? [True, True] Translation: X:62.68, Y:-6.28, Z:-2.44 [[ 9.88783221e-01 1.44934903e-01 3.60779092e-02 6.26846906e+01] [-1.44847374e-01 9.89441164e-01 -5.04203812e-03 -6.28190968e+00] [-3.64277358e-02 -2.40307717e-04 9.99336261e-01 -2.43932257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58587156 meters 0.016011997721277284 Centerline is valid? [True, True] Translation: X:62.71, Y:-6.29, Z:-2.44 [[ 9.88790137e-01 1.44887650e-01 3.60781499e-02 6.27127265e+01] [-1.44800153e-01 9.89448084e-01 -5.04031500e-03 -6.28573843e+00] [-3.64277357e-02 -2.40307862e-04 9.99336261e-01 -2.44060794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61587156 meters 0.015201822192770888 Centerline is valid? [True, True] Translation: X:62.74, Y:-6.29, Z:-2.44 [[ 9.88954364e-01 1.43596438e-01 3.67332173e-02 6.27409220e+01] [-1.43504910e-01 9.89636309e-01 -5.13000370e-03 -6.29083276e+00] [-3.70891758e-02 -1.98057511e-04 9.99311940e-01 -2.44096394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64587156 meters 0.014572495323587415 Centerline is valid? [True, True] Translation: X:62.77, Y:-6.30, Z:-2.44 [[ 9.89107709e-01 1.42378942e-01 3.73386659e-02 6.27690768e+01] [-1.42283574e-01 9.89812211e-01 -5.21270821e-03 -6.29595306e+00] [-3.77004473e-02 -1.56748949e-04 9.99289073e-01 -2.44082840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67587156 meters 0.014260108883719537 Centerline is valid? [True, True] Translation: X:62.80, Y:-6.30, Z:-2.44 [[ 9.89253114e-01 1.41257995e-01 3.77419607e-02 6.27976482e+01] [-1.41159811e-01 9.89972810e-01 -5.26711637e-03 -6.30040430e+00] [-3.81075372e-02 -1.17136783e-04 9.99273637e-01 -2.44194266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70587156 meters 0.013757717338408103 Centerline is valid? [True, True] Translation: X:62.82, Y:-6.31, Z:-2.44 [[ 9.89578280e-01 1.38897474e-01 3.79778781e-02 6.28249628e+01] [-1.38796390e-01 9.90306766e-01 -5.29823684e-03 -6.30574544e+00] [-3.83456613e-02 -2.81722712e-05 9.99264534e-01 -2.44336494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73587156 meters 0.016008301415886696 Centerline is valid? [True, True] Translation: X:62.85, Y:-6.31, Z:-2.45 [[ 9.89755443e-01 1.37561409e-01 3.82233093e-02 6.28526206e+01] [-1.37458109e-01 9.90493240e-01 -5.33011180e-03 -6.31063597e+00] [-3.85931471e-02 2.14033592e-05 9.99255007e-01 -2.44605318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76587156000001 meters 0.013796703128077362 Centerline is valid? [True, True] Translation: X:62.88, Y:-6.32, Z:-2.45 [[ 9.89930088e-01 1.36144993e-01 3.87680473e-02 6.28806872e+01] [-1.36037738e-01 9.90688919e-01 -5.40358944e-03 -6.31560483e+00] [-3.91427466e-02 7.52583199e-05 9.99233626e-01 -2.44521462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79587156000001 meters 0.014205258567982552 Centerline is valid? [True, True] Translation: X:62.91, Y:-6.32, Z:-2.45 [[ 9.90226948e-01 1.33650657e-01 3.98508794e-02 6.29101284e+01] [-1.33535388e-01 9.91028491e-01 -5.55241545e-03 -6.32230484e+00] [-4.02354408e-02 1.76648758e-04 9.99190211e-01 -2.44514726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82587156000001 meters 0.014541725953562058 Centerline is valid? [True, True] Translation: X:62.94, Y:-6.33, Z:-2.45 [[ 9.90391597e-01 1.32400114e-01 3.99336210e-02 6.29391153e+01] [-1.32283389e-01 9.91196327e-01 -5.56298147e-03 -6.32766250e+00] [-4.03185979e-02 2.26975378e-04 9.99186849e-01 -2.44610985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85587156 meters 0.0154126948856495 Centerline is valid? [True, True] Translation: X:62.97, Y:-6.34, Z:-2.45 [[ 9.90561201e-01 1.31104040e-01 4.00029750e-02 6.29683889e+01] [-1.30985910e-01 9.91368576e-01 -5.57123269e-03 -6.33513054e+00] [-4.03881035e-02 2.78820873e-04 9.99184029e-01 -2.44821869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88587156 meters 0.01623322152468148 Centerline is valid? [True, True] Translation: X:63.00, Y:-6.34, Z:-2.45 [[ 9.90734077e-01 1.29851759e-01 3.98058946e-02 6.29980701e+01] [-1.29733672e-01 9.91533364e-01 -5.54647013e-03 -6.34189843e+00] [-4.01890915e-02 3.30912104e-04 9.99192037e-01 -2.45038784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91587156 meters 0.01758701571727238 Centerline is valid? [True, True] Translation: X:63.03, Y:-6.35, Z:-2.45 [[ 9.91002690e-01 1.27918634e-01 3.93762689e-02 6.30288605e+01] [-1.27801563e-01 9.91784583e-01 -5.48647433e-03 -6.34900637e+00] [-3.97545987e-02 4.04762127e-04 9.99209391e-01 -2.45242833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94587156 meters 0.01872128297538044 Centerline is valid? [True, True] Translation: X:63.06, Y:-6.36, Z:-2.45 [[ 9.91085654e-01 1.27175991e-01 3.96924781e-02 6.30589070e+01] [-1.27056424e-01 9.91880071e-01 -5.53080620e-03 -6.35581261e+00] [-4.00735637e-02 4.38318344e-04 9.99196636e-01 -2.45401288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97587156 meters 0.01888734027211033 Centerline is valid? [True, True] Translation: X:63.09, Y:-6.36, Z:-2.45 [[ 9.91159930e-01 1.26470537e-01 4.00898455e-02 6.30901601e+01] [-1.26347735e-01 9.91970249e-01 -5.59236938e-03 -6.36181678e+00] [-4.04752040e-02 4.77671253e-04 9.99180429e-01 -2.45454122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00587156 meters 0.019268200313729195 Centerline is valid? [True, True] Translation: X:63.12, Y:-6.37, Z:-2.46 [[ 9.91161520e-01 1.26198653e-01 4.08991546e-02 6.31214221e+01] [-1.26070324e-01 9.92004861e-01 -5.71218009e-03 -6.36859165e+00] [-4.12930296e-02 5.05523417e-04 9.99146951e-01 -2.45503565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03587156 meters 0.019459594272815715 Centerline is valid? [True, True] Translation: X:63.15, Y:-6.38, Z:-2.46 [[ 9.91194431e-01 1.25930522e-01 4.09280346e-02 6.31531965e+01] [-1.25801503e-01 9.92038925e-01 -5.72297436e-03 -6.37539506e+00] [-4.13229007e-02 5.23772042e-04 9.99145707e-01 -2.45604144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06587156 meters 0.02509916312864039 Centerline is valid? [True, True] Translation: X:63.19, Y:-6.38, Z:-2.46 [[ 9.91180235e-01 1.26067534e-01 4.08499621e-02 6.31860474e+01] [-1.25938850e-01 9.92021523e-01 -5.71869007e-03 -6.38111979e+00] [-4.12449828e-02 5.23655318e-04 9.99148926e-01 -2.45995244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09587156 meters 0.025939656533789893 Centerline is valid? [True, True] Translation: X:63.22, Y:-6.39, Z:-2.46 [[ 9.91169297e-01 1.26175431e-01 4.07821733e-02 6.32188040e+01] [-1.26046945e-01 9.92007804e-01 -5.71694981e-03 -6.38660841e+00] [-4.11775728e-02 5.25996749e-04 9.99151706e-01 -2.46150372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12587156000001 meters 0.01928966518380993 Centerline is valid? [True, True] Translation: X:63.25, Y:-6.40, Z:-2.46 [[ 9.91165317e-01 1.26302120e-01 4.04856744e-02 6.32501991e+01] [-1.26175276e-01 9.91991683e-01 -5.68335775e-03 -6.39636509e+00] [-4.08792724e-02 5.24855936e-04 9.99163955e-01 -2.46172767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15587156000001 meters 0.019399946989241912 Centerline is valid? [True, True] Translation: X:63.28, Y:-6.40, Z:-2.46 [[ 9.91129597e-01 1.26583779e-01 4.04804674e-02 6.32828637e+01] [-1.26456901e-01 9.91955783e-01 -5.69000732e-03 -6.40367570e+00] [-4.08750964e-02 5.20500196e-04 9.99164128e-01 -2.46399112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18587156000001 meters 0.019149469482594574 Centerline is valid? [True, True] Translation: X:63.32, Y:-6.41, Z:-2.47 [[ 9.91075597e-01 1.27079897e-01 4.02474847e-02 6.33156565e+01] [-1.26954576e-01 9.91892356e-01 -5.66486980e-03 -6.41039986e+00] [-4.06410635e-02 5.04711881e-04 9.99173683e-01 -2.46575544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21587156000001 meters 0.01711139924682415 Centerline is valid? [True, True] Translation: X:63.35, Y:-6.42, Z:-2.47 [[ 9.90772582e-01 1.29250614e-01 4.07917956e-02 6.33472186e+01] [-1.29123386e-01 9.91611867e-01 -5.74948048e-03 -6.41510255e+00] [-4.11927524e-02 4.29252845e-04 9.99151126e-01 -2.46560265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24587156 meters 0.016205669858136575 Centerline is valid? [True, True] Translation: X:63.38, Y:-6.42, Z:-2.47 [[ 9.90536694e-01 1.31060791e-01 4.07446662e-02 6.33782494e+01] [-1.30935100e-01 9.91374268e-01 -5.74982483e-03 -6.41928841e+00] [-4.11467903e-02 3.60505533e-04 9.99153047e-01 -2.46670405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27587156 meters 0.014795054334740994 Centerline is valid? [True, True] Translation: X:63.41, Y:-6.42, Z:-2.47 [[ 9.90212053e-01 1.33454376e-01 4.08658747e-02 6.34104549e+01] [-1.33329707e-01 9.91054922e-01 -5.77335320e-03 -6.42261950e+00] [-4.12708055e-02 2.68208834e-04 9.99147961e-01 -2.46804711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30587156 meters 0.013608058312421059 Centerline is valid? [True, True] Translation: X:63.44, Y:-6.43, Z:-2.47 [[ 9.89857572e-01 1.35899178e-01 4.13932515e-02 6.34419348e+01] [-1.35773088e-01 9.90722657e-01 -5.85542867e-03 -6.42538284e+00] [-4.18049800e-02 1.75950827e-04 9.99125774e-01 -2.46805423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33587156 meters 0.012881594854410707 Centerline is valid? [True, True] Translation: X:63.47, Y:-6.42, Z:-2.47 [[ 9.89070393e-01 1.41537177e-01 4.13156834e-02 6.34725995e+01] [-1.41416427e-01 9.89932939e-01 -5.84554217e-03 -6.42484627e+00] [-4.17271175e-02 -6.10636489e-05 9.99129043e-01 -2.46886573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36587156 meters 0.01348804245465011 Centerline is valid? [True, True] Translation: X:63.50, Y:-6.43, Z:-2.47 [[ 9.88703099e-01 1.44070748e-01 4.13497456e-02 6.35028550e+01] [-1.43952012e-01 9.89567376e-01 -5.85036145e-03 -6.42696246e+00] [-4.17612252e-02 -1.68108593e-04 9.99127605e-01 -2.47077369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39587156 meters 0.01447870809815137 Centerline is valid? [True, True] Translation: X:63.53, Y:-6.43, Z:-2.47 [[ 9.88425399e-01 1.46077760e-01 4.09453253e-02 6.35319489e+01] [-1.45963055e-01 9.89273079e-01 -5.79319144e-03 -6.42871072e+00] [-4.13523644e-02 -2.50367211e-04 9.99144594e-01 -2.47307245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42587156 meters 0.02885111007938788 Centerline is valid? [True, True] Translation: X:63.56, Y:-6.43, Z:-2.48 [[ 9.88225929e-01 1.47565594e-01 4.04216462e-02 6.35615605e+01] [-1.47455070e-01 9.89052223e-01 -5.71860304e-03 -6.43180131e+00] [-4.08229881e-02 -3.09104887e-04 9.99166347e-01 -2.47755041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45587156 meters 0.03290866783094078 Centerline is valid? [True, True] Translation: X:63.59, Y:-6.44, Z:-2.48 [[ 9.88056176e-01 1.49024952e-01 3.91989405e-02 6.35894366e+01] [-1.48922176e-01 9.88833371e-01 -5.54529795e-03 -6.43581719e+00] [-3.95876082e-02 -3.58525627e-04 9.99216039e-01 -2.48140300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48587156 meters 0.01664790669472331 Centerline is valid? [True, True] Translation: X:63.62, Y:-6.44, Z:-2.48 [[ 9.88036149e-01 1.49131394e-01 3.92987923e-02 6.36190070e+01] [-1.49028237e-01 9.88817321e-01 -5.55792528e-03 -6.44170675e+00] [-3.96881876e-02 -3.65198632e-04 9.99212047e-01 -2.48120771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51587156000001 meters 0.016928354519192047 Centerline is valid? [True, True] Translation: X:63.65, Y:-6.45, Z:-2.48 [[ 9.88077982e-01 1.49046199e-01 3.85633449e-02 6.36467174e+01] [-1.48946836e-01 9.88830169e-01 -5.45306516e-03 -6.44855916e+00] [-3.89453575e-02 -3.55834592e-04 9.99241278e-01 -2.48407671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54587156000001 meters 0.01687385909825196 Centerline is valid? [True, True] Translation: X:63.67, Y:-6.45, Z:-2.49 [[ 9.88092322e-01 1.48963778e-01 3.85143584e-02 6.36748365e+01] [-1.48864657e-01 9.88842590e-01 -5.44480750e-03 -6.45403373e+00] [-3.88957170e-02 -3.53454261e-04 9.99243213e-01 -2.48558432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57587156000001 meters 0.01689397260939347 Centerline is valid? [True, True] Translation: X:63.70, Y:-6.46, Z:-2.49 [[ 9.88095471e-01 1.48993080e-01 3.83197486e-02 6.37040561e+01] [-1.48895058e-01 9.88838175e-01 -5.41530993e-03 -6.45941239e+00] [-3.86988739e-02 -3.54777967e-04 9.99250855e-01 -2.48688502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60587156 meters 0.016898658871897152 Centerline is valid? [True, True] Translation: X:63.73, Y:-6.46, Z:-2.49 [[ 9.88095426e-01 1.49021534e-01 3.82100899e-02 6.37336258e+01] [-1.48924128e-01 9.88833887e-01 -5.39889800e-03 -6.46454730e+00] [-3.85879837e-02 -3.55777911e-04 9.99255143e-01 -2.48827134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63587156 meters 0.018768777554084702 Centerline is valid? [True, True] Translation: X:63.76, Y:-6.47, Z:-2.49 [[ 9.88013664e-01 1.49388448e-01 3.88856272e-02 6.37631356e+01] [-1.49287889e-01 9.88778514e-01 -5.49339680e-03 -6.47027830e+00] [-3.92699227e-02 -3.77602085e-04 9.99228568e-01 -2.48879748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66587156 meters 0.022486379308696073 Centerline is valid? [True, True] Translation: X:63.79, Y:-6.47, Z:-2.49 [[ 9.87919511e-01 1.49918524e-01 3.92361459e-02 6.37914912e+01] [-1.49816595e-01 9.88698272e-01 -5.54201957e-03 -6.47358681e+00] [-3.96235610e-02 -4.03156528e-04 9.99214597e-01 -2.49017762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69587156 meters 0.018051477783748587 Centerline is valid? [True, True] Translation: X:63.82, Y:-6.48, Z:-2.49 [[ 9.87840355e-01 1.50278078e-01 3.98488603e-02 6.38198261e+01] [-1.50173293e-01 9.88643676e-01 -5.62708534e-03 -6.47744207e+00] [-4.02419513e-02 -4.25572582e-04 9.99189874e-01 -2.48898443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72587156 meters 0.018692778839366337 Centerline is valid? [True, True] Translation: X:63.85, Y:-6.48, Z:-2.49 [[ 9.87753069e-01 1.50685251e-01 4.04701218e-02 6.38481272e+01] [-1.50577573e-01 9.88581687e-01 -5.71335235e-03 -6.48076802e+00] [-4.08689392e-02 -4.50511395e-04 9.99164414e-01 -2.48970405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75587156 meters 0.017927148819288946 Centerline is valid? [True, True] Translation: X:63.88, Y:-6.49, Z:-2.49 [[ 9.87725565e-01 1.50612397e-01 4.14018712e-02 6.38775064e+01] [-1.50499702e-01 9.88592785e-01 -5.84336304e-03 -6.48777395e+00] [-4.18096741e-02 -4.59330211e-04 9.99125488e-01 -2.48938686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78587156 meters 0.01770703430670186 Centerline is valid? [True, True] Translation: X:63.91, Y:-6.49, Z:-2.49 [[ 9.87767642e-01 1.50259845e-01 4.16780966e-02 6.39066999e+01] [-1.50145369e-01 9.88646437e-01 -5.88133857e-03 -6.49325678e+00] [-4.20886307e-02 -4.48377265e-04 9.99113780e-01 -2.49002269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81587156 meters 0.01704079063134451 Centerline is valid? [True, True] Translation: X:63.94, Y:-6.50, Z:-2.49 [[ 9.87895575e-01 1.49409873e-01 4.17015845e-02 6.39366866e+01] [-1.49294556e-01 9.88775262e-01 -5.88357885e-03 -6.49971451e+00] [-4.21125599e-02 -4.13458044e-04 9.99112787e-01 -2.49173211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84587156 meters 0.015167745143449889 Centerline is valid? [True, True] Translation: X:63.97, Y:-6.51, Z:-2.49 [[ 9.88271197e-01 1.47098108e-01 4.10144871e-02 6.39668996e+01] [-1.46984575e-01 9.89121858e-01 -5.78654274e-03 -6.51078618e+00] [-4.14195152e-02 -3.09823431e-04 9.99141796e-01 -2.49496057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87587156000001 meters 0.014235598717731543 Centerline is valid? [True, True] Translation: X:64.00, Y:-6.52, Z:-2.50 [[ 9.88498960e-01 1.45643906e-01 4.07143492e-02 6.39977505e+01] [-1.45530755e-01 9.89337047e-01 -5.74517898e-03 -6.51923017e+00] [-4.11169643e-02 -2.46086556e-04 9.99154310e-01 -2.49686074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90587156000001 meters 0.019759150395701305 Centerline is valid? [True, True] Translation: X:64.03, Y:-6.53, Z:-2.50 [[ 9.88765704e-01 1.44067226e-01 3.98373909e-02 6.40277903e+01] [-1.43957596e-01 9.89567887e-01 -5.62202488e-03 -6.52664211e+00] [-4.02317523e-02 -1.76029624e-04 9.99190360e-01 -2.50005556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93587156000001 meters 0.013131887289041301 Centerline is valid? [True, True] Translation: X:64.06, Y:-6.53, Z:-2.50 [[ 9.88899333e-01 1.43027566e-01 4.02644210e-02 6.40594730e+01] [-1.42914565e-01 9.89718696e-01 -5.68588044e-03 -6.53445913e+00] [-4.06636879e-02 -1.31608825e-04 9.99172882e-01 -2.50004333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96587156000001 meters 0.013440049645639537 Centerline is valid? [True, True] Translation: X:64.09, Y:-6.55, Z:-2.50 [[ 9.89707528e-01 1.37551000e-01 3.94807606e-02 6.40949544e+01] [-1.37728034e-01 9.90468473e-01 1.78677553e-03 -6.54811201e+00] [-3.88586759e-02 -7.20599273e-03 9.99218733e-01 -2.50456565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99587156 meters 0.0125572993507668 Centerline is valid? [True, True] Translation: X:64.12, Y:-6.55, Z:-2.50 [[ 9.89105903e-01 1.41880948e-01 3.92340235e-02 6.41209371e+01] [-1.41460670e-01 9.89854496e-01 -1.33024995e-02 -6.54536461e+00] [-4.07233458e-02 7.60750950e-03 9.99141499e-01 -2.50199310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02587156 meters 0.012778456840098977 Centerline is valid? [True, True] Translation: X:64.15, Y:-6.55, Z:-2.50 [[ 9.89028552e-01 1.42111776e-01 4.03331888e-02 6.41517271e+01] [-1.41997275e-01 9.89850613e-01 -5.70421190e-03 -6.55451057e+00] [-4.07344673e-02 -8.55744782e-05 9.99170003e-01 -2.50393464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05587156 meters 0.01938016180492332 Centerline is valid? [True, True] Translation: X:64.18, Y:-6.56, Z:-2.51 [[ 9.88765247e-01 1.44240052e-01 3.92185287e-02 6.41840501e+01] [-1.44133292e-01 9.89542713e-01 -5.55100278e-03 -6.55622822e+00] [-3.96090862e-02 -1.64057040e-04 9.99215239e-01 -2.50770150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08587156 meters 0.013773203227782825 Centerline is valid? [True, True] Translation: X:64.22, Y:-6.56, Z:-2.51 [[ 9.88546632e-01 1.45618863e-01 3.96321027e-02 6.42164863e+01] [-1.45510676e-01 9.89340740e-01 -5.61627746e-03 -6.55979331e+00] [-4.00274898e-02 -2.14941892e-04 9.99198556e-01 -2.50844853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11587156 meters 0.014542868329116354 Centerline is valid? [True, True] Translation: X:64.25, Y:-6.56, Z:-2.51 [[ 9.88332952e-01 1.47135616e-01 3.93584444e-02 6.42471623e+01] [-1.47029847e-01 9.89116292e-01 -5.58437162e-03 -6.56271439e+00] [-3.97517386e-02 -2.67647572e-04 9.99209551e-01 -2.51079415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14587156 meters 0.017134438524352726 Centerline is valid? [True, True] Translation: X:64.28, Y:-6.56, Z:-2.51 [[ 9.88015146e-01 1.49408232e-01 3.87717990e-02 6.42779488e+01] [-1.49307075e-01 9.88775536e-01 -5.50794833e-03 -6.56337375e+00] [-3.91595392e-02 -3.46967548e-04 9.99232911e-01 -2.51450375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17587156 meters 0.02633361542240531 Centerline is valid? [True, True] Translation: X:64.31, Y:-6.57, Z:-2.52 [[ 9.87901998e-01 1.50353344e-01 3.79936037e-02 6.43084177e+01] [-1.50256818e-01 9.88632253e-01 -5.39971808e-03 -6.56797462e+00] [-3.83735677e-02 -3.74405722e-04 9.99263393e-01 -2.51649563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20587156 meters 0.01673000046391323 Centerline is valid? [True, True] Translation: X:64.34, Y:-6.58, Z:-2.52 [[ 9.87865942e-01 1.49966772e-01 4.03837575e-02 6.43385972e+01] [-1.50117382e-01 9.88667929e-01 7.05991027e-04 -6.57650393e+00] [-3.98202507e-02 -6.75972843e-03 9.99183994e-01 -2.51854713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23587156 meters 0.030079049830565474 Centerline is valid? [True, True] Translation: X:64.37, Y:-6.57, Z:-2.52 [[ 9.87725953e-01 1.51651611e-01 3.74062802e-02 6.43690531e+01] [-1.51306955e-01 9.88415250e-01 -1.18952878e-02 -6.57214456e+00] [-3.87768774e-02 6.08945407e-03 9.99229339e-01 -2.51798348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26587156000001 meters 0.017421772853442933 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.58, Z:-2.52 [[ 9.87703908e-01 1.51191886e-01 3.97744143e-02 6.43984522e+01] [-1.51086555e-01 9.88504343e-01 -5.65830010e-03 -6.58091240e+00] [-4.01726704e-02 -4.20654105e-04 9.99192664e-01 -2.51657282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29587156000001 meters 0.015499487525594708 Centerline is valid? [True, True] Translation: X:64.43, Y:-6.60, Z:-2.52 [[ 9.87804129e-01 1.48454981e-01 4.69480619e-02 6.44288299e+01] [-1.49343790e-01 9.88655743e-01 1.60079570e-02 -6.60235624e+00] [-4.40390100e-02 -2.28241276e-02 9.98769055e-01 -2.52013831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32587156000001 meters 0.01609909433326488 Centerline is valid? [True, True] Translation: X:64.46, Y:-6.59, Z:-2.52 [[ 9.87965579e-01 1.48493655e-01 4.32856771e-02 6.44635684e+01] [-1.48197507e-01 9.88907325e-01 -9.99008056e-03 -6.59149455e+00] [-4.42889867e-02 3.45502629e-03 9.99012787e-01 -2.52206972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35587156000001 meters 0.015507119870208495 Centerline is valid? [True, True] Translation: X:64.49, Y:-6.60, Z:-2.52 [[ 9.87937402e-01 1.48373008e-01 4.43298975e-02 6.44944419e+01] [-1.48226643e-01 9.88931467e-01 -6.58904535e-03 -6.60101705e+00] [-4.48168671e-02 -6.13075734e-05 9.98995218e-01 -2.52360230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38587156 meters 0.03191659968242041 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.60, Z:-2.52 [[ 9.88097583e-01 1.49697240e-01 3.54104854e-02 6.45244036e+01] [-1.48801842e-01 9.88506171e-01 -2.67125705e-02 -6.59663729e+00] [-3.90022815e-02 2.11254809e-02 9.99015784e-01 -2.52037263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41587156 meters 0.01415557824447559 Centerline is valid? [True, True] Translation: X:64.55, Y:-6.63, Z:-2.53 [[ 9.88022462e-01 1.47044308e-01 4.67930136e-02 6.45529484e+01] [-1.48054062e-01 9.88799033e-01 1.88803629e-02 -6.63146333e+00] [-4.34926367e-02 -2.55821184e-02 9.98726162e-01 -2.52524013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44587156 meters 0.014773167023070953 Centerline is valid? [True, True] Translation: X:64.59, Y:-6.60, Z:-2.52 [[ 9.88056363e-01 1.50141589e-01 3.46717014e-02 6.45861891e+01] [-1.49102185e-01 9.88340421e-01 -3.08504673e-02 -6.60475271e+00] [-3.88993821e-02 2.53123740e-02 9.98922480e-01 -2.52251653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47587156 meters 0.014773167023070953 Centerline is valid? [True, True] Translation: X:64.62, Y:-6.62, Z:-2.53 [[ 9.88060680e-01 1.49223654e-01 3.83196298e-02 6.46152684e+01] [-1.49122983e-01 9.88803426e-01 -5.48815080e-03 -6.62451461e+00] [-3.87095431e-02 -2.91711494e-04 9.99250462e-01 -2.52558445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50587156 meters 0.015961589109445434 Centerline is valid? [True, True] Translation: X:64.65, Y:-6.63, Z:-2.53 [[ 9.87907317e-01 1.50544615e-01 3.70870758e-02 6.46463644e+01] [-1.50451010e-01 9.88603162e-01 -5.31798557e-03 -6.62859822e+00] [-3.74649945e-02 -3.26111147e-04 9.99297887e-01 -2.52868313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53587156 meters 0.01647717332912022 Centerline is valid? [True, True] Translation: X:64.68, Y:-6.63, Z:-2.53 [[ 9.87791895e-01 1.51299317e-01 3.70902811e-02 6.46767096e+01] [-1.51205959e-01 9.88487934e-01 -5.32563084e-03 -6.63257674e+00] [-3.74690596e-02 -3.47656535e-04 9.99297728e-01 -2.53025699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56587156 meters 0.017272003955529053 Centerline is valid? [True, True] Translation: X:64.71, Y:-6.64, Z:-2.54 [[ 9.87525095e-01 1.51937006e-01 4.13440862e-02 6.47074121e+01] [-1.52135546e-01 9.88358210e-01 1.68057452e-03 -6.64120764e+00] [-4.06074255e-02 -7.94951462e-03 9.99143554e-01 -2.53506385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59587156 meters 0.021389345372259446 Centerline is valid? [True, True] Translation: X:64.74, Y:-6.64, Z:-2.53 [[ 9.87476978e-01 1.53716941e-01 3.55009784e-02 6.47389039e+01] [-1.53350407e-01 9.88088415e-01 -1.28428088e-02 -6.63520193e+00] [-3.70522628e-02 7.23788858e-03 9.99287117e-01 -2.53304653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62587156000001 meters 0.018308972942554687 Centerline is valid? [True, True] Translation: X:64.77, Y:-6.65, Z:-2.54 [[ 9.86992048e-01 1.55204593e-01 4.19312726e-02 6.47667948e+01] [-1.55629866e-01 9.87790241e-01 7.05577539e-03 -6.65263347e+00] [-4.03242132e-02 -1.34897525e-02 9.99095583e-01 -2.53605086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65587156000001 meters 0.0190085698223632 Centerline is valid? [True, True] Translation: X:64.80, Y:-6.65, Z:-2.54 [[ 9.86894355e-01 1.56348755e-01 3.99324282e-02 6.47985559e+01] [-1.56225666e-01 9.87701905e-01 -6.20388225e-03 -6.64778113e+00] [-4.04113047e-02 -1.15893796e-04 9.99183123e-01 -2.53735582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68587156000001 meters 0.021477754700327784 Centerline is valid? [True, True] Translation: X:64.83, Y:-6.64, Z:-2.54 [[ 9.86909323e-01 1.57426101e-01 3.50287176e-02 6.48305515e+01] [-1.56877443e-01 9.87455612e-01 -1.79131740e-02 -6.64143793e+00] [-3.74093049e-02 1.21834628e-02 9.99225754e-01 -2.53608340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71587156000001 meters 0.022260683540806153 Centerline is valid? [True, True] Translation: X:64.86, Y:-6.65, Z:-2.54 [[ 9.86876575e-01 1.57159196e-01 3.70892628e-02 6.48574801e+01] [-1.57069552e-01 9.87573124e-01 -5.33675718e-03 -6.65169325e+00] [-3.74670796e-02 -5.58873237e-04 9.99297706e-01 -2.53780538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74587156 meters 0.021515775646513562 Centerline is valid? [True, True] Translation: X:64.89, Y:-6.66, Z:-2.54 [[ 9.86858921e-01 1.57187892e-01 3.74357673e-02 6.48871006e+01] [-1.57096564e-01 9.87568553e-01 -5.38719939e-03 -6.65631087e+00] [-3.78171891e-02 -5.64624632e-04 9.99284515e-01 -2.53787132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77587156 meters 0.020474584846757144 Centerline is valid? [True, True] Translation: X:64.92, Y:-6.66, Z:-2.54 [[ 9.87085825e-01 1.55669632e-01 3.77960269e-02 6.49155411e+01] [-1.55575457e-01 9.87809042e-01 -5.43819170e-03 -6.66118814e+00] [-3.81818184e-02 -5.12172214e-04 9.99270677e-01 -2.53852847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80587156 meters 0.01907240453772039 Centerline is valid? [True, True] Translation: X:64.95, Y:-6.67, Z:-2.54 [[ 9.87335297e-01 1.54052938e-01 3.79038844e-02 6.49455065e+01] [-1.53957095e-01 9.88062492e-01 -5.45209805e-03 -6.66881265e+00] [-3.82913181e-02 -4.52523077e-04 9.99266516e-01 -2.54013540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83587156 meters 0.017494392991967284 Centerline is valid? [True, True] Translation: X:64.98, Y:-6.68, Z:-2.54 [[ 9.87661565e-01 1.52076504e-01 3.73814212e-02 6.49755594e+01] [-1.51981873e-01 9.88368656e-01 -5.37686393e-03 -6.67749485e+00] [-3.77643197e-02 -3.70776577e-04 9.99286605e-01 -2.54184202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86587156 meters 0.022458791794391537 Centerline is valid? [True, True] Translation: X:65.01, Y:-6.69, Z:-2.54 [[ 9.88081695e-01 1.49324726e-01 3.73723108e-02 6.50061039e+01] [-1.49228160e-01 9.88788175e-01 -5.37591748e-03 -6.68678450e+00] [-3.77560564e-02 -2.65155490e-04 9.99286951e-01 -2.54441499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89587156 meters 0.013993136691065554 Centerline is valid? [True, True] Translation: X:65.03, Y:-6.72, Z:-2.55 [[ 9.88270217e-01 1.43926838e-01 5.10592136e-02 6.50338678e+01] [-1.45463605e-01 9.88974055e-01 2.77607228e-02 -6.72377950e+00] [-4.65007245e-02 -3.48623529e-02 9.98309721e-01 -2.55172491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92587156 meters 0.013426738537512849 Centerline is valid? [True, True] Translation: X:65.07, Y:-6.69, Z:-2.55 [[ 9.89282740e-01 1.42690237e-01 3.09702528e-02 6.50685326e+01] [-1.41427505e-01 9.89151089e-01 -3.97288799e-02 -6.69242765e+00] [-3.63031826e-02 3.49230496e-02 9.98730424e-01 -2.54622285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95587156 meters 0.014481452466902857 Centerline is valid? [True, True] Translation: X:65.10, Y:-6.72, Z:-2.55 [[ 9.89665748e-01 1.38844057e-01 3.58334200e-02 6.50964454e+01] [-1.38748302e-01 9.90314248e-01 -5.15737790e-03 -6.72452128e+00] [-3.62024177e-02 1.32254088e-04 9.99344469e-01 -2.55066712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98587156 meters 0.015348668943094975 Centerline is valid? [True, True] Translation: X:65.12, Y:-6.75, Z:-2.55 [[ 9.89380746e-01 1.38019689e-01 4.55664965e-02 6.51236249e+01] [-1.38821388e-01 9.90205188e-01 1.49099871e-02 -6.75135849e+00] [-4.30623095e-02 -2.10772585e-02 9.98850032e-01 -2.55291991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01587156000001 meters 0.02641980318319028 Centerline is valid? [True, True] Translation: X:65.16, Y:-6.73, Z:-2.55 [[ 9.90299869e-01 1.35080877e-01 3.25472783e-02 6.51597260e+01] [-1.34265589e-01 9.90602587e-01 -2.60627191e-02 -6.73383066e+00] [-3.57619931e-02 2.14399278e-02 9.99130327e-01 -2.55097002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04587156000001 meters 0.017173772140707894 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.76, Z:-2.55 [[ 9.90332042e-01 1.34263528e-01 3.48676306e-02 6.51885662e+01] [-1.34169511e-01 9.90945615e-01 -5.03297537e-03 -6.75596346e+00] [-3.52276707e-02 3.06143825e-04 9.99379266e-01 -2.55433800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07587156000001 meters 0.017896116578778952 Centerline is valid? [True, True] Translation: X:65.22, Y:-6.76, Z:-2.56 [[ 9.90310408e-01 1.34480650e-01 3.46446205e-02 6.52191854e+01] [-1.34387717e-01 9.90916173e-01 -5.00788941e-03 -6.76464192e+00] [-3.50033790e-02 3.03553541e-04 9.99387148e-01 -2.55725805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10587156000001 meters 0.015941365520765034 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.77, Z:-2.56 [[ 9.90056573e-01 1.36531631e-01 3.38687997e-02 6.52507372e+01] [-1.36443898e-01 9.90635685e-01 -4.89913141e-03 -6.76918874e+00] [-3.42205280e-02 2.29226201e-04 9.99414280e-01 -2.55771061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13587156 meters 0.015875844523779256 Centerline is valid? [True, True] Translation: X:65.28, Y:-6.77, Z:-2.56 [[ 9.89820554e-01 1.38234495e-01 3.38599359e-02 6.52815901e+01] [-1.38147603e-01 9.90399512e-01 -4.90371422e-03 -6.77363599e+00] [-3.42127265e-02 1.76128148e-04 9.99414558e-01 -2.56105832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16587156 meters 0.015102476243926983 Centerline is valid? [True, True] Translation: X:65.31, Y:-6.78, Z:-2.56 [[ 9.89538776e-01 1.40123637e-01 3.43274877e-02 6.53125990e+01] [-1.40035271e-01 9.90134007e-01 -4.97700421e-03 -6.77622374e+00] [-3.46862089e-02 1.17879613e-04 9.99398245e-01 -2.56164806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19587156 meters 0.02118614235673261 Centerline is valid? [True, True] Translation: X:65.35, Y:-6.78, Z:-2.56 [[ 9.89257914e-01 1.41957093e-01 3.48849929e-02 6.53454164e+01] [-1.41866797e-01 9.89872810e-01 -5.06277988e-03 -6.77814002e+00] [-3.52504035e-02 5.93728747e-05 9.99378510e-01 -2.55943969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22587156 meters 0.014132348570884471 Centerline is valid? [True, True] Translation: X:65.38, Y:-6.78, Z:-2.56 [[ 9.88606518e-01 1.46714803e-01 3.36440014e-02 6.53776696e+01] [-1.46633352e-01 9.89178829e-01 -4.88912038e-03 -6.77966196e+00] [-3.39972403e-02 -9.99164345e-05 9.99421922e-01 -2.56207849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25587156 meters 0.015260117627901713 Centerline is valid? [True, True] Translation: X:65.41, Y:-6.78, Z:-2.57 [[ 9.88266571e-01 1.49062371e-01 3.33105813e-02 6.54085181e+01] [-1.48983759e-01 9.88827780e-01 -4.84366369e-03 -6.78204940e+00] [-3.36604362e-02 -1.75904711e-04 9.99433311e-01 -2.56512654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28587156 meters 0.018812678284198064 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.78, Z:-2.57 [[ 9.87466692e-01 1.54314649e-01 3.31137496e-02 6.54396204e+01] [-1.54239803e-01 9.88021694e-01 -4.81832531e-03 -6.78150610e+00] [-3.34606412e-02 -3.49522469e-04 9.99439975e-01 -2.56638457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31587156 meters 0.0228420890762693 Centerline is valid? [True, True] Translation: X:65.46, Y:-6.81, Z:-2.57 [[ 9.85612150e-01 1.60299160e-01 5.35991604e-02 6.54623310e+01] [-1.62357622e-01 9.86055720e-01 3.65255994e-02 -6.81146256e+00] [-4.69967358e-02 -4.47023068e-02 9.97894288e-01 -2.57261902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34587156 meters 0.024125006752531177 Centerline is valid? [True, True] Translation: X:65.51, Y:-6.76, Z:-2.57 [[ 9.86540931e-01 1.61372698e-01 2.63788649e-02 6.55077157e+01] [-1.60000490e-01 9.85960470e-01 -4.77681362e-02 -6.75695208e+00] [-3.37169911e-02 4.29045903e-02 9.98510070e-01 -2.56887645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37587156000001 meters 0.02549187652075816 Centerline is valid? [True, True] Translation: X:65.53, Y:-6.78, Z:-2.57 [[ 9.86338245e-01 1.61502704e-01 3.24614009e-02 6.55334507e+01] [-1.61434380e-01 9.86872103e-01 -4.73208355e-03 -6.78449115e+00] [-3.27994953e-02 -5.72951148e-04 9.99461788e-01 -2.57217902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40587156000001 meters 0.02807531935746294 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.78, Z:-2.57 [[ 9.86136790e-01 1.62787016e-01 3.21654944e-02 6.55621116e+01] [-1.62720635e-01 9.86661043e-01 -4.68833828e-03 -6.78436455e+00] [-3.24996409e-02 -6.10646811e-04 9.99471561e-01 -2.57445646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43587156000001 meters 0.027379575960320857 Centerline is valid? [True, True] Translation: X:65.59, Y:-6.79, Z:-2.58 [[ 9.85947560e-01 1.64036758e-01 3.16125004e-02 6.55917668e+01] [-1.63973321e-01 9.86454018e-01 -4.60650187e-03 -6.78855084e+00] [-3.19399136e-02 -6.41837380e-04 9.99489585e-01 -2.57546486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46587156000001 meters 0.02686431045359895 Centerline is valid? [True, True] Translation: X:65.62, Y:-6.79, Z:-2.58 [[ 9.85994755e-01 1.63830454e-01 3.12077857e-02 6.56205467e+01] [-1.63768552e-01 9.86488311e-01 -4.54678783e-03 -6.79371138e+00] [-3.15310181e-02 -6.27744916e-04 9.99502577e-01 -2.57669012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49587156 meters 0.036413210032543226 Centerline is valid? [True, True] Translation: X:65.64, Y:-6.82, Z:-2.58 [[ 9.84531801e-01 1.68594316e-01 4.76769361e-02 6.56422920e+01] [-1.69862818e-01 9.85177591e-01 2.39110184e-02 -6.81786315e+00] [-4.29389873e-02 -3.16396967e-02 9.98576573e-01 -2.58399990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52587156 meters 0.0250260331198324 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.79, Z:-2.58 [[ 9.86285457e-01 1.62862853e-01 2.67710559e-02 6.56836798e+01] [-1.61919959e-01 9.86208637e-01 -3.42702507e-02 -6.78769483e+00] [-3.19831973e-02 2.94654815e-02 9.99053983e-01 -2.57801610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55587156 meters 0.02422865085160975 Centerline is valid? [True, True] Translation: X:65.71, Y:-6.81, Z:-2.58 [[ 9.86541210e-01 1.60371039e-01 3.18993854e-02 6.57093930e+01] [-1.60304444e-01 9.87056662e-01 -4.65094893e-03 -6.80968904e+00] [-3.22323784e-02 -5.25260453e-04 9.99480264e-01 -2.57960508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58587156 meters 0.02266247519525749 Centerline is valid? [True, True] Translation: X:65.74, Y:-6.82, Z:-2.58 [[ 9.86713267e-01 1.59273258e-01 3.20773869e-02 6.57394203e+01] [-1.59205390e-01 9.87234413e-01 -4.67528374e-03 -6.81618295e+00] [-3.24125479e-02 -4.93728405e-04 9.99474453e-01 -2.57950844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61587156 meters 0.021312468849445324 Centerline is valid? [True, True] Translation: X:65.77, Y:-6.82, Z:-2.58 [[ 9.86960081e-01 1.57559731e-01 3.29352432e-02 6.57685264e+01] [-1.57487225e-01 9.87509357e-01 -4.80045534e-03 -6.82226800e+00] [-3.32802193e-02 -4.49022290e-04 9.99445959e-01 -2.57939387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64587156 meters 0.020376510559783085 Centerline is valid? [True, True] Translation: X:65.80, Y:-6.83, Z:-2.58 [[ 9.87147945e-01 1.56381436e-01 3.29208303e-02 6.57985627e+01] [-1.56308356e-01 9.87696653e-01 -4.79781725e-03 -6.82745652e+00] [-3.32660835e-02 -4.09645434e-04 9.99446447e-01 -2.58004543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67587156 meters 0.01929346283288556 Centerline is valid? [True, True] Translation: X:65.83, Y:-6.83, Z:-2.58 [[ 9.87331964e-01 1.55133722e-01 3.33034711e-02 6.58290502e+01] [-1.55058232e-01 9.87893410e-01 -4.85331920e-03 -6.83332021e+00] [-3.36531931e-02 -3.72140189e-04 9.99433502e-01 -2.58094048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70587156 meters 0.024462836587927427 Centerline is valid? [True, True] Translation: X:65.86, Y:-6.84, Z:-2.58 [[ 9.87924279e-01 1.51215510e-01 3.37563116e-02 6.58592922e+01] [-1.51135685e-01 9.88500789e-01 -4.91874549e-03 -6.84337559e+00] [-3.41119312e-02 -2.42435183e-04 9.99417989e-01 -2.58245163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73587156 meters 0.0223870623614766 Centerline is valid? [True, True] Translation: X:65.89, Y:-6.85, Z:-2.58 [[ 9.88158442e-01 1.49614634e-01 3.40346125e-02 6.58899876e+01] [-1.49532356e-01 9.88744369e-01 -4.96458646e-03 -6.85009895e+00] [-3.43943063e-02 -1.83477758e-04 9.99408324e-01 -2.58425210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76587156000001 meters 0.014469285454245256 Centerline is valid? [True, True] Translation: X:65.92, Y:-6.86, Z:-2.58 [[ 9.88366423e-01 1.48286864e-01 3.38056183e-02 6.59218446e+01] [-1.48204751e-01 9.88944381e-01 -4.93590505e-03 -6.85790888e+00] [-3.41638061e-02 -1.31670411e-04 9.99416238e-01 -2.58466756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79587156000001 meters 0.014147458637814874 Centerline is valid? [True, True] Translation: X:65.95, Y:-6.87, Z:-2.59 [[ 9.89115710e-01 1.43372858e-01 3.30807412e-02 6.59519510e+01] [-1.43291275e-01 9.89668743e-01 -4.83619853e-03 -6.87097219e+00] [-3.34323552e-02 4.33783688e-05 9.99440982e-01 -2.58730636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82587156000001 meters 0.014415343677511594 Centerline is valid? [True, True] Translation: X:65.98, Y:-6.89, Z:-2.59 [[ 9.88609494e-01 1.44774475e-01 4.11293131e-02 6.59844951e+01] [-1.45030547e-01 9.89421688e-01 3.29617396e-03 -6.88603099e+00] [-4.02170325e-02 -9.22363563e-03 9.99148395e-01 -2.59054396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85587156000001 meters 0.015334915549022903 Centerline is valid? [True, True] Translation: X:66.02, Y:-6.89, Z:-2.59 [[ 9.88831326e-01 1.43391171e-01 4.06396566e-02 6.60160699e+01] [-1.43305926e-01 9.89665716e-01 -5.01819605e-03 -6.89032588e+00] [-4.09392399e-02 -8.61754159e-04 9.99161266e-01 -2.59196455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88587156 meters 0.017336073895657188 Centerline is valid? [True, True] Translation: X:66.04, Y:-6.89, Z:-2.59 [[ 9.89982643e-01 1.37439646e-01 3.23219884e-02 6.60444506e+01] [-1.37000317e-01 9.90450574e-01 -1.54458218e-02 -6.89147579e+00] [-3.41362002e-02 1.08629728e-02 9.99358152e-01 -2.59079944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91587156 meters 0.02060328268907186 Centerline is valid? [True, True] Translation: X:66.07, Y:-6.91, Z:-2.59 [[ 9.90474600e-01 1.33563105e-01 3.34807867e-02 6.60727949e+01] [-1.33473401e-01 9.91040232e-01 -4.91019254e-03 -6.91148687e+00] [-3.38366272e-02 3.94626512e-04 9.99427299e-01 -2.59282467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94587156 meters 0.023411452005610428 Centerline is valid? [True, True] Translation: X:66.10, Y:-6.92, Z:-2.59 [[ 9.90628130e-01 1.32458215e-01 3.33276091e-02 6.61027776e+01] [-1.32368540e-01 9.91188495e-01 -4.89262824e-03 -6.91966184e+00] [-3.36820115e-02 4.35248206e-04 9.99432505e-01 -2.59498221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97587156 meters 0.022284565877019467 Centerline is valid? [True, True] Translation: X:66.13, Y:-6.93, Z:-2.60 [[ 9.90608779e-01 1.32605297e-01 3.33178952e-02 6.61345190e+01] [-1.32515606e-01 9.91168828e-01 -4.89569719e-03 -6.92754965e+00] [-3.36728545e-02 4.34579561e-04 9.99432814e-01 -2.59556267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00587156 meters 0.022048865752093427 Centerline is valid? [True, True] Translation: X:66.17, Y:-6.93, Z:-2.60 [[ 9.90582202e-01 1.32902937e-01 3.29197503e-02 6.61668074e+01] [-1.32815350e-01 9.91128967e-01 -4.84297056e-03 -6.93337998e+00] [-3.32713632e-02 4.25112287e-04 9.99446265e-01 -2.59711126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03587156 meters 0.021639912598877913 Centerline is valid? [True, True] Translation: X:66.20, Y:-6.94, Z:-2.60 [[ 9.90479058e-01 1.33666174e-01 3.29331212e-02 6.61981216e+01] [-1.33578731e-01 9.91026331e-01 -4.85111334e-03 -6.93925716e+00] [-3.32860200e-02 4.05761619e-04 9.99445785e-01 -2.59933998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06587156 meters 0.02110779015374215 Centerline is valid? [True, True] Translation: X:66.23, Y:-6.95, Z:-2.60 [[ 9.90373210e-01 1.34520673e-01 3.26357689e-02 6.62290712e+01] [-1.34435074e-01 9.90910715e-01 -4.81314099e-03 -6.94535545e+00] [-3.29866000e-02 3.79413897e-04 9.99455722e-01 -2.60179265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09587156 meters 0.01997694455803371 Centerline is valid? [True, True] Translation: X:66.26, Y:-6.95, Z:-2.60 [[ 9.90171517e-01 1.35847441e-01 3.32541751e-02 6.62590827e+01] [-1.35759235e-01 9.90729708e-01 -4.90670475e-03 -6.95282153e+00] [-3.36124625e-02 3.43917917e-04 9.99434882e-01 -2.60234378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12587156000001 meters 0.03290441303515046 Centerline is valid? [True, True] Translation: X:66.29, Y:-6.96, Z:-2.60 [[ 9.90126823e-01 1.35976226e-01 3.40490867e-02 6.62908561e+01] [-1.35883658e-01 9.90712038e-01 -5.02889843e-03 -6.95884688e+00] [-3.44166507e-02 3.52532777e-04 9.99407509e-01 -2.60352319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15587156000001 meters 0.017389059286881794 Centerline is valid? [True, True] Translation: X:66.32, Y:-6.96, Z:-2.60 [[ 9.89975107e-01 1.37149422e-01 3.37538570e-02 6.63231557e+01] [-1.37058963e-01 9.90550321e-01 -4.99030993e-03 -6.96283068e+00] [-3.41193119e-02 3.14013975e-04 9.99417717e-01 -2.60158038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18587156000001 meters 0.016388212102825643 Centerline is valid? [True, True] Translation: X:66.35, Y:-6.97, Z:-2.60 [[ 9.89732771e-01 1.38917779e-01 3.36287546e-02 6.63532455e+01] [-1.38828817e-01 9.90303885e-01 -4.97749361e-03 -6.96940131e+00] [-3.39941486e-02 2.57748329e-04 9.99421999e-01 -2.60407662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21587156000001 meters 0.01571952708534324 Centerline is valid? [True, True] Translation: X:66.39, Y:-6.98, Z:-2.61 [[ 9.89615251e-01 1.39941905e-01 3.28316800e-02 6.63859860e+01] [-1.39857527e-01 9.90159691e-01 -4.86394041e-03 -6.97510450e+00] [-3.31892752e-02 2.21672039e-04 9.99449060e-01 -2.60605408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24587156 meters 0.015119155633399207 Centerline is valid? [True, True] Translation: X:66.42, Y:-6.98, Z:-2.61 [[ 9.89412265e-01 1.41380315e-01 3.27868246e-02 6.64174143e+01] [-1.41296741e-01 9.89955340e-01 -4.86383512e-03 -6.98057951e+00] [-3.31451426e-02 1.79666671e-04 9.99450533e-01 -2.60857907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27587156 meters 0.014518988618553675 Centerline is valid? [True, True] Translation: X:66.45, Y:-6.99, Z:-2.61 [[ 9.89241930e-01 1.42587105e-01 3.27004703e-02 6.64503807e+01] [-1.42504459e-01 9.89782247e-01 -4.85615202e-03 -6.98613678e+00] [-3.30587697e-02 1.43946358e-04 9.99453399e-01 -2.61035744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30587156 meters 0.014242359095502047 Centerline is valid? [True, True] Translation: X:66.48, Y:-6.99, Z:-2.61 [[ 9.88960934e-01 1.44632847e-01 3.22119745e-02 6.64814525e+01] [-1.44553511e-01 9.89485388e-01 -4.79056842e-03 -6.99216541e+00] [-3.25661516e-02 8.13310005e-05 9.99469579e-01 -2.61347265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33587156 meters 0.01367939625956363 Centerline is valid? [True, True] Translation: X:66.51, Y:-7.00, Z:-2.61 [[ 9.88757039e-01 1.45997776e-01 3.23135936e-02 6.65144401e+01] [-1.45918569e-01 9.89284918e-01 -4.80866314e-03 -6.99699677e+00] [-3.26694049e-02 3.94461971e-05 9.99466212e-01 -2.61389288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36587156 meters 0.013230249928437816 Centerline is valid? [True, True] Translation: X:66.55, Y:-7.00, Z:-2.61 [[ 9.88575819e-01 1.47314636e-01 3.18786517e-02 6.65469331e+01] [-1.47238041e-01 9.89089681e-01 -4.74987227e-03 -7.00210979e+00] [-3.22305711e-02 1.85865012e-06 9.99480460e-01 -2.61392006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39587156 meters 0.022735521728651197 Centerline is valid? [True, True] Translation: X:66.58, Y:-7.01, Z:-2.62 [[ 9.88295899e-01 1.48924195e-01 3.30575351e-02 6.65781540e+01] [-1.48842481e-01 9.88848614e-01 -4.93291345e-03 -7.00505959e+00] [-3.34235279e-02 -4.51874053e-05 9.99441277e-01 -2.61627310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42587156 meters 0.022735521728651197 Centerline is valid? [True, True] Translation: X:66.61, Y:-7.01, Z:-2.62 [[ 9.88267687e-01 1.49111452e-01 3.30568129e-02 6.66102499e+01] [-1.49029682e-01 9.88820395e-01 -4.93774738e-03 -7.01005357e+00] [-3.34235255e-02 -4.66301204e-05 9.99441277e-01 -2.61773635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45587156 meters 0.01666806254892858 Centerline is valid? [True, True] Translation: X:66.64, Y:-7.01, Z:-2.62 [[ 9.87612988e-01 1.53281642e-01 3.35458506e-02 6.66425782e+01] [-1.53199607e-01 9.88182526e-01 -5.01756265e-03 -7.01080447e+00] [-3.39185236e-02 -1.83801079e-04 9.99424584e-01 -2.61754299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48587156 meters 0.02273257712809174 Centerline is valid? [True, True] Translation: X:66.67, Y:-7.01, Z:-2.62 [[ 9.87334383e-01 1.55059810e-01 3.35748503e-02 6.66745691e+01] [-1.54978450e-01 9.87905055e-01 -5.02810085e-03 -7.01394542e+00] [-3.39484207e-02 -2.38961406e-04 9.99423558e-01 -2.61859765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51587156000001 meters 0.020539625100056833 Centerline is valid? [True, True] Translation: X:66.71, Y:-7.01, Z:-2.62 [[ 9.86883046e-01 1.57855346e-01 3.38163206e-02 6.67070629e+01] [-1.57774254e-01 9.87462192e-01 -5.07002181e-03 -7.01481414e+00] [-3.41926681e-02 -3.31826190e-04 9.99415205e-01 -2.61918540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54587156000001 meters 0.018262333043263582 Centerline is valid? [True, True] Translation: X:66.74, Y:-7.02, Z:-2.62 [[ 9.86654468e-01 1.59295866e-01 3.37311209e-02 6.67383723e+01] [-1.59215824e-01 9.87230817e-01 -5.06309806e-03 -7.01751167e+00] [-3.41069326e-02 -3.74999874e-04 9.99418119e-01 -2.62104148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57587156000001 meters 0.01852396682220099 Centerline is valid? [True, True] Translation: X:66.77, Y:-7.02, Z:-2.62 [[ 9.86579036e-01 1.59865816e-01 3.32374214e-02 6.67699292e+01] [-1.59788254e-01 9.87138680e-01 -4.99403002e-03 -7.02232700e+00] [-3.36083189e-02 -3.83944207e-04 9.99435007e-01 -2.62324847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60587156000001 meters 0.01845472551801009 Centerline is valid? [True, True] Translation: X:66.80, Y:-7.03, Z:-2.63 [[ 9.86584984e-01 1.59922797e-01 3.27836591e-02 6.68025814e+01] [-1.59847202e-01 9.87129453e-01 -4.93094753e-03 -7.02850922e+00] [-3.31502864e-02 -3.75577388e-04 9.99450308e-01 -2.62550215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63587156 meters 0.02107163801975325 Centerline is valid? [True, True] Translation: X:66.83, Y:-7.03, Z:-2.63 [[ 9.86729339e-01 1.58969789e-01 3.30729178e-02 6.68333573e+01] [-1.58892089e-01 9.87283389e-01 -4.98128969e-03 -7.02986362e+00] [-3.34442169e-02 -3.39840317e-04 9.99440528e-01 -2.63230794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66587156 meters 0.027932954056526307 Centerline is valid? [True, True] Translation: X:66.86, Y:-7.04, Z:-2.63 [[ 9.86988275e-01 1.57362699e-01 3.30321943e-02 6.68645614e+01] [-1.57284126e-01 9.87540836e-01 -4.98009155e-03 -7.04074674e+00] [-3.34043214e-02 -2.80147822e-04 9.99441881e-01 -2.62918351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69587156 meters 0.015779093495932966 Centerline is valid? [True, True] Translation: X:66.90, Y:-7.05, Z:-2.63 [[ 9.87133331e-01 1.56500415e-01 3.27933927e-02 6.68962278e+01] [-1.56422320e-01 9.87677863e-01 -4.94945906e-03 -7.04718336e+00] [-3.31639004e-02 -2.43842570e-04 9.99449897e-01 -2.63108764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72587156 meters 0.013686174201822695 Centerline is valid? [True, True] Translation: X:66.93, Y:-7.06, Z:-2.63 [[ 9.87723799e-01 1.52785486e-01 3.25314116e-02 6.69269012e+01] [-1.52706423e-01 9.88259370e-01 -4.91586895e-03 -7.05857389e+00] [-3.29005458e-02 -1.12234746e-04 9.99458624e-01 -2.63213487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75587156 meters 0.013378834190820574 Centerline is valid? [True, True] Translation: X:66.96, Y:-7.07, Z:-2.63 [[ 9.87962315e-01 1.51233064e-01 3.25426661e-02 6.69581838e+01] [-1.51152927e-01 9.88498132e-01 -4.92296372e-03 -7.06636727e+00] [-3.29128795e-02 -5.52165828e-05 9.99458223e-01 -2.63439112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78587156 meters 0.01295668368690002 Centerline is valid? [True, True] Translation: X:66.99, Y:-7.07, Z:-2.63 [[ 9.88225340e-01 1.49493558e-01 3.25937576e-02 6.69904513e+01] [-1.49412033e-01 9.88762700e-01 -4.93642322e-03 -7.07443499e+00] [-3.29654552e-02 8.39893015e-06 9.99456492e-01 -2.63441733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81587156 meters 0.014176695505614215 Centerline is valid? [True, True] Translation: X:67.02, Y:-7.09, Z:-2.64 [[ 9.88774216e-01 1.45831383e-01 3.25385625e-02 6.70202263e+01] [-1.45747896e-01 9.89309450e-01 -4.93578753e-03 -7.08567937e+00] [-3.29105001e-02 1.37952425e-04 9.99458293e-01 -2.63693367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84587156 meters 0.015047687512360367 Centerline is valid? [True, True] Translation: X:67.05, Y:-7.09, Z:-2.64 [[ 9.89076682e-01 1.43801424e-01 3.23800565e-02 6.70517871e+01] [-1.43717591e-01 9.89606542e-01 -4.91387541e-03 -7.09383074e+00] [-3.27501380e-02 2.06615857e-04 9.99463549e-01 -2.63795391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87587156000001 meters 0.016438735862427795 Centerline is valid? [True, True] Translation: X:67.08, Y:-7.10, Z:-2.64 [[ 9.89323002e-01 1.42099212e-01 3.23699315e-02 6.70821350e+01] [-1.42014307e-01 9.89852384e-01 -4.91883850e-03 -7.10183409e+00] [-3.27404169e-02 2.69326667e-04 9.99463853e-01 -2.64004617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90587156000001 meters 0.018258825455436153 Centerline is valid? [True, True] Translation: X:67.11, Y:-7.11, Z:-2.64 [[ 9.89855487e-01 1.38331644e-01 3.24109650e-02 6.71132794e+01] [-1.38244438e-01 9.90385884e-01 -4.92710747e-03 -7.11255770e+00] [-3.27809371e-02 3.96488718e-04 9.99462482e-01 -2.63958773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93587156000001 meters 0.019911359160075377 Centerline is valid? [True, True] Translation: X:67.14, Y:-7.12, Z:-2.64 [[ 9.90085535e-01 1.36656023e-01 3.24925494e-02 6.71431384e+01] [-1.36567253e-01 9.90618453e-01 -4.94624301e-03 -7.12155307e+00] [-3.28636530e-02 4.59785428e-04 9.99459739e-01 -2.64127428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96587156000001 meters 0.023200536861871696 Centerline is valid? [True, True] Translation: X:67.17, Y:-7.13, Z:-2.64 [[ 9.90250686e-01 1.35411773e-01 3.26684836e-02 6.71732296e+01] [-1.35321285e-01 9.90789279e-01 -4.97536866e-03 -7.13271201e+00] [-3.30413068e-02 5.06121042e-04 9.99453859e-01 -2.64455262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99587156 meters 0.0240549193111527 Centerline is valid? [True, True] Translation: X:67.21, Y:-7.14, Z:-2.65 [[ 9.90375326e-01 1.34452758e-01 3.28507283e-02 6.72053306e+01] [-1.34360556e-01 9.90919854e-01 -5.00835049e-03 -7.13874615e+00] [-3.32258254e-02 5.46304612e-04 9.99447721e-01 -2.64506860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02587156 meters 0.023685273766878328 Centerline is valid? [True, True] Translation: X:67.24, Y:-7.15, Z:-2.65 [[ 9.90433493e-01 1.34203694e-01 3.21070878e-02 6.72352667e+01] [-1.34115285e-01 9.90953615e-01 -4.90127917e-03 -7.14749542e+00] [-3.24744045e-02 5.48339803e-04 9.99472417e-01 -2.64771849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05587156 meters 0.023000136386111484 Centerline is valid? [True, True] Translation: X:67.27, Y:-7.15, Z:-2.65 [[ 9.90319360e-01 1.35045726e-01 3.20970048e-02 6.72672462e+01] [-1.34957747e-01 9.90839230e-01 -4.90181126e-03 -7.15302110e+00] [-3.24649402e-02 5.22619128e-04 9.99472738e-01 -2.64889588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08587156 meters 0.02163006440423712 Centerline is valid? [True, True] Translation: X:67.30, Y:-7.16, Z:-2.65 [[ 9.90060394e-01 1.36839839e-01 3.24849890e-02 6.72978671e+01] [-1.36750497e-01 9.90593071e-01 -4.96677711e-03 -7.15779513e+00] [-3.28590580e-02 4.75070902e-04 9.99459882e-01 -2.65008225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11587156 meters 0.017090408883833973 Centerline is valid? [True, True] Translation: X:67.33, Y:-7.16, Z:-2.65 [[ 9.89354477e-01 1.41733986e-01 3.30029852e-02 6.73293876e+01] [-1.41644266e-01 9.89904729e-01 -5.05269707e-03 -7.15706260e+00] [-3.33859500e-02 3.24224847e-04 9.99442481e-01 -2.65007512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14587156 meters 0.014511372684262214 Centerline is valid? [True, True] Translation: X:67.36, Y:-7.16, Z:-2.65 [[ 9.88835217e-01 1.45267471e-01 3.32005301e-02 6.73618514e+01] [-1.45178693e-01 9.89392399e-01 -5.08207152e-03 -7.15716291e+00] [-3.35866118e-02 2.05321730e-04 9.99435790e-01 -2.65005412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17587156 meters 0.013009819756282447 Centerline is valid? [True, True] Translation: X:67.39, Y:-7.16, Z:-2.65 [[ 9.88271938e-01 1.48977809e-01 3.35289148e-02 6.73943654e+01] [-1.48889198e-01 9.88840536e-01 -5.13823734e-03 -7.15713265e+00] [-3.39202334e-02 8.58825347e-05 9.99424540e-01 -2.65127146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20587156 meters 0.013699797573137438 Centerline is valid? [True, True] Translation: X:67.43, Y:-7.15, Z:-2.65 [[ 9.87201563e-01 1.55875077e-01 3.37051229e-02 6.74272429e+01] [-1.55789350e-01 9.87776766e-01 -5.17099350e-03 -7.15324713e+00] [-3.40991663e-02 -1.46086340e-04 9.99418444e-01 -2.65445444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23587156 meters 0.02711296850849629 Centerline is valid? [True, True] Translation: X:67.46, Y:-7.15, Z:-2.66 [[ 9.86742661e-01 1.58792886e-01 3.35222491e-02 6.74596064e+01] [-1.58709557e-01 9.87311887e-01 -5.14920687e-03 -7.15460388e+00] [-3.39145725e-02 -2.39359217e-04 9.99424707e-01 -2.65526171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26587156000001 meters 0.017338108880506364 Centerline is valid? [True, True] Translation: X:67.49, Y:-7.15, Z:-2.66 [[ 9.86256344e-01 1.61735189e-01 3.37661482e-02 6.74910793e+01] [-1.61652161e-01 9.86834137e-01 -5.19268466e-03 -7.15441237e+00] [-3.41614275e-02 -3.37052632e-04 9.99416271e-01 -2.65733333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29587156000001 meters 0.020233850412701614 Centerline is valid? [True, True] Translation: X:67.52, Y:-7.15, Z:-2.66 [[ 9.85589212e-01 1.65795240e-01 3.35535885e-02 6.75238301e+01] [-1.65715428e-01 9.86160087e-01 -5.16519758e-03 -7.15368076e+00] [-3.39455750e-02 -4.69584254e-04 9.99423573e-01 -2.65840066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32587156000001 meters 0.02163860561417242 Centerline is valid? [True, True] Translation: X:67.56, Y:-7.16, Z:-2.66 [[ 9.85288315e-01 1.67548246e-01 3.36826564e-02 6.75557289e+01] [-1.67468650e-01 9.85863737e-01 -5.19066345e-03 -7.15612700e+00] [-3.40761960e-02 -5.26488956e-04 9.99419099e-01 -2.65970286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35587156000001 meters 0.023015529613044924 Centerline is valid? [True, True] Translation: X:67.59, Y:-7.16, Z:-2.66 [[ 9.85035391e-01 1.69000575e-01 3.38243054e-02 6.75875365e+01] [-1.68920968e-01 9.85615786e-01 -5.21822097e-03 -7.15824004e+00] [-3.42196516e-02 -5.73502062e-04 9.99414172e-01 -2.66086935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38587156 meters 0.025274723104060558 Centerline is valid? [True, True] Translation: X:67.62, Y:-7.16, Z:-2.66 [[ 9.84604184e-01 1.71458833e-01 3.40069065e-02 6.76199422e+01] [-1.71379635e-01 9.85191066e-01 -5.25203894e-03 -7.15979470e+00] [-3.44038089e-02 -6.56911691e-04 9.99407798e-01 -2.66149625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41587156 meters 0.026506240607586717 Centerline is valid? [True, True] Translation: X:67.65, Y:-7.16, Z:-2.66 [[ 9.84386500e-01 1.72739202e-01 3.38287795e-02 6.76511658e+01] [-1.72661382e-01 9.84967354e-01 -5.23049532e-03 -7.15991054e+00] [-3.42237550e-02 -6.92094832e-04 9.99413956e-01 -2.66421745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44587156 meters 0.027941534915137577 Centerline is valid? [True, True] Translation: X:67.68, Y:-7.16, Z:-2.67 [[ 9.84203355e-01 1.73746771e-01 3.39972960e-02 6.76827690e+01] [-1.73668584e-01 9.84790096e-01 -5.26208158e-03 -7.16109225e+00] [-3.43944701e-02 -7.25303933e-04 9.99408072e-01 -2.66566012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47587156 meters 0.02966458413693446 Centerline is valid? [True, True] Translation: X:67.71, Y:-7.16, Z:-2.67 [[ 9.83946320e-01 1.75210505e-01 3.39251954e-02 6.77141904e+01] [-1.75133337e-01 9.84530694e-01 -5.25618005e-03 -7.16019558e+00] [-3.43213341e-02 -7.69633676e-04 9.99410553e-01 -2.66722628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50587156 meters 0.02749265718437356 Centerline is valid? [True, True] Translation: X:67.75, Y:-7.17, Z:-2.67 [[ 9.83900636e-01 1.75525009e-01 3.36230461e-02 6.77471001e+01] [-1.75449239e-01 9.84474672e-01 -5.21393035e-03 -7.16633513e+00] [-3.40162124e-02 -7.69148443e-04 9.99420985e-01 -2.66818428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53587156 meters 0.027668340507047032 Centerline is valid? [True, True] Translation: X:67.78, Y:-7.17, Z:-2.67 [[ 9.83922734e-01 1.75421735e-01 3.35152031e-02 6.77779801e+01] [-1.75346154e-01 9.84493089e-01 -5.20417511e-03 -7.16885300e+00] [-3.39084113e-02 -7.56255759e-04 9.99424658e-01 -2.67024994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56587156 meters 0.02792356066239244 Centerline is valid? [True, True] Translation: X:67.81, Y:-7.17, Z:-2.67 [[ 9.84029878e-01 1.74702588e-01 3.41204414e-02 6.78087527e+01] [-1.74623628e-01 9.84620972e-01 -5.30368984e-03 -7.17079160e+00] [-3.45222705e-02 -7.39246011e-04 9.99403655e-01 -2.67221286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59587156 meters 0.024504257148585926 Centerline is valid? [True, True] Translation: X:67.84, Y:-7.18, Z:-2.67 [[ 9.84505461e-01 1.71995901e-01 3.41527112e-02 6.78397970e+01] [-1.71914934e-01 9.85097458e-01 -5.31534202e-03 -7.17543462e+00] [-3.45579660e-02 -6.38377845e-04 9.99402491e-01 -2.67300175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62587156000001 meters 0.024875220610283067 Centerline is valid? [True, True] Translation: X:67.87, Y:-7.18, Z:-2.68 [[ 9.84867981e-01 1.70033243e-01 3.35224640e-02 6.78705511e+01] [-1.69954106e-01 9.85438168e-01 -5.21712152e-03 -7.17805317e+00] [-3.39213997e-02 -5.59104462e-04 9.99424347e-01 -2.67770458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65587156000001 meters 0.01916367194834937 Centerline is valid? [True, True] Translation: X:67.90, Y:-7.19, Z:-2.68 [[ 9.85321672e-01 1.67447678e-01 3.32035844e-02 6.79011117e+01] [-1.67368404e-01 9.85880856e-01 -5.17244820e-03 -7.18964506e+00] [-3.36008927e-02 -4.60705630e-04 9.99435224e-01 -2.67683325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68587156000001 meters 0.014951942805654265 Centerline is valid? [True, True] Translation: X:67.93, Y:-7.20, Z:-2.68 [[ 9.86326344e-01 1.61505710e-01 3.28062351e-02 6.79310610e+01] [-1.61424845e-01 9.86871746e-01 -5.11624020e-03 -7.20135495e+00] [-3.32018485e-02 -2.49458918e-04 9.99448636e-01 -2.67981753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71587156000001 meters 0.013318708002285014 Centerline is valid? [True, True] Translation: X:67.96, Y:-7.21, Z:-2.68 [[ 9.86868443e-01 1.58125443e-01 3.29699988e-02 6.79625277e+01] [-1.58041689e-01 9.87419023e-01 -5.14756604e-03 -7.21088540e+00] [-3.33691652e-02 -1.30663813e-04 9.99443086e-01 -2.68148153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74587156 meters 0.013360701110197251 Centerline is valid? [True, True] Translation: X:67.99, Y:-7.22, Z:-2.69 [[ 9.87440767e-01 1.54606324e-01 3.25210274e-02 6.79930250e+01] [-1.54522748e-01 9.87976156e-01 -5.08288444e-03 -7.22030091e+00] [-3.29158457e-02 -6.19120729e-06 9.99458127e-01 -2.68607840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77587156 meters 0.015595072639931326 Centerline is valid? [True, True] Translation: X:68.02, Y:-7.23, Z:-2.69 [[ 9.88524319e-01 1.47592273e-01 3.21899252e-02 6.80229092e+01] [-1.47506470e-01 9.89048264e-01 -5.03722572e-03 -7.23475828e+00] [-3.25808452e-02 2.31197890e-04 9.99469077e-01 -2.68722617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80587156 meters 0.01814644853442797 Centerline is valid? [True, True] Translation: X:68.05, Y:-7.24, Z:-2.69 [[ 9.89012877e-01 1.44285433e-01 3.21751990e-02 6.80524873e+01] [-1.44197723e-01 9.89536049e-01 -5.04215563e-03 -7.24400445e+00] [-3.25660289e-02 3.47166408e-04 9.99469526e-01 -2.68876176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83587156 meters 0.03158825005157796 Centerline is valid? [True, True] Translation: X:68.08, Y:-7.25, Z:-2.69 [[ 9.89462520e-01 1.41124210e-01 3.23709536e-02 6.80838846e+01] [-1.41033770e-01 9.89991794e-01 -5.07181633e-03 -7.25190792e+00] [-3.27627345e-02 4.52974524e-04 9.99463055e-01 -2.68954753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86587156 meters 0.02620929177756328 Centerline is valid? [True, True] Translation: X:68.11, Y:-7.27, Z:-2.69 [[ 9.90242638e-01 1.35387480e-01 3.30113318e-02 6.81117787e+01] [-1.35289998e-01 9.90792507e-01 -5.17930625e-03 -7.26659928e+00] [-3.34085934e-02 6.62666856e-04 9.99441557e-01 -2.68965011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89587156 meters 0.02860782826714817 Centerline is valid? [True, True] Translation: X:68.14, Y:-7.28, Z:-2.69 [[ 9.90486220e-01 1.33439117e-01 3.36310806e-02 6.81415995e+01] [-1.33336781e-01 9.91056734e-01 -5.27761755e-03 -7.27626462e+00] [-3.40345495e-02 7.43147451e-04 9.99420381e-01 -2.69032782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92587156 meters 0.030418415270306313 Centerline is valid? [True, True] Translation: X:68.17, Y:-7.29, Z:-2.69 [[ 9.90787774e-01 1.31073393e-01 3.40492776e-02 6.81723536e+01] [-1.30966876e-01 9.91372311e-01 -5.34970534e-03 -7.28601118e+00] [-3.44567150e-02 8.41095141e-04 9.99405837e-01 -2.68987864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95587156 meters 0.03592113874230498 Centerline is valid? [True, True] Translation: X:68.20, Y:-7.29, Z:-2.69 [[ 9.90813063e-01 1.30910985e-01 3.39380103e-02 6.82047084e+01] [-1.30805057e-01 9.91393767e-01 -5.33252547e-03 -7.28859644e+00] [-3.43440180e-02 8.44272519e-04 9.99409714e-01 -2.69093729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98587156 meters 0.030510649219696026 Centerline is valid? [True, True] Translation: X:68.24, Y:-7.30, Z:-2.69 [[ 9.90754365e-01 1.31211463e-01 3.44868083e-02 6.82355534e+01] [-1.31102043e-01 9.91354035e-01 -5.42501194e-03 -7.29548882e+00] [-3.49004603e-02 8.53563220e-04 9.99390429e-01 -2.69201246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01587156000001 meters 0.030413308841515687 Centerline is valid? [True, True] Translation: X:68.27, Y:-7.30, Z:-2.69 [[ 9.90668998e-01 1.31845979e-01 3.45191977e-02 6.82663971e+01] [-1.31736543e-01 9.91269860e-01 -5.43570844e-03 -7.29968861e+00] [-3.49345166e-02 8.37548056e-04 9.99389253e-01 -2.69337186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04587156000001 meters 0.027829372858919846 Centerline is valid? [True, True] Translation: X:68.30, Y:-7.30, Z:-2.69 [[ 9.90553243e-01 1.32681975e-01 3.46376471e-02 6.82992135e+01] [-1.32572074e-01 9.91158325e-01 -5.46070257e-03 -7.30135155e+00] [-3.50559291e-02 8.17131900e-04 9.99385018e-01 -2.69404560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07587156000001 meters 0.02709406019488188 Centerline is valid? [True, True] Translation: X:68.33, Y:-7.31, Z:-2.70 [[ 9.90306176e-01 1.34390636e-01 3.51117394e-02 6.83296222e+01] [-1.34278712e-01 9.90928133e-01 -5.53730814e-03 -7.30670295e+00] [-3.55373727e-02 7.68871305e-04 9.99368052e-01 -2.69512988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10587156000001 meters 0.030400888762614372 Centerline is valid? [True, True] Translation: X:68.36, Y:-7.31, Z:-2.70 [[ 9.90162053e-01 1.35484497e-01 3.49722765e-02 6.83603091e+01] [-1.35374039e-01 9.90779198e-01 -5.51821156e-03 -7.31293043e+00] [-3.53974362e-02 7.29585351e-04 9.99373048e-01 -2.69770877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13587156 meters 0.026041803704270807 Centerline is valid? [True, True] Translation: X:68.39, Y:-7.32, Z:-2.70 [[ 9.90041958e-01 1.36361896e-01 3.49622040e-02 6.83924749e+01] [-1.36251860e-01 9.90658841e-01 -5.52195901e-03 -7.31808369e+00] [-3.53886013e-02 7.03305797e-04 9.99373380e-01 -2.69832653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16587156 meters 0.024773941857511462 Centerline is valid? [True, True] Translation: X:68.42, Y:-7.32, Z:-2.70 [[ 9.89817568e-01 1.38064013e-01 3.46339431e-02 6.84236177e+01] [-1.37956869e-01 9.90423099e-01 -5.47600502e-03 -7.32201265e+00] [-3.50582965e-02 6.42255625e-04 9.99385063e-01 -2.70007258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19587156 meters 0.023579174795847507 Centerline is valid? [True, True] Translation: X:68.46, Y:-7.33, Z:-2.70 [[ 9.89676481e-01 1.39039376e-01 3.47636993e-02 6.84558457e+01] [-1.38931841e-01 9.90286662e-01 -5.50183619e-03 -7.32509296e+00] [-3.51909996e-02 6.15253126e-04 9.99380416e-01 -2.70103026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22587156 meters 0.022974692647202366 Centerline is valid? [True, True] Translation: X:68.49, Y:-7.33, Z:-2.70 [[ 9.89539570e-01 1.39894664e-01 3.52267232e-02 6.84864934e+01] [-1.39784566e-01 9.90166211e-01 -5.58128543e-03 -7.32882813e+00] [-3.56611030e-02 5.98750598e-04 9.99363761e-01 -2.70141668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25587156 meters 0.02195698101765353 Centerline is valid? [True, True] Translation: X:68.52, Y:-7.33, Z:-2.70 [[ 9.89267317e-01 1.41453270e-01 3.66216979e-02 6.85177719e+01] [-1.41335124e-01 9.89944770e-01 -5.80820054e-03 -7.33415291e+00] [-3.70750473e-02 5.69930761e-04 9.99312322e-01 -2.70079317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28587156 meters 0.021695242146564084 Centerline is valid? [True, True] Translation: X:68.55, Y:-7.34, Z:-2.70 [[ 9.89171094e-01 1.41983755e-01 3.71639667e-02 6.85490093e+01] [-1.41862219e-01 9.89868827e-01 -5.90051235e-03 -7.34002833e+00] [-3.76252291e-02 5.64453463e-04 9.99291761e-01 -2.70091188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31587156 meters 0.021695242146564084 Centerline is valid? [True, True] Translation: X:68.58, Y:-7.35, Z:-2.70 [[ 9.89144755e-01 1.42167375e-01 3.71630399e-02 6.85810562e+01] [-1.42045749e-01 9.89842472e-01 -5.90634364e-03 -7.34531866e+00] [-3.76252446e-02 5.63376981e-04 9.99291761e-01 -2.70237523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34587156 meters 0.021372512903680217 Centerline is valid? [True, True] Translation: X:68.61, Y:-7.35, Z:-2.70 [[ 9.89051072e-01 1.42713530e-01 3.75609566e-02 6.86121850e+01] [-1.42589396e-01 9.89763881e-01 -5.97699190e-03 -7.35098950e+00] [-3.80294758e-02 5.55756107e-04 9.99276463e-01 -2.70347086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37587156000001 meters 0.02147537537310866 Centerline is valid? [True, True] Translation: X:68.64, Y:-7.36, Z:-2.71 [[ 9.89008293e-01 1.43318949e-01 3.63630984e-02 6.86430710e+01] [-1.43202809e-01 9.89676415e-01 -5.79207824e-03 -7.35694620e+00] [-3.68178155e-02 5.21115564e-04 9.99321859e-01 -2.70750590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40587156000001 meters 0.020733825284334196 Centerline is valid? [True, True] Translation: X:68.68, Y:-7.36, Z:-2.71 [[ 9.88943748e-01 1.43909281e-01 3.57824371e-02 6.86760964e+01] [-1.43796989e-01 9.89590760e-01 -5.70563325e-03 -7.36083398e+00] [-3.62310627e-02 4.97143619e-04 9.99343316e-01 -2.70975185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43587156000001 meters 0.019630200038720545 Centerline is valid? [True, True] Translation: X:68.71, Y:-7.36, Z:-2.71 [[ 9.88826929e-01 1.44827544e-01 3.53027810e-02 6.87085304e+01] [-1.44718595e-01 9.89456804e-01 -5.63567837e-03 -7.36391075e+00] [-3.57467784e-02 4.63741684e-04 9.99360772e-01 -2.71154204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46587156000001 meters 0.019218039461828183 Centerline is valid? [True, True] Translation: X:68.74, Y:-7.36, Z:-2.72 [[ 9.88536938e-01 1.46986339e-01 3.44925930e-02 6.87411184e+01] [-1.46883417e-01 9.89138448e-01 -5.51296787e-03 -7.36466123e+00] [-3.49282809e-02 3.83382475e-04 9.99389748e-01 -2.71505394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49587156 meters 0.01736697012816541 Centerline is valid? [True, True] Translation: X:68.77, Y:-7.37, Z:-2.72 [[ 9.88376406e-01 1.48142531e-01 3.41448341e-02 6.87715799e+01] [-1.48042133e-01 9.88965961e-01 -5.46403271e-03 -7.36957754e+00] [-3.45775343e-02 3.45646926e-04 9.99401958e-01 -2.71720412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52587156 meters 0.01667899139197738 Centerline is valid? [True, True] Translation: X:68.80, Y:-7.37, Z:-2.72 [[ 9.88180262e-01 1.49425052e-01 3.42333781e-02 6.88024663e+01] [-1.49324784e-01 9.88773008e-01 -5.48161198e-03 -7.37318514e+00] [-3.46681304e-02 3.04928972e-04 9.99398833e-01 -2.71885940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55587156 meters 0.014558999879186001 Centerline is valid? [True, True] Translation: X:68.84, Y:-7.37, Z:-2.72 [[ 9.87769126e-01 1.52070511e-01 3.44487204e-02 6.88355540e+01] [-1.51970495e-01 9.88369624e-01 -5.51865000e-03 -7.37201314e+00] [-3.48872928e-02 2.15962987e-04 9.99391230e-01 -2.71934837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58587156 meters 0.019605748518923747 Centerline is valid? [True, True] Translation: X:68.87, Y:-7.37, Z:-2.72 [[ 9.87510280e-01 1.53846098e-01 3.39827232e-02 6.88689538e+01] [-1.53749639e-01 9.88094810e-01 -5.44930153e-03 -7.37294933e+00] [-3.44165062e-02 1.56409862e-04 9.99407564e-01 -2.72159531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61587156 meters 0.013124463057305497 Centerline is valid? [True, True] Translation: X:68.90, Y:-7.38, Z:-2.72 [[ 9.87318781e-01 1.55126203e-01 3.37266470e-02 6.89007870e+01] [-1.55031703e-01 9.87894654e-01 -5.41515662e-03 -7.37569843e+00] [-3.41584069e-02 1.17786316e-04 9.99416424e-01 -2.72273046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64587156 meters 0.012842412520397594 Centerline is valid? [True, True] Translation: X:68.93, Y:-7.38, Z:-2.73 [[ 9.86895126e-01 1.57617411e-01 3.45653212e-02 6.89321293e+01] [-1.57519432e-01 9.87500253e-01 -5.55684005e-03 -7.37511164e+00] [-3.50091182e-02 3.93086065e-05 9.99386992e-01 -2.72526642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67587156 meters 0.01224024373223383 Centerline is valid? [True, True] Translation: X:68.96, Y:-7.38, Z:-2.72 [[ 9.86709131e-01 1.58617874e-01 3.52910865e-02 6.89647195e+01] [-1.58516169e-01 9.87340048e-01 -5.67928778e-03 -7.37796883e+00] [-3.57451396e-02 9.59727208e-06 9.99360938e-01 -2.72340858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70587156 meters 0.012103657988760452 Centerline is valid? [True, True] Translation: X:69.00, Y:-7.38, Z:-2.72 [[ 9.86561030e-01 1.59408769e-01 3.58633319e-02 6.89974777e+01] [-1.59304037e-01 9.87212664e-01 -5.77751510e-03 -7.38153842e+00] [-3.63257220e-02 -1.33022814e-05 9.99340003e-01 -2.72392454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73587156 meters 0.011914235191090446 Centerline is valid? [True, True] Translation: X:69.03, Y:-7.39, Z:-2.72 [[ 9.86479049e-01 1.59766019e-01 3.65226557e-02 6.90304552e+01] [-1.59657371e-01 9.87154911e-01 -5.89111329e-03 -7.38538037e+00] [-3.69947186e-02 -1.96513487e-05 9.99315461e-01 -2.72435275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76587156000001 meters 0.021921599559312385 Centerline is valid? [True, True] Translation: X:69.06, Y:-7.39, Z:-2.73 [[ 9.86369205e-01 1.60402230e-01 3.67003547e-02 6.90638499e+01] [-1.60292689e-01 9.87051733e-01 -5.92710357e-03 -7.38516404e+00] [-3.71758694e-02 -3.64861091e-05 9.99308738e-01 -2.72704260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79587156000001 meters 0.02482091340337661 Centerline is valid? [True, True] Translation: X:69.10, Y:-7.39, Z:-2.73 [[ 9.86312313e-01 1.60778493e-01 3.65827603e-02 6.90968549e+01] [-1.60669646e-01 9.86990514e-01 -5.91529193e-03 -7.38746690e+00] [-3.70578891e-02 -4.34138615e-05 9.99313120e-01 -2.72875369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82587156000001 meters 0.01862932714014862 Centerline is valid? [True, True] Translation: X:69.13, Y:-7.39, Z:-2.73 [[ 9.86340648e-01 1.60658738e-01 3.63441338e-02 6.91282596e+01] [-1.60550943e-01 9.87010015e-01 -5.88438072e-03 -7.39071986e+00] [-3.68174012e-02 -3.10810515e-05 9.99322009e-01 -2.73040815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85587156000001 meters 0.012142310469108934 Centerline is valid? [True, True] Translation: X:69.16, Y:-7.39, Z:-2.73 [[ 9.86434335e-01 1.60118772e-01 3.61840040e-02 6.91608818e+01] [-1.60011423e-01 9.87097755e-01 -5.86225076e-03 -7.39437666e+00] [-3.66558055e-02 -7.12852556e-06 9.99327950e-01 -2.73114697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88587156 meters 0.012225540795346806 Centerline is valid? [True, True] Translation: X:69.19, Y:-7.40, Z:-2.73 [[ 9.86451701e-01 1.60042464e-01 3.60479057e-02 6.91932785e+01] [-1.59935611e-01 9.87110131e-01 -5.84726368e-03 -7.39733849e+00] [-3.65190634e-02 2.69937515e-06 9.99332957e-01 -2.73311588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91587156 meters 0.012219158374634095 Centerline is valid? [True, True] Translation: X:69.23, Y:-7.40, Z:-2.74 [[ 9.86532792e-01 1.59587811e-01 3.58438503e-02 6.92261291e+01] [-1.59481635e-01 9.87183737e-01 -5.82051867e-03 -7.39817501e+00] [-3.63133499e-02 2.56966912e-05 9.99340452e-01 -2.73536706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94587156 meters 0.017024472245585173 Centerline is valid? [True, True] Translation: X:69.26, Y:-7.40, Z:-2.74 [[ 9.86628782e-01 1.59040383e-01 3.56342941e-02 6.92583125e+01] [-1.58934818e-01 9.87272077e-01 -5.79395002e-03 -7.40223638e+00] [-3.61022156e-02 5.29478138e-05 9.99348101e-01 -2.73782110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97587156 meters 0.012615462551278059 Centerline is valid? [True, True] Translation: X:69.29, Y:-7.41, Z:-2.74 [[ 9.86768027e-01 1.58135927e-01 3.58034840e-02 6.92896561e+01] [-1.58028622e-01 9.87417349e-01 -5.82529573e-03 -7.40699593e+00] [-3.62741697e-02 9.02403479e-05 9.99341872e-01 -2.73884683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00587156 meters 0.013871792659312692 Centerline is valid? [True, True] Translation: X:69.32, Y:-7.41, Z:-2.74 [[ 9.87170566e-01 1.55672736e-01 3.55003194e-02 6.93220094e+01] [-1.55565419e-01 9.87808668e-01 -5.78236693e-03 -7.41107899e+00] [-3.59676801e-02 1.85560392e-04 9.99352936e-01 -2.74094818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03587156 meters 0.025883835362303407 Centerline is valid? [True, True] Translation: X:69.36, Y:-7.42, Z:-2.74 [[ 9.87345798e-01 1.54533699e-01 3.56035301e-02 6.93550684e+01] [-1.54424813e-01 9.87987491e-01 -5.80480076e-03 -7.41589140e+00] [-3.60728797e-02 2.33277165e-04 9.99349135e-01 -2.74276548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06587156 meters 0.03518541749197848 Centerline is valid? [True, True] Translation: X:69.39, Y:-7.42, Z:-2.75 [[ 9.87550887e-01 1.53170041e-01 3.58075880e-02 6.93855667e+01] [-1.53058737e-01 9.88199804e-01 -5.84548653e-03 -7.42247625e+00] [-3.62804049e-02 2.92051209e-04 9.99341607e-01 -2.74500271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09587156 meters 0.01630777067334842 Centerline is valid? [True, True] Translation: X:69.42, Y:-7.43, Z:-2.75 [[ 9.87733380e-01 1.52043365e-01 3.55750576e-02 6.94176969e+01] [-1.51932574e-01 9.88373766e-01 -5.81304024e-03 -7.42782131e+00] [-3.60452879e-02 3.36723825e-04 9.99350101e-01 -2.74504953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12587156000001 meters 0.02937933481980662 Centerline is valid? [True, True] Translation: X:69.45, Y:-7.43, Z:-2.75 [[ 9.88026727e-01 1.50166498e-01 3.54007111e-02 6.94486057e+01] [-1.50055366e-01 9.88660637e-01 -5.79063462e-03 -7.43261267e+00] [-3.58688489e-02 4.09235087e-04 9.99356422e-01 -2.74800596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15587156000001 meters 0.018924711011724268 Centerline is valid? [True, True] Translation: X:69.48, Y:-7.44, Z:-2.75 [[ 9.88146390e-01 1.49368499e-01 3.54367609e-02 6.94804204e+01] [-1.49256433e-01 9.88781500e-01 -5.80199302e-03 -7.43889497e+00] [-3.59058486e-02 4.44053947e-04 9.99355078e-01 -2.74848674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18587156000001 meters 0.019951532183104213 Centerline is valid? [True, True] Translation: X:69.51, Y:-7.45, Z:-2.75 [[ 9.88277026e-01 1.48485341e-01 3.55052599e-02 6.95106171e+01] [-1.48372052e-01 9.88914491e-01 -5.81929951e-03 -7.44530057e+00] [-3.59757467e-02 4.83091761e-04 9.99352547e-01 -2.74977473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21587156000001 meters 0.021484415256249736 Centerline is valid? [True, True] Translation: X:69.54, Y:-7.45, Z:-2.75 [[ 9.88580177e-01 1.46341346e-01 3.59644711e-02 6.95423017e+01] [-1.46223484e-01 9.89233987e-01 -5.90014050e-03 -7.45146982e+00] [-3.64407116e-02 5.73911692e-04 9.99335652e-01 -2.74987067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24587156 meters 0.023290277102297877 Centerline is valid? [True, True] Translation: X:69.57, Y:-7.46, Z:-2.75 [[ 9.88714641e-01 1.45333085e-01 3.63545374e-02 6.95730523e+01] [-1.45211717e-01 9.89382588e-01 -5.97098465e-03 -7.45815130e+00] [-3.68363279e-02 6.24495152e-04 9.99321117e-01 -2.75113122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27587156 meters 0.02549927372084997 Centerline is valid? [True, True] Translation: X:69.60, Y:-7.47, Z:-2.75 [[ 9.89018239e-01 1.43096349e-01 3.69642804e-02 6.96043730e+01] [-1.42969196e-01 9.89708499e-01 -6.07424193e-03 -7.46652217e+00] [-3.74530643e-02 7.22782601e-04 9.99298126e-01 -2.75218326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30587156 meters 0.02482102544273632 Centerline is valid? [True, True] Translation: X:69.64, Y:-7.47, Z:-2.75 [[ 9.89159967e-01 1.42119853e-01 3.69392355e-02 6.96360449e+01] [-1.41991965e-01 9.89849161e-01 -6.07620094e-03 -7.47149146e+00] [-3.74278200e-02 7.65260099e-04 9.99299041e-01 -2.75246829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33587156 meters 0.02917637528814207 Centerline is valid? [True, True] Translation: X:69.67, Y:-7.48, Z:-2.76 [[ 9.89279535e-01 1.41318218e-01 3.68125378e-02 6.96659471e+01] [-1.41190410e-01 9.89963899e-01 -6.06182800e-03 -7.48308411e+00] [-3.72997302e-02 7.99265078e-04 9.99303803e-01 -2.75585572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36587156 meters 0.026465565232136494 Centerline is valid? [True, True] Translation: X:69.70, Y:-7.49, Z:-2.76 [[ 9.89232275e-01 1.41623607e-01 3.69088159e-02 6.96988905e+01] [-1.41495129e-01 9.89920260e-01 -6.08338242e-03 -7.48570458e+00] [-3.73983352e-02 7.95460574e-04 9.99300121e-01 -2.75576607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39587156 meters 0.02704972193033429 Centerline is valid? [True, True] Translation: X:69.73, Y:-7.49, Z:-2.76 [[ 9.89091630e-01 1.42568126e-01 3.70415485e-02 6.97295679e+01] [-1.42439101e-01 9.89784692e-01 -6.11275955e-03 -7.49276340e+00] [-3.75346423e-02 7.69914452e-04 9.99295030e-01 -2.75796367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42587156 meters 0.025055085471711844 Centerline is valid? [True, True] Translation: X:69.76, Y:-7.50, Z:-2.76 [[ 9.88929467e-01 1.43732077e-01 3.68727392e-02 6.97615078e+01] [-1.43604821e-01 9.89616370e-01 -6.09059468e-03 -7.49616358e+00] [-3.73652801e-02 7.28065444e-04 9.99301409e-01 -2.75901641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45587156 meters 0.021333392645832828 Centerline is valid? [True, True] Translation: X:69.79, Y:-7.50, Z:-2.76 [[ 9.88337512e-01 1.47718678e-01 3.69885756e-02 6.97931816e+01] [-1.47593136e-01 9.89029245e-01 -6.11703312e-03 -7.49576031e+00] [-3.74863831e-02 5.86433440e-04 9.99296966e-01 -2.75967443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48587156 meters 0.018317003985434753 Centerline is valid? [True, True] Translation: X:69.83, Y:-7.50, Z:-2.76 [[ 9.87943530e-01 1.50360987e-01 3.68667215e-02 6.98259515e+01] [-1.50238117e-01 9.88631043e-01 -6.09664367e-03 -7.49602468e+00] [-3.73642827e-02 4.84352853e-04 9.99301594e-01 -2.76078418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51587156000001 meters 0.015193415215556297 Centerline is valid? [True, True] Translation: X:69.86, Y:-7.49, Z:-2.76 [[ 9.87150204e-01 1.55628013e-01 3.62545945e-02 6.98583742e+01] [-1.55512513e-01 9.87815691e-01 -6.00157600e-03 -7.49367924e+00] [-3.67468707e-02 2.86413888e-04 9.99324565e-01 -2.76426418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54587156000001 meters 0.01356837330608571 Centerline is valid? [True, True] Translation: X:69.89, Y:-7.49, Z:-2.77 [[ 9.86701688e-01 1.58472405e-01 3.61424312e-02 6.98911712e+01] [-1.58359296e-01 9.87363389e-01 -5.98926899e-03 -7.49412633e+00] [-3.66348472e-02 1.86131864e-04 9.99328701e-01 -2.76613963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57587156000001 meters 0.012544605313008104 Centerline is valid? [True, True] Translation: X:69.92, Y:-7.49, Z:-2.77 [[ 9.86255572e-01 1.61256983e-01 3.60018413e-02 6.99238413e+01] [-1.61146388e-01 9.86912447e-01 -5.97195647e-03 -7.49415549e+00] [-3.64936849e-02 8.83086724e-05 9.99333880e-01 -2.76746038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60587156000001 meters 0.012128649670919638 Centerline is valid? [True, True] Translation: X:69.96, Y:-7.49, Z:-2.77 [[ 9.85848203e-01 1.63695076e-01 3.61558076e-02 6.99551059e+01] [-1.63584902e-01 9.86510984e-01 -6.00480526e-03 -7.49405115e+00] [-3.66510584e-02 5.28222547e-06 9.99328124e-01 -2.76879319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63587156 meters 0.013106878902135709 Centerline is valid? [True, True] Translation: X:69.99, Y:-7.49, Z:-2.77 [[ 9.85172413e-01 1.67730452e-01 3.60806295e-02 6.99854754e+01] [-1.67623396e-01 9.85832884e-01 -5.99351706e-03 -7.49062970e+00] [-3.65747663e-02 -1.43309977e-04 9.99330909e-01 -2.77221555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66587156 meters 0.014173311662045399 Centerline is valid? [True, True] Translation: X:70.01, Y:-7.49, Z:-2.77 [[ 9.84912000e-01 1.69280154e-01 3.59524882e-02 7.00139460e+01] [-1.69174897e-01 9.85567953e-01 -5.97198608e-03 -7.49163740e+00] [-3.64445589e-02 -2.00377743e-04 9.99335656e-01 -2.77434050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69587156 meters 0.014015741431080433 Centerline is valid? [True, True] Translation: X:70.04, Y:-7.49, Z:-2.77 [[ 9.84792495e-01 1.69963917e-01 3.60001123e-02 7.00438302e+01] [-1.69858889e-01 9.85450260e-01 -5.97852541e-03 -7.49461540e+00] [-3.64924536e-02 -2.27332114e-04 9.99333903e-01 -2.77458313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72587156 meters 0.014602945528680272 Centerline is valid? [True, True] Translation: X:70.07, Y:-7.49, Z:-2.78 [[ 9.84722301e-01 1.70452416e-01 3.56084716e-02 7.00732349e+01] [-1.70350008e-01 9.85365878e-01 -5.91272113e-03 -7.49286466e+00] [-3.60952105e-02 -2.43515064e-04 9.99348326e-01 -2.77672214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75587156 meters 0.01437971361032922 Centerline is valid? [True, True] Translation: X:70.10, Y:-7.50, Z:-2.78 [[ 9.84780184e-01 1.70089344e-01 3.57435903e-02 7.01027546e+01] [-1.69985970e-01 9.85428618e-01 -5.93371310e-03 -7.49675208e+00] [-3.62320182e-02 -2.32505802e-04 9.99343378e-01 -2.77796856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78587156 meters 0.013508752168589462 Centerline is valid? [True, True] Translation: X:70.13, Y:-7.50, Z:-2.78 [[ 9.85030108e-01 1.68593968e-01 3.59410795e-02 7.01318349e+01] [-1.68488485e-01 9.85685569e-01 -5.96561954e-03 -7.50075153e+00] [-3.64323709e-02 -1.79343174e-04 9.99336105e-01 -2.77917358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81587156 meters 0.013211711569101083 Centerline is valid? [True, True] Translation: X:70.16, Y:-7.50, Z:-2.78 [[ 9.85165569e-01 1.67788740e-01 3.59963879e-02 7.01603738e+01] [-1.67682422e-01 9.85822964e-01 -5.97402779e-03 -7.50445550e+00] [-3.64884404e-02 -1.50555031e-04 9.99334064e-01 -2.78079205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84587156 meters 0.012847820414405383 Centerline is valid? [True, True] Translation: X:70.19, Y:-7.51, Z:-2.78 [[ 9.85325328e-01 1.66870361e-01 3.58926174e-02 7.01902325e+01] [-1.66764097e-01 9.85978838e-01 -5.95541208e-03 -7.50831380e+00] [-3.63831430e-02 -1.17581577e-04 9.99337907e-01 -2.78212216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87587156000001 meters 0.01864454441407527 Centerline is valid? [True, True] Translation: X:70.22, Y:-7.51, Z:-2.78 [[ 9.85554277e-01 1.65558542e-01 3.56810271e-02 7.02200661e+01] [-1.65452699e-01 9.86199962e-01 -5.91946447e-03 -7.50972856e+00] [-3.61686455e-02 -6.95687072e-05 9.99345698e-01 -2.78359688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90587156000001 meters 0.01260044614697379 Centerline is valid? [True, True] Translation: X:70.25, Y:-7.51, Z:-2.79 [[ 9.85613794e-01 1.65385876e-01 3.48275924e-02 7.02485940e+01] [-1.65284956e-01 9.86228933e-01 -5.77713763e-03 -7.51230580e+00] [-3.53034363e-02 -6.24505281e-05 9.99376637e-01 -2.78584733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93587156000001 meters 0.012772300156011853 Centerline is valid? [True, True] Translation: X:70.28, Y:-7.52, Z:-2.79 [[ 9.85664852e-01 1.65159095e-01 3.44568196e-02 7.02771258e+01] [-1.65060216e-01 9.86266937e-01 -5.71443744e-03 -7.51527769e+00] [-3.49274132e-02 -5.49299435e-05 9.99389850e-01 -2.78821915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96587156000001 meters 0.012857942435628223 Centerline is valid? [True, True] Translation: X:70.31, Y:-7.52, Z:-2.79 [[ 9.85688255e-01 1.65054941e-01 3.42860190e-02 7.03056613e+01] [-1.64957030e-01 9.86284373e-01 -5.68457207e-03 -7.51554199e+00] [-3.47540315e-02 -5.25039623e-05 9.99395895e-01 -2.79035787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99587156 meters 0.012690664131583786 Centerline is valid? [True, True] Translation: X:70.33, Y:-7.52, Z:-2.79 [[ 9.85738021e-01 1.64766444e-01 3.42428636e-02 7.03349148e+01] [-1.64668682e-01 9.86332610e-01 -5.67522727e-03 -7.51769703e+00] [-3.47099401e-02 -4.44399310e-05 9.99397427e-01 -2.79076658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02587156 meters 0.012794656439941491 Centerline is valid? [True, True] Translation: X:70.36, Y:-7.52, Z:-2.79 [[ 9.85829981e-01 1.64216836e-01 3.42356363e-02 7.03626949e+01] [-1.64118837e-01 9.86424265e-01 -5.67249993e-03 -7.51946332e+00] [-3.47023823e-02 -2.65922986e-05 9.99397691e-01 -2.79270859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05587156 meters 0.012359087211803853 Centerline is valid? [True, True] Translation: X:70.39, Y:-7.52, Z:-2.79 [[ 9.86136923e-01 1.62230839e-01 3.48586359e-02 7.03915754e+01] [-1.62128089e-01 9.86752833e-01 -5.77320566e-03 -7.52228642e+00] [-3.53334498e-02 4.16072505e-05 9.99375578e-01 -2.79143689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08587156 meters 0.012636018570806587 Centerline is valid? [True, True] Translation: X:70.42, Y:-7.53, Z:-2.79 [[ 9.86299735e-01 1.61287058e-01 3.46311556e-02 7.04196744e+01] [-1.61185131e-01 9.86907533e-01 -5.73358966e-03 -7.52681290e+00] [-3.51025022e-02 7.30106283e-05 9.99383715e-01 -2.79371271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11587156 meters 0.013409070268285065 Centerline is valid? [True, True] Translation: X:70.45, Y:-7.53, Z:-2.80 [[ 9.86634828e-01 1.59260336e-01 3.44653796e-02 7.04477678e+01] [-1.59158174e-01 9.87236610e-01 -5.70531984e-03 -7.53086543e+00] [-3.49341157e-02 1.43620356e-04 9.99389607e-01 -2.79527631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14587156 meters 0.013758405275511998 Centerline is valid? [True, True] Translation: X:70.48, Y:-7.53, Z:-2.80 [[ 9.86747511e-01 1.58402862e-01 3.51835633e-02 7.04755177e+01] [-1.58295890e-01 9.87374550e-01 -5.82313728e-03 -7.53477417e+00] [-3.56617566e-02 1.76552734e-04 9.99363902e-01 -2.79608365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17587156 meters 0.013725669281184358 Centerline is valid? [True, True] Translation: X:70.50, Y:-7.54, Z:-2.80 [[ 9.86915493e-01 1.57304248e-01 3.54003210e-02 7.05038007e+01] [-1.57195336e-01 9.87550164e-01 -5.85655129e-03 -7.53771620e+00] [-3.58808532e-02 2.15155867e-04 9.99356052e-01 -2.79577789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20587156 meters 0.014736498555728885 Centerline is valid? [True, True] Translation: X:70.53, Y:-7.54, Z:-2.80 [[ 9.87069077e-01 1.56293724e-01 3.55936616e-02 7.05317571e+01] [-1.56183030e-01 9.87710590e-01 -5.88663308e-03 -7.54258196e+00] [-3.60762803e-02 2.51387561e-04 9.99349008e-01 -2.79823628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23587156 meters 0.014736498555728885 Centerline is valid? [True, True] Translation: X:70.56, Y:-7.55, Z:-2.80 [[ 9.87072711e-01 1.56270721e-01 3.55938950e-02 7.05605093e+01] [-1.56160063e-01 9.87714229e-01 -5.88522121e-03 -7.54729143e+00] [-3.60762844e-02 2.50796353e-04 9.99349008e-01 -2.79954871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26587156000001 meters 0.01651570956285581 Centerline is valid? [True, True] Translation: X:70.59, Y:-7.55, Z:-2.80 [[ 9.87512242e-01 1.53541459e-01 3.52787913e-02 7.05894830e+01] [-1.53431041e-01 9.88142146e-01 -5.83228784e-03 -7.55145916e+00] [-3.57559586e-02 3.46593961e-04 9.99360491e-01 -2.80059072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29587156000001 meters 0.01697663801103136 Centerline is valid? [True, True] Translation: X:70.62, Y:-7.56, Z:-2.80 [[ 9.87729231e-01 1.52215158e-01 3.49501488e-02 7.06185682e+01] [-1.52105986e-01 9.88347304e-01 -5.77713597e-03 -7.55518243e+00] [-3.54222531e-02 3.90119198e-04 9.99372359e-01 -2.80167833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32587156000001 meters 0.018969966873535794 Centerline is valid? [True, True] Translation: X:70.65, Y:-7.56, Z:-2.80 [[ 9.87921954e-01 1.50962775e-01 3.49349867e-02 7.06463077e+01] [-1.50852942e-01 9.88539353e-01 -5.77388163e-03 -7.56132599e+00] [-3.54062503e-02 4.34098885e-04 9.99372908e-01 -2.80433580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35587156000001 meters 0.020479441507874632 Centerline is valid? [True, True] Translation: X:70.68, Y:-7.57, Z:-2.81 [[ 9.88192244e-01 1.49146616e-01 3.50909626e-02 7.06756031e+01] [-1.49034706e-01 9.88814966e-01 -5.79822888e-03 -7.56668987e+00] [-3.55632552e-02 4.99993523e-04 9.99367302e-01 -2.80546972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38587156 meters 0.019948525558828954 Centerline is valid? [True, True] Translation: X:70.71, Y:-7.57, Z:-2.81 [[ 9.88305582e-01 1.48466518e-01 3.47817400e-02 7.07056575e+01] [-1.48356180e-01 9.88917299e-01 -5.74632808e-03 -7.56913420e+00] [-3.52494017e-02 5.19042043e-04 9.99378412e-01 -2.80577601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41587156 meters 0.020630849176711305 Centerline is valid? [True, True] Translation: X:70.73, Y:-7.57, Z:-2.81 [[ 9.88335556e-01 1.48183622e-01 3.51346437e-02 7.07345353e+01] [-1.48070881e-01 9.88959721e-01 -5.80386430e-03 -7.57195216e+00] [-3.56067850e-02 5.33747806e-04 9.99365735e-01 -2.80720867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44587156 meters 0.023971738934923683 Centerline is valid? [True, True] Translation: X:70.76, Y:-7.58, Z:-2.81 [[ 9.88324587e-01 1.48204160e-01 3.53558790e-02 7.07625579e+01] [-1.48090054e-01 9.88956643e-01 -5.83909723e-03 -7.57554402e+00] [-3.58308099e-02 5.35069324e-04 9.99357727e-01 -2.80980412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47587156 meters 0.020295168756373327 Centerline is valid? [True, True] Translation: X:70.79, Y:-7.58, Z:-2.81 [[ 9.88271126e-01 1.48608935e-01 3.51506308e-02 7.07923647e+01] [-1.48496455e-01 9.88895909e-01 -5.80383716e-03 -7.57787191e+00] [-3.56228170e-02 5.16020613e-04 9.99365173e-01 -2.80961057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50587156 meters 0.01955657868345112 Centerline is valid? [True, True] Translation: X:70.82, Y:-7.58, Z:-2.81 [[ 9.88134381e-01 1.49565203e-01 3.49384508e-02 7.08225864e+01] [-1.49454704e-01 9.88751749e-01 -5.76797048e-03 -7.57766393e+00] [-3.54081420e-02 4.77814098e-04 9.99372821e-01 -2.81110765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53587156 meters 0.01928014802473399 Centerline is valid? [True, True] Translation: X:70.85, Y:-7.58, Z:-2.81 [[ 9.88109656e-01 1.49674030e-01 3.51708886e-02 7.08513670e+01] [-1.49562148e-01 9.88735282e-01 -5.80571370e-03 -7.58010520e+00] [-3.56436630e-02 4.76448139e-04 9.99364449e-01 -2.81222645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56587156 meters 0.019175395632718556 Centerline is valid? [True, True] Translation: X:70.88, Y:-7.58, Z:-2.81 [[ 9.88114200e-01 1.49525881e-01 3.56698686e-02 7.08796224e+01] [-1.49410767e-01 9.88757692e-01 -5.88633619e-03 -7.58325974e+00] [-3.61490165e-02 4.86909953e-04 9.99346292e-01 -2.81224343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59587156 meters 0.0208984336686967 Centerline is valid? [True, True] Translation: X:70.91, Y:-7.59, Z:-2.81 [[ 9.88351849e-01 1.47784346e-01 3.63374365e-02 7.09081335e+01] [-1.47663774e-01 9.89019451e-01 -5.99460520e-03 -7.58812653e+00] [-3.68243403e-02 5.59056134e-04 9.99321598e-01 -2.81198208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62587156000001 meters 0.026500713623739847 Centerline is valid? [True, True] Translation: X:70.94, Y:-7.59, Z:-2.82 [[ 9.88563571e-01 1.46378399e-01 3.62688551e-02 7.09359012e+01] [-1.46257385e-01 9.89228484e-01 -5.98197900e-03 -7.59432534e+00] [-3.67538170e-02 6.08978648e-04 9.99324165e-01 -2.81577734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65587156000001 meters 0.02414321569888933 Centerline is valid? [True, True] Translation: X:70.96, Y:-7.60, Z:-2.82 [[ 9.88845928e-01 1.44610241e-01 3.56596331e-02 7.09644201e+01] [-1.44492159e-01 9.89488474e-01 -5.88014990e-03 -7.60149097e+00] [-3.61351258e-02 6.62024922e-04 9.99346694e-01 -2.81624370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68587156000001 meters 0.027926073272679906 Centerline is valid? [True, True] Translation: X:70.99, Y:-7.61, Z:-2.82 [[ 9.89337330e-01 1.41174692e-01 3.57959917e-02 7.09917582e+01] [-1.41053487e-01 9.89984385e-01 -5.90178142e-03 -7.61302668e+00] [-3.62706550e-02 7.89703232e-04 9.99341691e-01 -2.81773973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71587156000001 meters 0.02945536523453335 Centerline is valid? [True, True] Translation: X:71.02, Y:-7.62, Z:-2.82 [[ 9.89550334e-01 1.39717183e-01 3.56264602e-02 7.10214069e+01] [-1.39596218e-01 9.90191096e-01 -5.87278925e-03 -7.62059907e+00] [-3.60975332e-02 8.38101477e-04 9.99347920e-01 -2.81928647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74587156 meters 0.033656990835910075 Centerline is valid? [True, True] Translation: X:71.05, Y:-7.63, Z:-2.82 [[ 9.89859304e-01 1.37759972e-01 3.46518125e-02 7.10523599e+01] [-1.37644347e-01 9.90465248e-01 -5.71188761e-03 -7.62636149e+00] [-3.51082855e-02 8.84339001e-04 9.99383123e-01 -2.82297589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77587156 meters 0.029998105514230152 Centerline is valid? [True, True] Translation: X:71.08, Y:-7.63, Z:-2.82 [[ 9.89932318e-01 1.37440074e-01 3.38264983e-02 7.10825927e+01] [-1.37329675e-01 9.90509697e-01 -5.57677247e-03 -7.63250060e+00] [-3.42719466e-02 8.75245300e-04 9.99412161e-01 -2.82351208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80587156 meters 0.031475585867939714 Centerline is valid? [True, True] Translation: X:71.11, Y:-7.64, Z:-2.83 [[ 9.89947317e-01 1.37397095e-01 3.35610942e-02 7.11124580e+01] [-1.37288383e-01 9.90515664e-01 -5.53342222e-03 -7.64013759e+00] [-3.40030657e-02 8.70248110e-04 9.99421350e-01 -2.82610939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83587156 meters 0.0391445107144648 Centerline is valid? [True, True] Translation: X:71.14, Y:-7.64, Z:-2.83 [[ 9.89866262e-01 1.37976734e-01 3.35738603e-02 7.11427356e+01] [-1.37868255e-01 9.90435105e-01 -5.53606558e-03 -7.64426297e+00] [-3.40165781e-02 8.51195025e-04 9.99420906e-01 -2.82946838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86587156 meters 0.026830628157333326 Centerline is valid? [True, True] Translation: X:71.17, Y:-7.65, Z:-2.83 [[ 9.89624781e-01 1.39833634e-01 3.30052595e-02 7.11739525e+01] [-1.39729836e-01 9.90174710e-01 -5.44216517e-03 -7.64567963e+00] [-3.34419710e-02 7.73882026e-04 9.99440361e-01 -2.82780790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89587156 meters 0.029956231665829697 Centerline is valid? [True, True] Translation: X:71.20, Y:-7.66, Z:-2.83 [[ 9.89440392e-01 1.41078235e-01 3.32361567e-02 7.12021721e+01] [-1.40973657e-01 9.89998175e-01 -5.48093591e-03 -7.65545103e+00] [-3.36769753e-02 7.37636827e-04 9.99432498e-01 -2.83206477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92587156 meters 0.022833922777509126 Centerline is valid? [True, True] Translation: X:71.23, Y:-7.65, Z:-2.83 [[ 9.88932842e-01 1.44656107e-01 3.29612711e-02 7.12326493e+01] [-1.44555245e-01 9.89481803e-01 -5.43534150e-03 -7.65169335e+00] [-3.34008333e-02 6.10463095e-04 9.99441850e-01 -2.83053777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95587156 meters 0.02225436868241284 Centerline is valid? [True, True] Translation: X:71.26, Y:-7.65, Z:-2.83 [[ 9.88678661e-01 1.46523167e-01 3.23336770e-02 7.12612892e+01] [-1.46427130e-01 9.89207093e-01 -5.33121642e-03 -7.65498531e+00] [-3.27658493e-02 5.36332403e-04 9.99462912e-01 -2.83325877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98587156 meters 0.019528137961029424 Centerline is valid? [True, True] Translation: X:71.29, Y:-7.66, Z:-2.83 [[ 9.88338974e-01 1.48843609e-01 3.21193511e-02 7.12911272e+01] [-1.48750109e-01 9.88860644e-01 -5.29454358e-03 -7.65564912e+00] [-3.25496212e-02 4.55046791e-04 9.99470017e-01 -2.83394902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01587156000001 meters 0.016773105563757402 Centerline is valid? [True, True] Translation: X:71.32, Y:-7.66, Z:-2.84 [[ 9.87696023e-01 1.52976237e-01 3.24782599e-02 7.13197848e+01] [-1.52882884e-01 9.88229815e-01 -5.35317957e-03 -7.65625325e+00] [-3.29148940e-02 3.21944150e-04 9.99458106e-01 -2.83509438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04587156000001 meters 0.01587638320434992 Centerline is valid? [True, True] Translation: X:71.35, Y:-7.66, Z:-2.84 [[ 9.87389480e-01 1.54926694e-01 3.25535576e-02 7.13476398e+01] [-1.54834016e-01 9.87925935e-01 -5.36410632e-03 -7.65868020e+00] [-3.29915471e-02 2.56064083e-04 9.99455598e-01 -2.83697574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07587156000001 meters 0.023346424302919326 Centerline is valid? [True, True] Translation: X:71.38, Y:-7.66, Z:-2.84 [[ 9.87066451e-01 1.56789405e-01 3.34201139e-02 7.13758751e+01] [-1.56692865e-01 9.87632039e-01 -5.50474783e-03 -7.66035951e+00] [-3.38698613e-02 1.96858509e-04 9.99426232e-01 -2.83955753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10587156000001 meters 0.013639923669438905 Centerline is valid? [True, True] Translation: X:71.40, Y:-7.66, Z:-2.84 [[ 9.86746873e-01 1.58730080e-01 3.36952516e-02 7.14045451e+01] [-1.58633148e-01 9.87322007e-01 -5.54791939e-03 -7.66229123e+00] [-3.41486851e-02 1.29208259e-04 9.99416755e-01 -2.83720765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13587156 meters 0.01282033722798641 Centerline is valid? [True, True] Translation: X:71.43, Y:-7.66, Z:-2.84 [[ 9.86033378e-01 1.62787811e-01 3.51895688e-02 7.14332600e+01] [-1.62684729e-01 9.86661101e-01 -5.79227943e-03 -7.66161848e+00] [-3.56630912e-02 -1.34246123e-05 9.99363870e-01 -2.83748517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16587156 meters 0.014416195225920555 Centerline is valid? [True, True] Translation: X:71.46, Y:-7.66, Z:-2.84 [[ 9.85232699e-01 1.67561293e-01 3.52099705e-02 7.14627036e+01] [-1.67461216e-01 9.85861642e-01 -5.79340554e-03 -7.65863662e+00] [-3.56829099e-02 -1.88451914e-04 9.99363144e-01 -2.83763140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19587156 meters 0.027911726251808402 Centerline is valid? [True, True] Translation: X:71.49, Y:-7.66, Z:-2.84 [[ 9.84736215e-01 1.70320510e-01 3.58540271e-02 7.14916795e+01] [-1.70218626e-01 9.85388673e-01 -5.89768256e-03 -7.65812728e+00] [-3.63346485e-02 -2.95361626e-04 9.99339635e-01 -2.83979360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22587156 meters 0.019359920623583687 Centerline is valid? [True, True] Translation: X:71.52, Y:-7.66, Z:-2.84 [[ 9.84184275e-01 1.73598413e-01 3.52832047e-02 7.15203553e+01] [-1.73501908e-01 9.84816441e-01 -5.80224819e-03 -7.65655146e+00] [-3.57547411e-02 -4.11221904e-04 9.99360510e-01 -2.83962998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25587156 meters 0.025210883255467845 Centerline is valid? [True, True] Translation: X:71.55, Y:-7.65, Z:-2.84 [[ 9.83036335e-01 1.80113924e-01 3.46199150e-02 7.15512866e+01] [-1.80025130e-01 9.83645550e-01 -5.69083103e-03 -7.65019429e+00] [-3.50787232e-02 -6.38161004e-04 9.99384348e-01 -2.84120553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28587156 meters 0.028575088122008416 Centerline is valid? [True, True] Translation: X:71.58, Y:-7.65, Z:-2.84 [[ 9.82503930e-01 1.82984647e-01 3.46791995e-02 7.15808810e+01] [-1.82897358e-01 9.83115491e-01 -5.69988013e-03 -7.64803929e+00] [-3.51366488e-02 -7.42579348e-04 9.99382241e-01 -2.84298578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31587156 meters 0.03385070190861119 Centerline is valid? [True, True] Translation: X:71.61, Y:-7.64, Z:-2.84 [[ 9.81612081e-01 1.87629047e-01 3.51150121e-02 7.16121453e+01] [-1.87542570e-01 9.82239529e-01 -5.77000971e-03 -7.64204758e+00] [-3.55739744e-02 -9.21648380e-04 9.99366621e-01 -2.84351308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34587156 meters 0.03665174181046412 Centerline is valid? [True, True] Translation: X:71.64, Y:-7.64, Z:-2.85 [[ 9.81339750e-01 1.89006285e-01 3.53400609e-02 7.16408791e+01] [-1.88919588e-01 9.81975391e-01 -5.80699408e-03 -7.64064964e+00] [-3.58006285e-02 -9.77795640e-04 9.99358474e-01 -2.84513679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37587156000001 meters 0.03738687512222168 Centerline is valid? [True, True] Translation: X:71.67, Y:-7.64, Z:-2.85 [[ 9.81202089e-01 1.89741195e-01 3.52241389e-02 7.16696713e+01] [-1.89655578e-01 9.81833629e-01 -5.78682682e-03 -7.64178164e+00] [-3.56822436e-02 -1.00240788e-03 9.99362683e-01 -2.84647819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40587156000001 meters 0.03702641081395877 Centerline is valid? [True, True] Translation: X:71.70, Y:-7.64, Z:-2.85 [[ 9.81227677e-01 1.89477946e-01 3.59215004e-02 7.16990620e+01] [-1.89388950e-01 9.81884449e-01 -5.89532124e-03 -7.64140102e+00] [-3.63877960e-02 -1.01848289e-03 9.99337226e-01 -2.84672265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43587156000001 meters 0.036586043837795595 Centerline is valid? [True, True] Translation: X:71.73, Y:-7.64, Z:-2.85 [[ 9.81377227e-01 1.88684330e-01 3.60133580e-02 7.17269100e+01] [-1.88594596e-01 9.82037284e-01 -5.90350918e-03 -7.64437566e+00] [-3.64803599e-02 -9.98355240e-04 9.99333871e-01 -2.84806353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46587156000001 meters 0.03343225712565748 Centerline is valid? [True, True] Translation: X:71.76, Y:-7.65, Z:-2.85 [[ 9.81936850e-01 1.85843094e-01 3.55298054e-02 7.17551813e+01] [-1.85753973e-01 9.82579037e-01 -5.82207517e-03 -7.64921426e+00] [-3.59928344e-02 -8.82892374e-04 9.99351658e-01 -2.85046811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49587156000001 meters 0.03194709959132993 Centerline is valid? [True, True] Translation: X:71.78, Y:-7.65, Z:-2.85 [[ 9.82229126e-01 1.84198657e-01 3.60110959e-02 7.17822810e+01] [-1.84106059e-01 9.82888680e-01 -5.89932416e-03 -7.65343855e+00] [-3.64815461e-02 -8.35372942e-04 9.99333978e-01 -2.85098939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52587156 meters 0.02968350574091023 Centerline is valid? [True, True] Translation: X:71.81, Y:-7.66, Z:-2.85 [[ 9.82593439e-01 1.82223827e-01 3.61193853e-02 7.18108530e+01] [-1.82129384e-01 9.83256778e-01 -5.91581649e-03 -7.65895482e+00] [-3.65926331e-02 -7.65558906e-04 9.99329972e-01 -2.85200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55587156 meters 0.023892001481340484 Centerline is valid? [True, True] Translation: X:71.84, Y:-7.67, Z:-2.85 [[ 9.83264184e-01 1.78627159e-01 3.58313052e-02 7.18390493e+01] [-1.78532039e-01 9.83916632e-01 -5.86284375e-03 -7.66740149e+00] [-3.63022802e-02 -6.32311682e-04 9.99340655e-01 -2.85277359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58587156 meters 0.02335666430714084 Centerline is valid? [True, True] Translation: X:71.87, Y:-7.67, Z:-2.86 [[ 9.83562763e-01 1.77011621e-01 3.56535607e-02 7.18671509e+01] [-1.76916619e-01 9.84208593e-01 -5.82718770e-03 -7.67036386e+00] [-3.61220208e-02 -5.76302581e-04 9.99347221e-01 -2.85551135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61587156 meters 0.02122043308590667 Centerline is valid? [True, True] Translation: X:71.90, Y:-7.68, Z:-2.86 [[ 9.83799459e-01 1.75789338e-01 3.51672153e-02 7.18952673e+01] [-1.75696189e-01 9.84427667e-01 -5.74603538e-03 -7.67576820e+00] [-3.56296715e-02 -5.25799208e-04 9.99364923e-01 -2.85703061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64587156 meters 0.019782686992944765 Centerline is valid? [True, True] Translation: X:71.92, Y:-7.68, Z:-2.86 [[ 9.84039089e-01 1.74646794e-01 3.41404218e-02 7.19234715e+01] [-1.74558374e-01 9.84631035e-01 -5.57668305e-03 -7.68010431e+00] [-3.45896687e-02 -4.71822403e-04 9.99401487e-01 -2.85907090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67587156 meters 0.018804665846414267 Centerline is valid? [True, True] Translation: X:71.95, Y:-7.68, Z:-2.86 [[ 9.84369374e-01 1.72867638e-01 3.36706849e-02 7.19518883e+01] [-1.72780646e-01 9.84944981e-01 -5.49843988e-03 -7.68085012e+00] [-3.41142745e-02 -4.05146881e-04 9.99417857e-01 -2.86167663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70587156 meters 0.01898416248668661 Centerline is valid? [True, True] Translation: X:71.98, Y:-7.68, Z:-2.86 [[ 9.84512885e-01 1.71964202e-01 3.40982660e-02 7.19793106e+01] [-1.71874523e-01 9.85103126e-01 -5.56598327e-03 -7.68237576e+00] [-3.45474583e-02 -3.80840943e-04 9.99402986e-01 -2.86364848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73587156 meters 0.017066822954339752 Centerline is valid? [True, True] Translation: X:72.01, Y:-7.69, Z:-2.86 [[ 9.84790821e-01 1.70367806e-01 3.40859243e-02 7.20084324e+01] [-1.70277293e-01 9.85380487e-01 -5.56230470e-03 -7.68563086e+00] [-3.45352423e-02 -3.26352314e-04 9.99403427e-01 -2.86393743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76587156000001 meters 0.016655629948622772 Centerline is valid? [True, True] Translation: X:72.04, Y:-7.69, Z:-2.87 [[ 9.84961606e-01 1.69412108e-01 3.39141952e-02 7.20359745e+01] [-1.69321992e-01 9.85545256e-01 -5.53275685e-03 -7.68813462e+00] [-3.43612902e-02 -2.92866008e-04 9.99409434e-01 -2.86559886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79587156000001 meters 0.015210556950857384 Centerline is valid? [True, True] Translation: X:72.06, Y:-7.69, Z:-2.87 [[ 9.85362059e-01 1.67024816e-01 3.41221705e-02 7.20638343e+01] [-1.66932231e-01 9.85952669e-01 -5.56461429e-03 -7.68915153e+00] [-3.45722738e-02 -2.12930235e-04 9.99402178e-01 -2.86684363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82587156000001 meters 0.023178179939389216 Centerline is valid? [True, True] Translation: X:72.09, Y:-7.69, Z:-2.87 [[ 9.85628995e-01 1.65410038e-01 3.42783268e-02 7.20912480e+01] [-1.65315697e-01 9.86224870e-01 -5.58802959e-03 -7.69166916e+00] [-3.47304545e-02 -1.59021510e-04 9.99396703e-01 -2.87042967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85587156000001 meters 0.01409970437186004 Centerline is valid? [True, True] Translation: X:72.12, Y:-7.70, Z:-2.87 [[ 9.85925672e-01 1.63788566e-01 3.35242436e-02 7.21191946e+01] [-1.63697463e-01 9.86495461e-01 -5.46307152e-03 -7.69740974e+00] [-3.39663028e-02 -1.01651171e-04 9.99422973e-01 -2.87126653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88587156 meters 0.02761708507798897 Centerline is valid? [True, True] Translation: X:72.15, Y:-7.70, Z:-2.87 [[ 9.86656037e-01 1.59243879e-01 3.39300887e-02 7.21459987e+01] [-1.59147919e-01 9.87239274e-01 -5.52772999e-03 -7.70411771e+00] [-3.43773733e-02 5.40651769e-05 9.99408922e-01 -2.87492113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91587156 meters 0.018098617091650213 Centerline is valid? [True, True] Translation: X:72.17, Y:-7.71, Z:-2.87 [[ 9.87044471e-01 1.56788021e-01 3.40694803e-02 7.21744075e+01] [-1.56689879e-01 9.87632268e-01 -5.54836753e-03 -7.71046464e+00] [-3.45180357e-02 1.38142754e-04 9.99404065e-01 -2.87316203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94587156 meters 0.030951686449676854 Centerline is valid? [True, True] Translation: X:72.20, Y:-7.72, Z:-2.87 [[ 9.87810458e-01 1.51730746e-01 3.47603322e-02 7.22025191e+01] [-1.51625510e-01 9.88421812e-01 -5.65918436e-03 -7.71826324e+00] [-3.52165428e-02 3.19648417e-04 9.99379654e-01 -2.87364315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97587156 meters 0.018984519298699265 Centerline is valid? [True, True] Translation: X:72.23, Y:-7.73, Z:-2.88 [[ 9.88182125e-01 1.49388031e-01 3.43410101e-02 7.22288292e+01] [-1.49283957e-01 9.88778569e-01 -5.58938334e-03 -7.72778693e+00] [-3.47906418e-02 3.96766811e-04 9.99394544e-01 -2.87501103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00587156 meters 0.02877952338561178 Centerline is valid? [True, True] Translation: X:72.26, Y:-7.73, Z:-2.88 [[ 9.88556839e-01 1.46817272e-01 3.46419493e-02 7.22572595e+01] [-1.46709867e-01 9.89163510e-01 -5.63612098e-03 -7.73203670e+00] [-3.50940321e-02 4.89310176e-04 9.99383895e-01 -2.87602895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03587156 meters 0.023076642324630494 Centerline is valid? [True, True] Translation: X:72.28, Y:-7.74, Z:-2.88 [[ 9.89089807e-01 1.43247903e-01 3.43713724e-02 7.22845350e+01] [-1.43140075e-01 9.89686651e-01 -5.59033611e-03 -7.74150871e+00] [-3.48176924e-02 6.09423631e-04 9.99393495e-01 -2.87572538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06587156 meters 0.024269439380882524 Centerline is valid? [True, True] Translation: X:72.31, Y:-7.75, Z:-2.88 [[ 9.89273770e-01 1.41939971e-01 3.45029422e-02 7.23131494e+01] [-1.41830561e-01 9.89875049e-01 -5.61061164e-03 -7.74767770e+00] [-3.49499716e-02 6.56859296e-04 9.99388847e-01 -2.87690459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09587156 meters 0.025579333206387687 Centerline is valid? [True, True] Translation: X:72.34, Y:-7.75, Z:-2.88 [[ 9.89451346e-01 1.40715672e-01 3.44257750e-02 7.23413694e+01] [-1.40606067e-01 9.90049804e-01 -5.59642866e-03 -7.75432187e+00] [-3.48707370e-02 6.96921033e-04 9.99391588e-01 -2.87874500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12587156000001 meters 0.025579333206387687 Centerline is valid? [True, True] Translation: X:72.37, Y:-7.76, Z:-2.88 [[ 9.89457812e-01 1.40670131e-01 3.44260320e-02 7.23693171e+01] [-1.40560554e-01 9.90056275e-01 -5.59484758e-03 -7.75877759e+00] [-3.48707369e-02 6.96923538e-04 9.99391588e-01 -2.88002002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15587156000001 meters 0.026889607175548315 Centerline is valid? [True, True] Translation: X:72.40, Y:-7.77, Z:-2.88 [[ 9.89686140e-01 1.39288103e-01 3.34689305e-02 7.23966856e+01] [-1.39183792e-01 9.90251635e-01 -5.43790943e-03 -7.76596594e+00] [-3.39000993e-02 7.23490911e-04 9.99424965e-01 -2.88238004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18587156000001 meters 0.02779555327769246 Centerline is valid? [True, True] Translation: X:72.42, Y:-7.77, Z:-2.88 [[ 9.89742722e-01 1.38986007e-01 3.30489728e-02 7.24241775e+01] [-1.38884195e-01 9.90294081e-01 -5.36775245e-03 -7.77174570e+00] [-3.34742447e-02 7.22713920e-04 9.99439319e-01 -2.88477716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21587156000001 meters 0.027982139402140956 Centerline is valid? [True, True] Translation: X:72.45, Y:-7.78, Z:-2.89 [[ 9.89734915e-01 1.39049753e-01 3.30145957e-02 7.24515562e+01] [-1.38948253e-01 9.90285136e-01 -5.36023636e-03 -7.77695958e+00] [-3.34392030e-02 7.17892667e-04 9.99440496e-01 -2.88620475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24587156000001 meters 0.02773916771527382 Centerline is valid? [True, True] Translation: X:72.48, Y:-7.78, Z:-2.89 [[ 9.89708542e-01 1.39269909e-01 3.28769601e-02 7.24801189e+01] [-1.39169445e-01 9.90254207e-01 -5.33581468e-03 -7.78215221e+00] [-3.32996665e-02 7.05433086e-04 9.99445163e-01 -2.88793195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27587156 meters 0.030028595486083505 Centerline is valid? [True, True] Translation: X:72.51, Y:-7.78, Z:-2.89 [[ 9.89673597e-01 1.39565497e-01 3.26748077e-02 7.25088927e+01] [-1.39466474e-01 9.90212602e-01 -5.30152468e-03 -7.78443429e+00] [-3.30949163e-02 6.89738766e-04 9.99451975e-01 -2.88997706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30587156 meters 0.03495969733540707 Centerline is valid? [True, True] Translation: X:72.54, Y:-7.79, Z:-2.89 [[ 9.89561890e-01 1.40463989e-01 3.22045612e-02 7.25359366e+01] [-1.40368317e-01 9.90085576e-01 -5.22385415e-03 -7.78911446e+00] [-3.26190349e-02 6.48826915e-04 9.99467647e-01 -2.89268954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33587156 meters 0.029934960447263334 Centerline is valid? [True, True] Translation: X:72.56, Y:-7.79, Z:-2.89 [[ 9.89189625e-01 1.42993318e-01 3.25083985e-02 7.25639734e+01] [-1.42897266e-01 9.89723490e-01 -5.27102406e-03 -7.79254129e+00] [-3.29280469e-02 5.68681023e-04 9.99457563e-01 -2.89478441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36587156 meters 0.022756084158302377 Centerline is valid? [True, True] Translation: X:72.59, Y:-7.80, Z:-2.89 [[ 9.88893011e-01 1.45129231e-01 3.20642804e-02 7.25925920e+01] [-1.45036958e-01 9.89412587e-01 -5.19750597e-03 -7.79534899e+00] [-3.24791126e-02 4.89271659e-04 9.99472295e-01 -2.89484026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39587156 meters 0.019262328034837056 Centerline is valid? [True, True] Translation: X:72.62, Y:-7.79, Z:-2.90 [[ 9.88299917e-01 1.49181366e-01 3.17520591e-02 7.26206068e+01] [-1.49093001e-01 9.88809788e-01 -5.14591671e-03 -7.79476870e+00] [-3.21644217e-02 3.51699268e-04 9.99482529e-01 -2.89683908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42587156 meters 0.017741448602601958 Centerline is valid? [True, True] Translation: X:72.65, Y:-7.80, Z:-2.90 [[ 9.87980401e-01 1.51266180e-01 3.18319139e-02 7.26482592e+01] [-1.51178544e-01 9.88493026e-01 -5.15600328e-03 -7.79626468e+00] [-3.22455538e-02 2.81727772e-04 9.99479937e-01 -2.89885327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45587156 meters 0.016340970782303472 Centerline is valid? [True, True] Translation: X:72.68, Y:-7.80, Z:-2.90 [[ 9.87687813e-01 1.53229833e-01 3.15182964e-02 7.26772934e+01] [-1.53144976e-01 9.88190555e-01 -5.10331261e-03 -7.79733377e+00] [-3.19280626e-02 2.13610919e-04 9.99490147e-01 -2.90001761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48587156 meters 0.01403800324537769 Centerline is valid? [True, True] Translation: X:72.71, Y:-7.80, Z:-2.90 [[ 9.87078957e-01 1.57120946e-01 3.14347172e-02 7.27068917e+01] [-1.57038559e-01 9.87579364e-01 -5.08824803e-03 -7.79635766e+00] [-3.18437484e-02 8.60398734e-05 9.99492856e-01 -2.89946517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51587156000001 meters 0.014483466047285993 Centerline is valid? [True, True] Translation: X:72.73, Y:-7.80, Z:-2.90 [[ 9.86884367e-01 1.58385775e-01 3.11960479e-02 7.27333060e+01] [-1.58305281e-01 9.87377306e-01 -5.04913249e-03 -7.79914586e+00] [-3.16019805e-02 4.44107923e-05 9.99500532e-01 -2.90392100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54587156000001 meters 0.01378311718424108 Centerline is valid? [True, True] Translation: X:72.76, Y:-7.80, Z:-2.90 [[ 9.86655556e-01 1.59770938e-01 3.13697532e-02 7.27620463e+01] [-1.59690346e-01 9.87154115e-01 -5.07407173e-03 -7.80109399e+00] [-3.17774702e-02 -3.08567715e-06 9.99494969e-01 -2.90206771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57587156000001 meters 0.014243025586435544 Centerline is valid? [True, True] Translation: X:72.79, Y:-7.80, Z:-2.90 [[ 9.86372156e-01 1.61590272e-01 3.09605296e-02 7.27907788e+01] [-1.61512711e-01 9.86857933e-01 -5.00640399e-03 -7.80155896e+00] [-3.13626304e-02 -6.23415736e-05 9.99508070e-01 -2.90374761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60587156000001 meters 0.014203654966442861 Centerline is valid? [True, True] Translation: X:72.82, Y:-7.80, Z:-2.90 [[ 9.86285590e-01 1.62085083e-01 3.11313491e-02 7.28185152e+01] [-1.62006947e-01 9.86776783e-01 -5.03284947e-03 -7.80446797e+00] [-3.15354423e-02 -7.96679326e-05 9.99502631e-01 -2.90407311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63587156 meters 0.013647987602973902 Centerline is valid? [True, True] Translation: X:72.85, Y:-7.81, Z:-2.91 [[ 9.86248875e-01 1.60968263e-01 3.74482869e-02 7.28525587e+01] [-1.61067548e-01 9.86943316e-01 -3.70215288e-04 -7.81150752e+00] [-3.70189293e-02 -5.66657931e-03 9.99298498e-01 -2.90671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66587156 meters 0.014081158872913307 Centerline is valid? [True, True] Translation: X:72.88, Y:-7.81, Z:-2.90 [[ 9.86028967e-01 1.63423184e-01 3.22449755e-02 7.28755452e+01] [-1.63136813e-01 9.86538301e-01 -1.13384396e-02 -7.80667919e+00] [-3.36638673e-02 5.91968732e-03 9.99415680e-01 -2.90250287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69587156 meters 0.01405247620662243 Centerline is valid? [True, True] Translation: X:72.90, Y:-7.81, Z:-2.90 [[ 9.85998582e-01 1.63399506e-01 3.32775806e-02 7.29026155e+01] [-1.63311181e-01 9.86559974e-01 -5.37355485e-03 -7.81382726e+00] [-3.37083652e-02 -1.36283530e-04 9.99431702e-01 -2.90406635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72587156 meters 0.014191415854666732 Centerline is valid? [True, True] Translation: X:72.93, Y:-7.82, Z:-2.91 [[ 9.85964959e-01 1.63595464e-01 3.33110068e-02 7.29297365e+01] [-1.63507152e-01 9.86527497e-01 -5.37663735e-03 -7.81598926e+00] [-3.37418176e-02 -1.45411821e-04 9.99430572e-01 -2.90588503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75587156 meters 0.01422570744272922 Centerline is valid? [True, True] Translation: X:72.96, Y:-7.82, Z:-2.91 [[ 9.86019323e-01 1.63262193e-01 3.33369283e-02 7.29569385e+01] [-1.63173649e-01 9.86582707e-01 -5.37798720e-03 -7.81939877e+00] [-3.37676589e-02 -1.36908925e-04 9.99429701e-01 -2.90762383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78587156 meters 0.013968322724811756 Centerline is valid? [True, True] Translation: X:72.98, Y:-7.82, Z:-2.91 [[ 9.86127160e-01 1.62586564e-01 3.34489609e-02 7.29844343e+01] [-1.62497139e-01 9.86694277e-01 -5.39297577e-03 -7.82318727e+00] [-3.38807237e-02 -1.17200584e-04 9.99425877e-01 -2.90867673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81587156 meters 0.021123740311260273 Centerline is valid? [True, True] Translation: X:73.01, Y:-7.83, Z:-2.91 [[ 9.86547866e-01 1.60013837e-01 3.34496743e-02 7.30128813e+01] [-1.59923000e-01 9.87114771e-01 -5.39100719e-03 -7.82881506e+00] [-3.38813033e-02 -3.08856292e-05 9.99425863e-01 -2.91141651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84587156 meters 0.013439177049859391 Centerline is valid? [True, True] Translation: X:73.04, Y:-7.84, Z:-2.91 [[ 9.86863658e-01 1.58148954e-01 3.30004423e-02 7.30409917e+01] [-1.58059551e-01 9.87415266e-01 -5.31704465e-03 -7.83608403e+00] [-3.34260255e-02 3.11630389e-05 9.99441194e-01 -2.91169975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87587156000001 meters 0.01375028916663987 Centerline is valid? [True, True] Translation: X:73.07, Y:-7.84, Z:-2.91 [[ 9.87182934e-01 1.56137489e-01 3.30293787e-02 7.30677783e+01] [-1.56046852e-01 9.87735326e-01 -5.32025284e-03 -7.84277275e+00] [-3.34549751e-02 9.79322284e-05 9.99440221e-01 -2.91323427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90587156000001 meters 0.015211989305230033 Centerline is valid? [True, True] Translation: X:73.10, Y:-7.85, Z:-2.91 [[ 9.87779901e-01 1.52362468e-01 3.28107508e-02 7.30954702e+01] [-1.52271013e-01 9.88324658e-01 -5.28296005e-03 -7.85193765e+00] [-3.32325989e-02 2.22275477e-04 9.99447620e-01 -2.91423408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93587156000001 meters 0.01585924379281061 Centerline is valid? [True, True] Translation: X:73.12, Y:-7.86, Z:-2.92 [[ 9.88004920e-01 1.50864489e-01 3.29573082e-02 7.31231733e+01] [-1.50771435e-01 9.88554415e-01 -5.30496611e-03 -7.85878822e+00] [-3.33804235e-02 2.72311989e-04 9.99442681e-01 -2.91510961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96587156000001 meters 0.01740455945537966 Centerline is valid? [True, True] Translation: X:73.15, Y:-7.87, Z:-2.92 [[ 9.88352403e-01 1.48677481e-01 3.24735811e-02 7.31507917e+01] [-1.48586009e-01 9.88885682e-01 -5.22557029e-03 -7.86595830e+00] [-3.28895840e-02 3.39585157e-04 9.99458934e-01 -2.91690078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99587156000001 meters 0.018549068491723376 Centerline is valid? [True, True] Translation: X:73.18, Y:-7.87, Z:-2.92 [[ 9.88438827e-01 1.48061721e-01 3.26559723e-02 7.31781137e+01] [-1.47968930e-01 9.88978057e-01 -5.25347789e-03 -7.87127431e+00] [-3.30738790e-02 3.60672233e-04 9.99452845e-01 -2.91915478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02587156 meters 0.017964780677616723 Centerline is valid? [True, True] Translation: X:73.21, Y:-7.87, Z:-2.92 [[ 9.88485448e-01 1.47747212e-01 3.26692491e-02 7.32067105e+01] [-1.47654243e-01 9.89025088e-01 -5.25352658e-03 -7.87396362e+00] [-3.30869009e-02 3.69281333e-04 9.99452410e-01 -2.91883547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05587156 meters 0.02150975541921909 Centerline is valid? [True, True] Translation: X:73.23, Y:-7.88, Z:-2.92 [[ 9.88534670e-01 1.47413400e-01 3.26878523e-02 7.32346385e+01] [-1.47320190e-01 9.89074894e-01 -5.25508642e-03 -7.87741351e+00] [-3.31054042e-02 3.79254495e-04 9.99451794e-01 -2.92113905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08587156 meters 0.029557900247112627 Centerline is valid? [True, True] Translation: X:73.26, Y:-7.88, Z:-2.92 [[ 9.88528548e-01 1.47461818e-01 3.26545894e-02 7.32620890e+01] [-1.47368884e-01 9.89067678e-01 -5.24793544e-03 -7.88130701e+00] [-3.30714690e-02 3.75463605e-04 9.99452919e-01 -2.92341905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11587156 meters 0.018945034466783302 Centerline is valid? [True, True] Translation: X:73.29, Y:-7.89, Z:-2.92 [[ 9.88552689e-01 1.47351313e-01 3.24217629e-02 7.32892574e+01] [-1.47259721e-01 9.89084147e-01 -5.20806163e-03 -7.88817652e+00] [-3.28352665e-02 3.74023553e-04 9.99460707e-01 -2.92398451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14587156 meters 0.017732903512863978 Centerline is valid? [True, True] Translation: X:73.32, Y:-7.89, Z:-2.92 [[ 9.88426277e-01 1.47922249e-01 3.36526925e-02 7.33178630e+01] [-1.47823975e-01 9.88998925e-01 -5.40355868e-03 -7.89146030e+00] [-3.40817833e-02 3.66344626e-04 9.99418980e-01 -2.92289812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17587156 meters 0.017423255227262 Centerline is valid? [True, True] Translation: X:73.35, Y:-7.90, Z:-2.92 [[ 9.88354671e-01 1.48379048e-01 3.37446529e-02 7.33450562e+01] [-1.48280554e-01 9.88930501e-01 -5.41682397e-03 -7.89504033e+00] [-3.41748597e-02 3.50067464e-04 9.99415808e-01 -2.92339452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20587156 meters 0.016910216905263266 Centerline is valid? [True, True] Translation: X:73.37, Y:-7.90, Z:-2.92 [[ 9.88313181e-01 1.48690075e-01 3.35904314e-02 7.33729421e+01] [-1.48592722e-01 9.88883789e-01 -5.39020856e-03 -7.89811043e+00] [-3.40185036e-02 3.35920551e-04 9.99421147e-01 -2.92399337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23587156 meters 0.02741623522575831 Centerline is valid? [True, True] Translation: X:73.40, Y:-7.90, Z:-2.93 [[ 9.88049919e-01 1.50256353e-01 3.43567380e-02 7.34010160e+01] [-1.50155546e-01 9.88647028e-01 -5.51048682e-03 -7.89990780e+00] [-3.47946725e-02 2.85781325e-04 9.99394441e-01 -2.92689796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26587156000001 meters 0.015666690540904613 Centerline is valid? [True, True] Translation: X:73.43, Y:-7.90, Z:-2.93 [[ 9.88028349e-01 1.50546724e-01 3.36996341e-02 7.34295319e+01] [-1.50449978e-01 9.88602859e-01 -5.40298994e-03 -7.90368230e+00] [-3.41289570e-02 2.68198029e-04 9.99417401e-01 -2.92686213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29587156000001 meters 0.015514513411762387 Centerline is valid? [True, True] Translation: X:73.46, Y:-7.91, Z:-2.93 [[ 9.87920835e-01 1.51371886e-01 3.31507943e-02 7.34567052e+01] [-1.51278770e-01 9.88476857e-01 -5.31382907e-03 -7.90695632e+00] [-3.35731573e-02 2.34631081e-04 9.99436235e-01 -2.92924225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32587156000001 meters 0.014908673390564293 Centerline is valid? [True, True] Translation: X:73.49, Y:-7.91, Z:-2.93 [[ 9.87766883e-01 1.52638554e-01 3.19070022e-02 7.34855974e+01] [-1.52553053e-01 9.88282064e-01 -5.11147369e-03 -7.90913835e+00] [-3.23133260e-02 1.81433853e-04 9.99477772e-01 -2.93234600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35587156000001 meters 0.02141659232492876 Centerline is valid? [True, True] Translation: X:73.51, Y:-7.91, Z:-2.94 [[ 9.87593093e-01 1.53755897e-01 3.19218930e-02 7.35144234e+01] [-1.53670950e-01 9.88108852e-01 -5.11230683e-03 -7.91175365e+00] [-3.23283524e-02 1.43411299e-04 9.99477292e-01 -2.93584319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38587156 meters 0.014535446683441932 Centerline is valid? [True, True] Translation: X:73.54, Y:-7.91, Z:-2.94 [[ 9.87443183e-01 1.54905134e-01 3.09896593e-02 7.35419631e+01] [-1.54825683e-01 9.87929344e-01 -4.96172629e-03 -7.91353655e+00] [-3.13841907e-02 1.01427628e-04 9.99507390e-01 -2.93700308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41587156 meters 0.014385408417199003 Centerline is valid? [True, True] Translation: X:73.57, Y:-7.92, Z:-2.94 [[ 9.87285160e-01 1.55861183e-01 3.12298621e-02 7.35692835e+01] [-1.55781034e-01 9.87778967e-01 -4.99826984e-03 -7.91608542e+00] [-3.16272371e-02 6.96974539e-05 9.99499731e-01 -2.93826942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44587156 meters 0.014112207454021872 Centerline is valid? [True, True] Translation: X:73.60, Y:-7.92, Z:-2.94 [[ 9.87157417e-01 1.56577773e-01 3.16801986e-02 7.35983438e+01] [-1.56495731e-01 9.87665631e-01 -5.06825781e-03 -7.91913085e+00] [-3.20830199e-02 4.53524399e-05 9.99485206e-01 -2.93848116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47587156 meters 0.014051534898898481 Centerline is valid? [True, True] Translation: X:73.63, Y:-7.92, Z:-2.94 [[ 9.86988460e-01 1.57510821e-01 3.23128720e-02 7.36256297e+01] [-1.57426016e-01 9.87517261e-01 -5.16802702e-03 -7.92187356e+00] [-3.27235391e-02 1.38963195e-05 9.99464441e-01 -2.93933246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50587156 meters 0.014082628297646489 Centerline is valid? [True, True] Translation: X:73.65, Y:-7.92, Z:-2.94 [[ 9.86885876e-01 1.58091370e-01 3.26096190e-02 7.36532570e+01] [-1.58005382e-01 9.87424488e-01 -5.21350318e-03 -7.92469266e+00] [-3.30237462e-02 -7.36266063e-06 9.99454567e-01 -2.94069143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53587156 meters 0.013691192187929515 Centerline is valid? [True, True] Translation: X:73.68, Y:-7.93, Z:-2.94 [[ 9.86904665e-01 1.57981108e-01 3.25753134e-02 7.36810064e+01] [-1.57895297e-01 9.87442135e-01 -5.20632081e-03 -7.92925153e+00] [-3.29887373e-02 -5.34647842e-06 9.99455723e-01 -2.94001937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56587156 meters 0.013464878646409986 Centerline is valid? [True, True] Translation: X:73.71, Y:-7.93, Z:-2.94 [[ 9.87015705e-01 1.57050889e-01 3.36899906e-02 7.37094721e+01] [-1.56958658e-01 9.87590511e-01 -5.38162784e-03 -7.93497762e+00] [-3.41171044e-02 2.38154936e-05 9.99417842e-01 -2.94063417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59587156 meters 0.015871153187192455 Centerline is valid? [True, True] Translation: X:73.74, Y:-7.94, Z:-2.94 [[ 9.87156129e-01 1.56163962e-01 3.36985736e-02 7.37359875e+01] [-1.56071210e-01 9.87731145e-01 -5.38174145e-03 -7.93970965e+00] [-3.41255647e-02 5.32419046e-05 9.99417552e-01 -2.94311614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62587156000001 meters 0.014119952601348377 Centerline is valid? [True, True] Translation: X:73.76, Y:-7.95, Z:-2.94 [[ 9.87397062e-01 1.54655290e-01 3.35973811e-02 7.37627951e+01] [-1.54562328e-01 9.87968487e-01 -5.36247457e-03 -7.94616888e+00] [-3.40224888e-02 1.02002213e-04 9.99421062e-01 -2.94485083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65587156000001 meters 0.02151105318504196 Centerline is valid? [True, True] Translation: X:73.79, Y:-7.95, Z:-2.95 [[ 9.87584621e-01 1.53461685e-01 3.35578160e-02 7.37914318e+01] [-1.53368323e-01 9.88154589e-01 -5.35406875e-03 -7.95211904e+00] [-3.39819543e-02 1.40889979e-04 9.99422437e-01 -2.94649486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68587156000001 meters 0.015118910119312271 Centerline is valid? [True, True] Translation: X:73.82, Y:-7.96, Z:-2.95 [[ 9.87907495e-01 1.51501967e-01 3.29535221e-02 7.38194037e+01] [-1.51410899e-01 9.88456935e-01 -5.25611360e-03 -7.95986745e+00] [-3.33694490e-02 2.03031604e-04 9.99443064e-01 -2.94696822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71587156000001 meters 0.016769894740197393 Centerline is valid? [True, True] Translation: X:73.85, Y:-7.97, Z:-2.95 [[ 9.88302793e-01 1.49005248e-01 3.24811462e-02 7.38455384e+01] [-1.48915471e-01 9.88836365e-01 -5.17937863e-03 -7.96969348e+00] [-3.28902931e-02 2.81849188e-04 9.99458928e-01 -2.94950411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74587156000001 meters 0.017938374532439464 Centerline is valid? [True, True] Translation: X:73.87, Y:-7.98, Z:-2.95 [[ 9.88438162e-01 1.48103251e-01 3.24873370e-02 7.38724606e+01] [-1.48013005e-01 9.88971855e-01 -5.17875623e-03 -7.97702167e+00] [-3.28960525e-02 3.10331915e-04 9.99458730e-01 -2.95226286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77587156 meters 0.01846980394926737 Centerline is valid? [True, True] Translation: X:73.90, Y:-7.98, Z:-2.95 [[ 9.88550676e-01 1.47384515e-01 3.23321314e-02 7.39002695e+01] [-1.47294852e-01 9.89079216e-01 -5.15075487e-03 -7.98419400e+00] [-3.27381807e-02 3.29425695e-04 9.99463908e-01 -2.95396891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80587156 meters 0.032720119902911314 Centerline is valid? [True, True] Translation: X:73.93, Y:-7.99, Z:-2.96 [[ 9.88523561e-01 1.47558703e-01 3.23666406e-02 7.39285424e+01] [-1.47468989e-01 9.89053247e-01 -5.15480378e-03 -7.98748611e+00] [-3.27729672e-02 3.22569213e-04 9.99462770e-01 -2.95569927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83587156 meters 0.017155207606443845 Centerline is valid? [True, True] Translation: X:73.96, Y:-7.99, Z:-2.95 [[ 9.88555804e-01 1.47386654e-01 3.21651586e-02 7.39568760e+01] [-1.47298012e-01 9.89078899e-01 -5.12121240e-03 -7.99166615e+00] [-3.25686780e-02 3.24740309e-04 9.99469447e-01 -2.95461390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86587156 meters 0.017310096462065848 Centerline is valid? [True, True] Translation: X:73.98, Y:-8.00, Z:-2.96 [[ 9.88454262e-01 1.48121353e-01 3.19098108e-02 7.39842037e+01] [-1.48034541e-01 9.88969149e-01 -5.07916714e-03 -7.99720162e+00] [-3.23101515e-02 2.96770218e-04 9.99477847e-01 -2.95721314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89587156 meters 0.01720799706758593 Centerline is valid? [True, True] Translation: X:74.01, Y:-8.00, Z:-2.96 [[ 9.88361025e-01 1.48710326e-01 3.20581272e-02 7.40120232e+01] [-1.48623078e-01 9.88880762e-01 -5.10081917e-03 -8.00147601e+00] [-3.24602098e-02 2.76873322e-04 9.99472990e-01 -2.95909037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92587156 meters 0.02774743786634163 Centerline is valid? [True, True] Translation: X:74.04, Y:-8.00, Z:-2.96 [[ 9.88082409e-01 1.50513598e-01 3.22305615e-02 7.40404026e+01] [-1.50426435e-01 9.88607915e-01 -5.12618627e-03 -8.00346555e+00] [-3.26349490e-02 2.16766010e-04 9.99467315e-01 -2.96181687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95587156 meters 0.01563017344663212 Centerline is valid? [True, True] Translation: X:74.07, Y:-8.01, Z:-2.96 [[ 9.88031955e-01 1.50881271e-01 3.20577148e-02 7.40678345e+01] [-1.50795273e-01 9.88551871e-01 -5.09750141e-03 -8.00851524e+00] [-3.24598315e-02 2.02342413e-04 9.99473020e-01 -2.96165862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98587156 meters 0.0148206659755606 Centerline is valid? [True, True] Translation: X:74.10, Y:-8.01, Z:-2.96 [[ 9.87898604e-01 1.51744139e-01 3.20946064e-02 7.40964703e+01] [-1.51658479e-01 9.88419793e-01 -5.10086194e-03 -8.01206690e+00] [-3.24969701e-02 1.71715211e-04 9.99471819e-01 -2.96193920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01587156000001 meters 0.018492448962494357 Centerline is valid? [True, True] Translation: X:74.12, Y:-8.02, Z:-2.97 [[ 9.87716084e-01 1.52873748e-01 3.23505106e-02 7.41244402e+01] [-1.52787378e-01 9.88245718e-01 -5.13981210e-03 -8.01562207e+00] [-3.27559959e-02 1.33925366e-04 9.99463369e-01 -2.96553744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04587156000001 meters 0.018492448962494357 Centerline is valid? [True, True] Translation: X:74.15, Y:-8.02, Z:-2.97 [[ 9.87726547e-01 1.52806101e-01 3.23506261e-02 7.41515781e+01] [-1.52719719e-01 9.88256180e-01 -5.13908504e-03 -8.01979672e+00] [-3.27559897e-02 1.35432176e-04 9.99463369e-01 -2.96677282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07587156000001 meters 0.014105591778786371 Centerline is valid? [True, True] Translation: X:74.18, Y:-8.02, Z:-2.97 [[ 9.87496413e-01 1.54396561e-01 3.18203842e-02 7.41791094e+01] [-1.54313884e-01 9.88008955e-01 -5.05269036e-03 -8.02195975e+00] [-3.22189426e-02 7.91865341e-05 9.99480832e-01 -2.96697241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10587156000001 meters 0.018254359005768026 Centerline is valid? [True, True] Translation: X:74.21, Y:-8.02, Z:-2.97 [[ 9.87327950e-01 1.55481839e-01 3.17634662e-02 7.42058792e+01] [-1.55400087e-01 9.87838750e-01 -5.04151448e-03 -8.02493504e+00] [-3.21610467e-02 4.15827381e-05 9.99482699e-01 -2.97015531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13587156 meters 0.0143827097621213 Centerline is valid? [True, True] Translation: X:74.23, Y:-8.03, Z:-2.97 [[ 9.87228596e-01 1.56238171e-01 3.11341264e-02 7.42328473e+01] [-1.56160089e-01 9.87719410e-01 -4.93893012e-03 -8.02892885e+00] [-3.15234303e-02 1.39451096e-05 9.99503013e-01 -2.97217453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16587156 meters 0.014428784405934677 Centerline is valid? [True, True] Translation: X:74.26, Y:-8.03, Z:-2.97 [[ 9.87196073e-01 1.56458188e-01 3.10604213e-02 7.42591445e+01] [-1.56380647e-01 9.87684583e-01 -4.92522564e-03 -8.03298439e+00] [-3.14484911e-02 4.91464766e-06 9.99505374e-01 -2.97385382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19587156 meters 0.01443649199297171 Centerline is valid? [True, True] Translation: X:74.29, Y:-8.04, Z:-2.97 [[ 9.87209049e-01 1.56346214e-01 3.12114623e-02 7.42855870e+01] [-1.56267941e-01 9.87702314e-01 -4.94663020e-03 -8.03774711e+00] [-3.16010204e-02 6.00714263e-06 9.99500563e-01 -2.97487648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22587156 meters 0.014028203684567567 Centerline is valid? [True, True] Translation: X:74.31, Y:-8.05, Z:-2.97 [[ 9.87375691e-01 1.55320828e-01 3.10593744e-02 7.43134130e+01] [-1.55242901e-01 9.87864079e-01 -4.91961770e-03 -8.04533173e+00] [-3.14465594e-02 3.57635260e-05 9.99505434e-01 -2.97481921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25587156 meters 0.014204021012942556 Centerline is valid? [True, True] Translation: X:74.34, Y:-8.05, Z:-2.98 [[ 9.87433549e-01 1.55053158e-01 3.05532956e-02 7.43413435e+01] [-1.54977666e-01 9.87906127e-01 -4.83801531e-03 -8.05087086e+00] [-3.09339375e-02 4.21401813e-05 9.99521430e-01 -2.97691792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28587156 meters 0.014830870749839839 Centerline is valid? [True, True] Translation: X:74.37, Y:-8.06, Z:-2.98 [[ 9.87553460e-01 1.54361619e-01 3.01770600e-02 7.43679767e+01] [-1.54287692e-01 9.88014416e-01 -4.77717464e-03 -8.05714499e+00] [-3.05527827e-02 6.17664132e-05 9.99533153e-01 -2.98041204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31587156 meters 0.014858784594181697 Centerline is valid? [True, True] Translation: X:74.40, Y:-8.06, Z:-2.98 [[ 9.87687683e-01 1.53492629e-01 3.02167671e-02 7.43956561e+01] [-1.53418152e-01 9.88149789e-01 -4.78175962e-03 -8.06389334e+00] [-3.05926569e-02 8.70845123e-05 9.99531931e-01 -2.98187068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34587156 meters 0.014801270800683842 Centerline is valid? [True, True] Translation: X:74.42, Y:-8.07, Z:-2.98 [[ 9.87888130e-01 1.52077202e-01 3.08150342e-02 7.44241282e+01] [-1.51999136e-01 9.88368609e-01 -4.87394435e-03 -8.07169602e+00] [-3.11978283e-02 1.31053205e-04 9.99513221e-01 -2.98083632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37587156000001 meters 0.015243759686467517 Centerline is valid? [True, True] Translation: X:74.45, Y:-8.08, Z:-2.98 [[ 9.88084897e-01 1.50677297e-01 3.13781419e-02 7.44500013e+01] [-1.50595679e-01 9.88582986e-01 -4.96192918e-03 -8.07975010e+00] [-3.17675473e-02 1.77394701e-04 9.99495268e-01 -2.98139014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40587156000001 meters 0.015682757156033518 Centerline is valid? [True, True] Translation: X:74.48, Y:-8.09, Z:-2.98 [[ 9.88207479e-01 1.49898484e-01 3.12477801e-02 7.44782476e+01] [-1.49817251e-01 9.88701373e-01 -4.93824906e-03 -8.08614575e+00] [-3.16349592e-02 1.98558145e-04 9.99499470e-01 -2.98289065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43587156000001 meters 0.01631945858340076 Centerline is valid? [True, True] Translation: X:74.50, Y:-8.09, Z:-2.98 [[ 9.88323709e-01 1.49163286e-01 3.10895526e-02 7.45048709e+01] [-1.49082551e-01 9.88812554e-01 -4.91193932e-03 -8.09279936e+00] [-3.14744209e-02 2.19676289e-04 9.99504534e-01 -2.98467172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46587156000001 meters 0.016167981914456016 Centerline is valid? [True, True] Translation: X:74.53, Y:-8.10, Z:-2.98 [[ 9.88417255e-01 1.48546520e-01 3.10686624e-02 7.45327422e+01] [-1.48465651e-01 9.88905392e-01 -4.90666036e-03 -8.09868263e+00] [-3.14528351e-02 2.37198571e-04 9.99505209e-01 -2.98493332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49587156000001 meters 0.016313818474482364 Centerline is valid? [True, True] Translation: X:74.56, Y:-8.11, Z:-2.98 [[ 9.88477150e-01 1.47944993e-01 3.20188010e-02 7.45607892e+01] [-1.47858837e-01 9.88995556e-01 -5.05511512e-03 -8.10734214e+00] [-3.24143309e-02 2.62603116e-04 9.99474483e-01 -2.98466660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52587156 meters 0.016616109296267823 Centerline is valid? [True, True] Translation: X:74.59, Y:-8.11, Z:-2.99 [[ 9.88481656e-01 1.47827899e-01 3.24180298e-02 7.45880278e+01] [-1.47739565e-01 9.89013064e-01 -5.11670443e-03 -8.11377819e+00] [-3.28182467e-02 2.68342840e-04 9.99461300e-01 -2.98592343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55587156 meters 0.01631260917183513 Centerline is valid? [True, True] Translation: X:74.62, Y:-8.12, Z:-2.99 [[ 9.88482417e-01 1.47756326e-01 3.27197014e-02 7.46161558e+01] [-1.47666371e-01 9.89023758e-01 -5.16220120e-03 -8.11852120e+00] [-3.31233099e-02 2.71145549e-04 9.99451236e-01 -2.98626724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58587156 meters 0.015721756104573527 Centerline is valid? [True, True] Translation: X:74.64, Y:-8.12, Z:-2.99 [[ 9.88488775e-01 1.47623826e-01 3.31232131e-02 7.46441681e+01] [-1.47531616e-01 9.89043543e-01 -5.22428633e-03 -8.12442005e+00] [-3.35315291e-02 2.77427234e-04 9.99437622e-01 -2.98504490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61587156 meters 0.01648481347877489 Centerline is valid? [True, True] Translation: X:74.67, Y:-8.13, Z:-2.99 [[ 9.88467497e-01 1.47713507e-01 3.33575620e-02 7.46707398e+01] [-1.47620090e-01 9.89030153e-01 -5.25972047e-03 -8.13127079e+00] [-3.37685664e-02 2.74816415e-04 9.99429642e-01 -2.98768565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64587156 meters 0.016038840897127104 Centerline is valid? [True, True] Translation: X:74.70, Y:-8.14, Z:-2.99 [[ 9.88496980e-01 1.47653112e-01 3.27456833e-02 7.46985212e+01] [-1.47563129e-01 9.89039173e-01 -5.16113263e-03 -8.13716863e+00] [-3.31488208e-02 2.69708528e-04 9.99450390e-01 -2.98885564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67587156 meters 0.015898212298844937 Centerline is valid? [True, True] Translation: X:74.73, Y:-8.14, Z:-2.99 [[ 9.88475875e-01 1.47852839e-01 3.24804969e-02 7.47264276e+01] [-1.47764457e-01 9.89009338e-01 -5.11806463e-03 -8.14208279e+00] [-3.28802351e-02 2.59620424e-04 9.99459265e-01 -2.99081890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70587156 meters 0.01590451956743321 Centerline is valid? [True, True] Translation: X:74.75, Y:-8.15, Z:-2.99 [[ 9.88455499e-01 1.48047966e-01 3.22106620e-02 7.47538281e+01] [-1.47961225e-01 9.88980150e-01 -5.07324385e-03 -8.14700479e+00] [-3.26067888e-02 2.48746768e-04 9.99468226e-01 -2.99208887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73587156 meters 0.015504929796954895 Centerline is valid? [True, True] Translation: X:74.78, Y:-8.15, Z:-2.99 [[ 9.88416909e-01 1.48324070e-01 3.21245121e-02 7.47811868e+01] [-1.48238014e-01 9.88938782e-01 -5.05737375e-03 -8.15237083e+00] [-3.25193061e-02 2.36719856e-04 9.99471079e-01 -2.99314581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76587156000001 meters 0.015280499094207213 Centerline is valid? [True, True] Translation: X:74.81, Y:-8.16, Z:-2.99 [[ 9.88390476e-01 1.48456615e-01 3.23249204e-02 7.48095446e+01] [-1.48369641e-01 9.88918895e-01 -5.08624061e-03 -8.15749572e+00] [-3.27218106e-02 2.31154952e-04 9.99464471e-01 -2.99466609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79587156000001 meters 0.015079305130151831 Centerline is valid? [True, True] Translation: X:74.84, Y:-8.16, Z:-3.00 [[ 9.88382546e-01 1.48532001e-01 3.22209295e-02 7.48379557e+01] [-1.48445676e-01 9.88907576e-01 -5.06832023e-03 -8.16250494e+00] [-3.26163290e-02 2.26381580e-04 9.99467920e-01 -2.99534570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82587156000001 meters 0.01588860436065233 Centerline is valid? [True, True] Translation: X:74.86, Y:-8.17, Z:-3.00 [[ 9.88493353e-01 1.47854234e-01 3.19377001e-02 7.48644126e+01] [-1.47769112e-01 9.89009133e-01 -5.02234461e-03 -8.17003321e+00] [-3.23292520e-02 2.45148671e-04 9.99477243e-01 -2.99882479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85587156000001 meters 0.016667189369558296 Centerline is valid? [True, True] Translation: X:74.89, Y:-8.18, Z:-3.00 [[ 9.88552782e-01 1.47499292e-01 3.17388773e-02 7.48911252e+01] [-1.47415108e-01 9.89062129e-01 -4.98909201e-03 -8.17615459e+00] [-3.21276091e-02 2.53190754e-04 9.99483743e-01 -3.00206503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88587156 meters 0.016846646265181314 Centerline is valid? [True, True] Translation: X:74.92, Y:-8.18, Z:-3.00 [[ 9.88632534e-01 1.47069974e-01 3.12431576e-02 7.49189389e+01] [-1.46988250e-01 9.89126056e-01 -4.90916191e-03 -8.18182903e+00] [-3.16254115e-02 2.60980146e-04 9.99499757e-01 -3.00361456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91587156 meters 0.016247897037265424 Centerline is valid? [True, True] Translation: X:74.95, Y:-8.19, Z:-3.00 [[ 9.88692695e-01 1.46620048e-01 3.14533958e-02 7.49477272e+01] [-1.46537038e-01 9.89192845e-01 -4.94073184e-03 -8.18697008e+00] [-3.18378844e-02 2.75778016e-04 9.99493008e-01 -3.00325327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94587156 meters 0.016996494297093896 Centerline is valid? [True, True] Translation: X:74.97, Y:-8.20, Z:-3.00 [[ 9.88862667e-01 1.45368952e-01 3.19138561e-02 7.49744876e+01] [-1.45282887e-01 9.89377464e-01 -5.01168643e-03 -8.19647384e+00] [-3.23033936e-02 3.19332462e-04 9.99478058e-01 -3.00400404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97587156 meters 0.01754631069609937 Centerline is valid? [True, True] Translation: X:75.00, Y:-8.20, Z:-3.00 [[ 9.88991908e-01 1.44459812e-01 3.20369957e-02 7.50028447e+01] [-1.44372682e-01 9.89510607e-01 -5.02861753e-03 -8.20359242e+00] [-3.24273803e-02 3.47995047e-04 9.99474034e-01 -3.00488283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00587156 meters 0.019244626063985693 Centerline is valid? [True, True] Translation: X:75.03, Y:-8.21, Z:-3.01 [[ 9.89293099e-01 1.42172423e-01 3.29570322e-02 7.50295591e+01] [-1.42078998e-01 9.89841813e-01 -5.17149520e-03 -8.21448523e+00] [-3.33574925e-02 4.33622419e-04 9.99443390e-01 -3.00529710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03587156 meters 0.0199542464841169 Centerline is valid? [True, True] Translation: X:75.06, Y:-8.22, Z:-3.01 [[ 9.89480126e-01 1.40697833e-01 3.36630402e-02 7.50569454e+01] [-1.40599583e-01 9.90052462e-01 -5.28005566e-03 -8.22303699e+00] [-3.40710682e-02 4.91500736e-04 9.99419292e-01 -3.00568681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06587156 meters 0.021573512439060184 Centerline is valid? [True, True] Translation: X:75.08, Y:-8.23, Z:-3.01 [[ 9.89695501e-01 1.39191501e-01 3.35937574e-02 7.50842489e+01] [-1.39092851e-01 9.90265335e-01 -5.26734171e-03 -8.23274747e+00] [-3.39999026e-02 5.40412908e-04 9.99421690e-01 -3.00707411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09587156 meters 0.022529851250111796 Centerline is valid? [True, True] Translation: X:75.12, Y:-8.24, Z:-3.01 [[ 9.90117891e-01 1.36587196e-01 3.17883717e-02 7.51159802e+01] [-1.36261236e-01 9.90597643e-01 -1.22141178e-02 -8.23948202e+00] [-3.31577782e-02 7.76189376e-03 9.99419989e-01 -3.00637910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12587156000001 meters 0.02678338446221302 Centerline is valid? [True, True] Translation: X:75.14, Y:-8.26, Z:-3.01 [[ 9.90100816e-01 1.35966197e-01 3.48363096e-02 7.51403260e+01] [-1.36102316e-01 9.90693566e-01 1.55519873e-03 -8.26139672e+00] [-3.43006533e-02 -6.28110593e-03 9.99391822e-01 -3.01225544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15587156000001 meters 0.030464271747996863 Centerline is valid? [True, True] Translation: X:75.17, Y:-8.26, Z:-3.01 [[ 9.90183019e-01 1.35684550e-01 3.35751639e-02 7.51706286e+01] [-1.35584044e-01 9.90751870e-01 -5.26293339e-03 -8.26304787e+00] [-3.39787552e-02 6.59010769e-04 9.99422338e-01 -3.01384455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18587156000001 meters 0.02436577370066303 Centerline is valid? [True, True] Translation: X:75.20, Y:-8.27, Z:-3.01 [[ 9.90461233e-01 1.34039487e-01 3.19368492e-02 7.52045299e+01] [-1.33720744e-01 9.90947300e-01 -1.19252560e-02 -8.26742160e+00] [-3.32461897e-02 7.54088455e-03 9.99418744e-01 -3.00989401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21587156000001 meters 0.026409874250324074 Centerline is valid? [True, True] Translation: X:75.23, Y:-8.28, Z:-3.01 [[ 9.90378049e-01 1.33912808e-01 3.49095946e-02 7.52290708e+01] [-1.34036182e-01 9.90975703e-01 1.20750158e-03 -8.28389938e+00] [-3.44328601e-02 -5.87503183e-03 9.99389745e-01 -3.01344112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24587156000001 meters 0.02622670076003351 Centerline is valid? [True, True] Translation: X:75.26, Y:-8.29, Z:-3.01 [[ 9.90339185e-01 1.34408070e-01 3.40994077e-02 7.52589931e+01] [-1.34303656e-01 9.90925810e-01 -5.34472639e-03 -8.28904923e+00] [-3.45083576e-02 7.13416853e-04 9.99404155e-01 -3.01447609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27587156 meters 0.025029495763520673 Centerline is valid? [True, True] Translation: X:75.29, Y:-8.30, Z:-3.02 [[ 9.90141290e-01 1.35982050e-01 3.36022043e-02 7.52888578e+01] [-1.35881474e-01 9.90711087e-01 -5.26949809e-03 -8.29812903e+00] [-3.40066335e-02 6.51630596e-04 9.99421395e-01 -3.01640579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30587156 meters 0.023477822521303728 Centerline is valid? [True, True] Translation: X:75.32, Y:-8.30, Z:-3.02 [[ 9.90032459e-01 1.36943180e-01 3.28982547e-02 7.53224084e+01] [-1.36720138e-01 9.90569310e-01 -8.94687279e-03 -8.30162501e+00] [-3.38132147e-02 4.35984054e-03 9.99418660e-01 -3.01722854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33587156 meters 0.024569598843192274 Centerline is valid? [True, True] Translation: X:75.35, Y:-8.31, Z:-3.02 [[ 9.89693329e-01 1.39093220e-01 3.40615770e-02 7.53482621e+01] [-1.39113180e-01 9.90274862e-01 -1.79479238e-03 -8.31133227e+00] [-3.39799669e-02 -2.96212024e-03 9.99418125e-01 -3.01988937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36587156 meters 0.021230619769483355 Centerline is valid? [True, True] Translation: X:75.38, Y:-8.32, Z:-3.02 [[ 9.89475777e-01 1.40753994e-01 3.35559344e-02 7.53771251e+01] [-1.40656267e-01 9.90044479e-01 -5.26717877e-03 -8.31553300e+00] [-3.39632441e-02 4.91893324e-04 9.99422962e-01 -3.02070504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39587156 meters 0.017958227527943856 Centerline is valid? [True, True] Translation: X:75.41, Y:-8.32, Z:-3.02 [[ 9.88900794e-01 1.44694900e-01 3.37432189e-02 7.54074141e+01] [-1.44598346e-01 9.89476254e-01 -5.29732310e-03 -8.31847133e+00] [-3.41546095e-02 3.59313389e-04 9.99416497e-01 -3.02115933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42587156 meters 0.01611655384116523 Centerline is valid? [True, True] Translation: X:75.44, Y:-8.32, Z:-3.02 [[ 9.88577950e-01 1.46839492e-01 3.39381818e-02 7.54367962e+01] [-1.46743072e-01 9.89160291e-01 -5.32818357e-03 -8.32142248e+00] [-3.43526895e-02 2.87131726e-04 9.99409731e-01 -3.02208278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45587156 meters 0.014249390096059179 Centerline is valid? [True, True] Translation: X:75.47, Y:-8.32, Z:-3.02 [[ 9.87967785e-01 1.50886377e-01 3.39552290e-02 7.54650414e+01] [-1.50792272e-01 9.88551101e-01 -5.33016051e-03 -8.32493996e+00] [-3.43707276e-02 1.45840731e-04 9.99409141e-01 -3.02339130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48587156 meters 0.01382020897029026 Centerline is valid? [True, True] Translation: X:75.49, Y:-8.33, Z:-3.03 [[ 9.87717935e-01 1.52557677e-01 3.37555268e-02 7.54932971e+01] [-1.52465693e-01 9.88294565e-01 -5.29760036e-03 -8.32855153e+00] [-3.41685933e-02 8.59751113e-05 9.99416079e-01 -3.02561180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51587156000001 meters 0.013180380787871067 Centerline is valid? [True, True] Translation: X:75.53, Y:-8.33, Z:-3.03 [[ 9.87470412e-01 1.54160468e-01 3.37154960e-02 7.55257572e+01] [-1.54086320e-01 9.88045720e-01 -4.80220366e-03 -8.33317196e+00] [-3.40527615e-02 -4.53062674e-04 9.99419934e-01 -3.02541993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54587156000001 meters 0.02716233400796689 Centerline is valid? [True, True] Translation: X:75.55, Y:-8.34, Z:-3.03 [[ 9.87002862e-01 1.57434919e-01 3.22427764e-02 7.55519079e+01] [-1.57329455e-01 9.87529151e-01 -5.79817465e-03 -8.33554122e+00] [-3.27535168e-02 6.50076532e-04 9.99463248e-01 -3.03311974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57587156000001 meters 0.014590036839630364 Centerline is valid? [True, True] Translation: X:75.58, Y:-8.34, Z:-3.03 [[ 9.86829806e-01 1.58471562e-01 3.24607181e-02 7.55801800e+01] [-1.58389759e-01 9.87363535e-01 -5.09253052e-03 -8.33966454e+00] [-3.28575506e-02 -1.15984403e-04 9.99460038e-01 -3.03255194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60587156000001 meters 0.014845807889847573 Centerline is valid? [True, True] Translation: X:75.61, Y:-8.34, Z:-3.03 [[ 9.86659177e-01 1.59466375e-01 3.27741272e-02 7.56091778e+01] [-1.59383584e-01 9.87203349e-01 -5.14011639e-03 -8.34311691e+00] [-3.31744039e-02 -1.52114864e-04 9.99449566e-01 -3.03290014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63587156 meters 0.015848367830033305 Centerline is valid? [True, True] Translation: X:75.64, Y:-8.35, Z:-3.03 [[ 9.86359177e-01 1.61135143e-01 3.36309446e-02 7.56368193e+01] [-1.61048987e-01 9.86932328e-01 -5.27299277e-03 -8.34588472e+00] [-3.40411309e-02 -2.15164767e-04 9.99420410e-01 -3.03351176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66587156 meters 0.015847945376226656 Centerline is valid? [True, True] Translation: X:75.67, Y:-8.35, Z:-3.03 [[ 9.86273151e-01 1.61637145e-01 3.37447064e-02 7.56654493e+01] [-1.61550780e-01 9.86850231e-01 -5.28845622e-03 -8.35117066e+00] [-3.41557822e-02 -2.35621247e-04 9.99416493e-01 -3.03347459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69587156 meters 0.01574541920307394 Centerline is valid? [True, True] Translation: X:75.69, Y:-8.36, Z:-3.03 [[ 9.86240748e-01 1.61856613e-01 3.36396068e-02 7.56938304e+01] [-1.61770967e-01 9.86814257e-01 -5.27038124e-03 -8.35677704e+00] [-3.40490897e-02 -2.44047002e-04 9.99420132e-01 -3.03437734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72587156 meters 0.016114569557609388 Centerline is valid? [True, True] Translation: X:75.72, Y:-8.36, Z:-3.04 [[ 9.86215108e-01 1.62046810e-01 3.34752487e-02 7.57213849e+01] [-1.61962159e-01 9.86783040e-01 -5.24312478e-03 -8.36223586e+00] [-3.38824394e-02 -2.50874700e-04 9.99425794e-01 -3.03602352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75587156 meters 0.02136714035009764 Centerline is valid? [True, True] Translation: X:75.75, Y:-8.37, Z:-3.04 [[ 9.86241865e-01 1.61895921e-01 3.34169623e-02 7.57494175e+01] [-1.61811553e-01 9.86807808e-01 -5.23182518e-03 -8.36708266e+00] [-3.38231305e-02 -2.47405536e-04 9.99427804e-01 -3.03902251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78587156 meters 0.01658354372689268 Centerline is valid? [True, True] Translation: X:75.78, Y:-8.37, Z:-3.04 [[ 9.86279754e-01 1.61761882e-01 3.29444910e-02 7.57771825e+01] [-1.61679856e-01 9.86829791e-01 -5.15640736e-03 -8.37230287e+00] [-3.33447153e-02 -2.40800382e-04 9.99443881e-01 -3.04032001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81587156 meters 0.014878597443588966 Centerline is valid? [True, True] Translation: X:75.81, Y:-8.38, Z:-3.04 [[ 9.86372575e-01 1.60475306e-01 3.62880091e-02 7.58080728e+01] [-1.60653445e-01 9.87008792e-01 2.02858636e-03 -8.38496547e+00] [-3.54910460e-02 -7.83073561e-03 9.99339314e-01 -3.03989967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84587156 meters 0.014646477898748076 Centerline is valid? [True, True] Translation: X:75.84, Y:-8.39, Z:-3.04 [[ 9.86449771e-01 1.60051938e-01 3.60586440e-02 7.58380264e+01] [-1.59961953e-01 9.87108489e-01 -5.38553411e-03 -8.38689670e+00] [-3.64557588e-02 -4.55452223e-04 9.99335164e-01 -3.04052895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87587156000001 meters 0.015013654267166525 Centerline is valid? [True, True] Translation: X:75.87, Y:-8.39, Z:-3.04 [[ 9.86537503e-01 1.60229527e-01 3.27147361e-02 7.58656738e+01] [-1.59870530e-01 9.87048035e-01 -1.33262855e-02 -8.38795417e+00] [-3.44262804e-02 7.91675818e-03 9.99375883e-01 -3.04184925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90587156000001 meters 0.013927062697698365 Centerline is valid? [True, True] Translation: X:75.89, Y:-8.40, Z:-3.04 [[ 9.86876797e-01 1.57799280e-01 3.42574760e-02 7.58938453e+01] [-1.57708420e-01 9.87471201e-01 -5.35545903e-03 -8.40338700e+00] [-3.46733586e-02 -1.17514157e-04 9.99398691e-01 -3.04189641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93587156000001 meters 0.013927062697698365 Centerline is valid? [True, True] Translation: X:75.92, Y:-8.41, Z:-3.04 [[ 9.86880624e-01 1.57775333e-01 3.42575216e-02 7.59226378e+01] [-1.57684468e-01 9.87475028e-01 -5.35516780e-03 -8.40784325e+00] [-3.46733605e-02 -1.16967730e-04 9.99398691e-01 -3.04321051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96587156000001 meters 0.013849982857370761 Centerline is valid? [True, True] Translation: X:75.95, Y:-8.41, Z:-3.04 [[ 9.87004756e-01 1.56954462e-01 3.44515365e-02 7.59507098e+01] [-1.56862091e-01 9.87605837e-01 -5.38475653e-03 -8.41402739e+00] [-3.48697001e-02 -8.93597303e-05 9.99391863e-01 -3.04446650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99587156000001 meters 0.013834443396022456 Centerline is valid? [True, True] Translation: X:75.98, Y:-8.42, Z:-3.05 [[ 9.87092864e-01 1.56351311e-01 3.46690827e-02 7.59792702e+01] [-1.56257447e-01 9.87701505e-01 -5.41733345e-03 -8.41981140e+00] [-3.50897123e-02 -6.98911727e-05 9.99384164e-01 -3.04610019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02587156 meters 0.013488775348264785 Centerline is valid? [True, True] Translation: X:76.01, Y:-8.43, Z:-3.05 [[ 9.87156157e-01 1.55984274e-01 3.45199505e-02 7.60094856e+01] [-1.55891029e-01 9.87759537e-01 -5.39296395e-03 -8.42749209e+00] [-3.49386279e-02 -5.76530469e-05 9.99389458e-01 -3.04557324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05587156 meters 0.027688933596851414 Centerline is valid? [True, True] Translation: X:76.04, Y:-8.43, Z:-3.05 [[ 9.87156327e-01 1.55930276e-01 3.47582481e-02 7.60396401e+01] [-1.55835706e-01 9.87768063e-01 -5.43019258e-03 -8.43337572e+00] [-3.51798188e-02 -5.61271569e-05 9.99380997e-01 -3.04888623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08587156 meters 0.01336849711162638 Centerline is valid? [True, True] Translation: X:76.07, Y:-8.44, Z:-3.05 [[ 9.87130207e-01 1.55950075e-01 3.54052148e-02 7.60680985e+01] [-1.55851959e-01 9.87764937e-01 -5.53138081e-03 -8.44096838e+00] [-3.58346491e-02 -5.77790064e-05 9.99357731e-01 -3.04681513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11587156 meters 0.013500461895238113 Centerline is valid? [True, True] Translation: X:76.10, Y:-8.45, Z:-3.05 [[ 9.87132203e-01 1.55952353e-01 3.53394519e-02 7.60981561e+01] [-1.55854627e-01 9.87764577e-01 -5.52043489e-03 -8.44689191e+00] [-3.57679836e-02 -5.84180487e-05 9.99360119e-01 -3.04900230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14587156 meters 0.01351977731718705 Centerline is valid? [True, True] Translation: X:76.13, Y:-8.45, Z:-3.05 [[ 9.87147059e-01 1.55912918e-01 3.50976548e-02 7.61282568e+01] [-1.55816480e-01 9.87770803e-01 -5.48321472e-03 -8.45297793e+00] [-3.55233427e-02 -5.60537613e-05 9.99368845e-01 -3.05057324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17587156 meters 0.013909988878916878 Centerline is valid? [True, True] Translation: X:76.16, Y:-8.45, Z:-3.05 [[ 9.86979332e-01 1.57918329e-01 3.05548519e-02 7.61591728e+01] [-1.57331870e-01 9.87327871e-01 -2.07450894e-02 -8.45181355e+00] [-3.34436867e-02 1.56677225e-02 9.99317788e-01 -3.05088292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20587156 meters 0.01367015884776884 Centerline is valid? [True, True] Translation: X:76.19, Y:-8.48, Z:-3.06 [[ 9.87226393e-01 1.54930847e-01 3.71548275e-02 7.61861945e+01] [-1.55407521e-01 9.87796886e-01 1.02866363e-02 -8.47661442e+00] [-3.51077056e-02 -1.59293785e-02 9.99256576e-01 -3.05509000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23587156 meters 0.013617028429341121 Centerline is valid? [True, True] Translation: X:76.22, Y:-8.47, Z:-3.06 [[ 9.87171623e-01 1.55943686e-01 3.42600935e-02 7.62185478e+01] [-1.55851704e-01 9.87765946e-01 -5.35557245e-03 -8.47402956e+00] [-3.46761213e-02 -5.26248002e-05 9.99398601e-01 -3.05577090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26587156000001 meters 0.013353945749243491 Centerline is valid? [True, True] Translation: X:76.25, Y:-8.49, Z:-3.06 [[ 9.87022277e-01 1.55893928e-01 3.85241242e-02 7.62493253e+01] [-1.56183771e-01 9.87717238e-01 4.61375044e-03 -8.48654524e+00] [-3.73316858e-02 -1.05707174e-02 9.99247019e-01 -3.05794936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29587156000001 meters 0.026408087360446756 Centerline is valid? [True, True] Translation: X:76.28, Y:-8.48, Z:-3.06 [[ 9.86855290e-01 1.58478839e-01 3.16400803e-02 7.62798782e+01] [-1.58046023e-01 9.87306015e-01 -1.57571302e-02 -8.47837490e+00] [-3.37356132e-02 1.05494184e-02 9.99375114e-01 -3.06381109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32587156000001 meters 0.015231489004337006 Centerline is valid? [True, True] Translation: X:76.31, Y:-8.49, Z:-3.06 [[ 9.86645968e-01 1.59536972e-01 3.28281635e-02 7.63090773e+01] [-1.59454326e-01 9.87191940e-01 -5.13719208e-03 -8.48908539e+00] [-3.32272705e-02 -1.66002833e-04 9.99447808e-01 -3.06308050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35587156000001 meters 0.01602361447435346 Centerline is valid? [True, True] Translation: X:76.34, Y:-8.49, Z:-3.06 [[ 9.86398414e-01 1.61047427e-01 3.28921708e-02 7.63387458e+01] [-1.60965288e-01 9.86946645e-01 -5.14749041e-03 -8.49229405e+00] [-3.32918077e-02 -2.17021380e-04 9.99445651e-01 -3.06459793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38587156 meters 0.01779416265001457 Centerline is valid? [True, True] Translation: X:76.37, Y:-8.49, Z:-3.06 [[ 9.85852168e-01 1.64309511e-01 3.31343773e-02 7.63684614e+01] [-1.64228026e-01 9.86408777e-01 -5.18458722e-03 -8.49293842e+00] [-3.35359176e-02 -3.30356819e-04 9.99437458e-01 -3.06492638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41587156 meters 0.019273668388414576 Centerline is valid? [True, True] Translation: X:76.40, Y:-8.50, Z:-3.07 [[ 9.85571235e-01 1.65951728e-01 3.33071369e-02 7.63975612e+01] [-1.65870354e-01 9.86133801e-01 -5.21083297e-03 -8.49535616e+00] [-3.37100402e-02 -3.89019513e-04 9.99431579e-01 -3.06614651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44587156 meters 0.02210648169697872 Centerline is valid? [True, True] Translation: X:76.43, Y:-8.50, Z:-3.07 [[ 9.85011496e-01 1.69212661e-01 3.34578435e-02 7.64271939e+01] [-1.69132462e-01 9.85579434e-01 -5.23343210e-03 -8.49575063e+00] [-3.38609255e-02 -5.03816676e-04 9.99426427e-01 -3.06693373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47587156 meters 0.023981302391045515 Centerline is valid? [True, True] Translation: X:76.46, Y:-8.50, Z:-3.07 [[ 9.84702412e-01 1.70968568e-01 3.36289908e-02 7.64565197e+01] [-1.70888588e-01 9.85276320e-01 -5.25963865e-03 -8.49701684e+00] [-3.40330811e-02 -5.67631886e-04 9.99420546e-01 -3.06847599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50587156 meters 0.02619935288668245 Centerline is valid? [True, True] Translation: X:76.48, Y:-8.50, Z:-3.07 [[ 9.84376904e-01 1.72868508e-01 3.34453211e-02 7.64846371e+01] [-1.72790546e-01 9.84944709e-01 -5.22942860e-03 -8.49749912e+00] [-3.38457956e-02 -6.31306537e-04 9.99426868e-01 -3.06986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53587156 meters 0.030977440941812245 Centerline is valid? [True, True] Translation: X:76.51, Y:-8.49, Z:-3.07 [[ 9.83668514e-01 1.76830841e-01 3.35724267e-02 7.65135966e+01] [-1.76754667e-01 9.84240954e-01 -5.24701415e-03 -8.49304533e+00] [-3.39711912e-02 -7.72760509e-04 9.99422514e-01 -3.07144912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56587156 meters 0.03198051938455593 Centerline is valid? [True, True] Translation: X:76.54, Y:-8.49, Z:-3.07 [[ 9.83415435e-01 1.78266258e-01 3.33949510e-02 7.65422023e+01] [-1.78191754e-01 9.83981946e-01 -5.21811199e-03 -8.49439083e+00] [-3.37902421e-02 -8.19132995e-04 9.99428611e-01 -3.07210597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59587156 meters 0.03619989481229262 Centerline is valid? [True, True] Translation: X:76.57, Y:-8.49, Z:-3.08 [[ 9.83228805e-01 1.79299750e-01 3.33574155e-02 7.65705742e+01] [-1.79226057e-01 9.83794119e-01 -5.21077710e-03 -8.49124341e+00] [-3.37511202e-02 -8.55131905e-04 9.99429903e-01 -3.07557507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62587156000001 meters 0.03707840219386904 Centerline is valid? [True, True] Translation: X:76.60, Y:-8.50, Z:-3.08 [[ 9.83145740e-01 1.79805359e-01 3.30830178e-02 7.65986832e+01] [-1.79733228e-01 9.83701825e-01 -5.16584666e-03 -8.50058214e+00] [-3.34726719e-02 -8.67337433e-04 9.99439257e-01 -3.07698202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65587156000001 meters 0.03333522136958169 Centerline is valid? [True, True] Translation: X:76.63, Y:-8.50, Z:-3.08 [[ 9.83281550e-01 1.79072658e-01 3.30208377e-02 7.66266132e+01] [-1.79000437e-01 9.83835491e-01 -5.15462220e-03 -8.50011809e+00] [-3.34101240e-02 -8.42299459e-04 9.99441371e-01 -3.07791165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68587156000001 meters 0.0309575576252803 Centerline is valid? [True, True] Translation: X:76.65, Y:-8.51, Z:-3.08 [[ 9.83475387e-01 1.77982940e-01 3.31396424e-02 7.66548570e+01] [-1.77909654e-01 9.84033239e-01 -5.17095348e-03 -8.50588528e+00] [-3.35308512e-02 -8.10356839e-04 9.99437354e-01 -3.07850309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71587156000001 meters 0.029017526552230513 Centerline is valid? [True, True] Translation: X:76.68, Y:-8.51, Z:-3.08 [[ 9.83175400e-01 1.79340492e-01 3.46860270e-02 7.66802892e+01] [-1.79277207e-01 9.83786138e-01 -4.95159232e-03 -8.51304193e+00] [-3.50116535e-02 -1.35013027e-03 9.99385992e-01 -3.07894130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74587156000001 meters 0.029129756257450515 Centerline is valid? [True, True] Translation: X:76.71, Y:-8.51, Z:-3.08 [[ 9.83903924e-01 1.75608244e-01 3.30879528e-02 7.67120508e+01] [-1.75523749e-01 9.84460034e-01 -5.46399721e-03 -8.51173965e+00] [-3.35332901e-02 -4.31673222e-04 9.99437508e-01 -3.08147470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77587156 meters 0.0370811622248524 Centerline is valid? [True, True] Translation: X:76.74, Y:-8.51, Z:-3.09 [[ 9.84010193e-01 1.75003878e-01 3.31297897e-02 7.67396819e+01] [-1.74928942e-01 9.84567489e-01 -5.16958643e-03 -8.51439971e+00] [-3.35232115e-02 -7.08433301e-04 9.99437688e-01 -3.08549282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80587156 meters 0.02862243298860978 Centerline is valid? [True, True] Translation: X:76.77, Y:-8.52, Z:-3.08 [[ 9.84071303e-01 1.74638772e-01 3.32410893e-02 7.67680651e+01] [-1.74563195e-01 9.84632322e-01 -5.18481872e-03 -8.51732447e+00] [-3.36357213e-02 -7.00439433e-04 9.99433914e-01 -3.08424768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83587156 meters 0.028590174441618828 Centerline is valid? [True, True] Translation: X:76.80, Y:-8.52, Z:-3.09 [[ 9.84172035e-01 1.74041664e-01 3.33901803e-02 7.67964755e+01] [-1.73965113e-01 9.84738052e-01 -5.20659141e-03 -8.51734289e+00] [-3.37867449e-02 -6.84544833e-04 9.99428831e-01 -3.08557889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86587156 meters 0.026690283778709193 Centerline is valid? [True, True] Translation: X:76.82, Y:-8.52, Z:-3.09 [[ 9.84249226e-01 1.73606616e-01 3.33797041e-02 7.68247364e+01] [-1.73529935e-01 9.84814852e-01 -5.20284786e-03 -8.52123512e+00] [-3.37760772e-02 -6.71478897e-04 9.99429200e-01 -3.08565859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89587156 meters 0.02668911070259885 Centerline is valid? [True, True] Translation: X:76.85, Y:-8.52, Z:-3.09 [[ 9.84490203e-01 1.72239795e-01 3.33540440e-02 7.68532239e+01] [-1.72162499e-01 9.85054852e-01 -5.19734346e-03 -8.52004244e+00] [-3.37507522e-02 -6.25581830e-04 9.99430085e-01 -3.08849747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92587156 meters 0.024923588365276132 Centerline is valid? [True, True] Translation: X:76.88, Y:-8.52, Z:-3.09 [[ 9.84714528e-01 1.70957136e-01 3.33309988e-02 7.68816553e+01] [-1.70879285e-01 9.85278294e-01 -5.19158708e-03 -8.52485243e+00] [-3.37278485e-02 -5.83346035e-04 9.99430884e-01 -3.08965848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95587156 meters 0.027688490880053155 Centerline is valid? [True, True] Translation: X:76.91, Y:-8.53, Z:-3.09 [[ 9.85012977e-01 1.69301050e-01 3.29634571e-02 7.69092012e+01] [-1.69224025e-01 9.85564245e-01 -5.13300015e-03 -8.52940712e+00] [-3.33566271e-02 -5.22137127e-04 9.99443376e-01 -3.09374064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98587156 meters 0.026425002837317583 Centerline is valid? [True, True] Translation: X:76.94, Y:-8.54, Z:-3.09 [[ 9.85374444e-01 1.67233613e-01 3.27127319e-02 7.69368109e+01] [-1.67156697e-01 9.85917195e-01 -5.09152363e-03 -8.53652536e+00] [-3.31035188e-02 -4.51094943e-04 9.99451827e-01 -3.09474241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01587156000001 meters 0.017162590994837083 Centerline is valid? [True, True] Translation: X:76.97, Y:-8.54, Z:-3.09 [[ 9.86159034e-01 1.62590992e-01 3.24735186e-02 7.69655694e+01] [-1.62512735e-01 9.86693510e-01 -5.05255515e-03 -8.54348062e+00] [-3.28629100e-02 -2.94737431e-04 9.99459825e-01 -3.09399479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04587156000001 meters 0.01624523187124615 Centerline is valid? [True, True] Translation: X:76.99, Y:-8.55, Z:-3.10 [[ 9.86610617e-01 1.59818783e-01 3.25184034e-02 7.69924038e+01] [-1.59738835e-01 9.87146349e-01 -5.05861037e-03 -8.54864022e+00] [-3.29088842e-02 -2.03573175e-04 9.99458335e-01 -3.09700826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07587156000001 meters 0.020248464913981967 Centerline is valid? [True, True] Translation: X:77.02, Y:-8.56, Z:-3.10 [[ 9.87086147e-01 1.56882026e-01 3.23877811e-02 7.70203804e+01] [-1.56801209e-01 9.87617344e-01 -5.03611980e-03 -8.55639240e+00] [-3.27768110e-02 -1.07359131e-04 9.99462690e-01 -3.09895387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10587156000001 meters 0.014259460601692081 Centerline is valid? [True, True] Translation: X:77.05, Y:-8.57, Z:-3.10 [[ 9.87899497e-01 1.51652520e-01 3.24976470e-02 7.70480995e+01] [-1.51568379e-01 9.88433867e-01 -5.05147782e-03 -8.56620203e+00] [-3.28878442e-02 6.47367110e-05 9.99459046e-01 -3.09802973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13587156 meters 0.014711115202009382 Centerline is valid? [True, True] Translation: X:77.08, Y:-8.57, Z:-3.10 [[ 9.88214438e-01 1.49477206e-01 3.29968016e-02 7.70768014e+01] [-1.49389292e-01 9.88765162e-01 -5.12770971e-03 -8.57289361e+00] [-3.33925636e-02 1.37907936e-04 9.99442303e-01 -3.09791537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16587156 meters 0.015485267598128846 Centerline is valid? [True, True] Translation: X:77.11, Y:-8.58, Z:-3.10 [[ 9.88480059e-01 1.47652276e-01 3.32562599e-02 7.71061407e+01] [-1.47561969e-01 9.89039314e-01 -5.16722817e-03 -8.57924728e+00] [-3.36547015e-02 2.00342832e-04 9.99433500e-01 -3.09911025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19587156 meters 0.03146217434507062 Centerline is valid? [True, True] Translation: X:77.14, Y:-8.59, Z:-3.10 [[ 9.88778690e-01 1.45471457e-01 3.39817191e-02 7.71356152e+01] [-1.45375914e-01 9.89362409e-01 -5.27886206e-03 -8.58520218e+00] [-3.43881593e-02 2.79502830e-04 9.99408513e-01 -3.10088997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22587156 meters 0.016613277158831038 Centerline is valid? [True, True] Translation: X:77.16, Y:-8.59, Z:-3.10 [[ 9.88864043e-01 1.44940933e-01 3.37643400e-02 7.71649277e+01] [-1.44846295e-01 9.89440265e-01 -5.24522552e-03 -8.58970776e+00] [-3.41680454e-02 2.96175352e-04 9.99416058e-01 -3.10001416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25587156 meters 0.025769717349185033 Centerline is valid? [True, True] Translation: X:77.20, Y:-8.59, Z:-3.10 [[ 9.88809845e-01 1.45397285e-01 3.33874341e-02 7.71954084e+01] [-1.45305028e-01 9.89373313e-01 -5.18613398e-03 -8.59042984e+00] [-3.37866861e-02 2.76738301e-04 9.99429029e-01 -3.10414275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28587156 meters 0.01596725097155399 Centerline is valid? [True, True] Translation: X:77.23, Y:-8.59, Z:-3.10 [[ 9.88752277e-01 1.45933464e-01 3.27469008e-02 7.72252601e+01] [-1.45844998e-01 9.89294375e-01 -5.08693003e-03 -8.59333416e+00] [-3.31386781e-02 2.53741977e-04 9.99450731e-01 -3.10398167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31587156 meters 0.015903638604408857 Centerline is valid? [True, True] Translation: X:77.25, Y:-8.60, Z:-3.11 [[ 9.88674634e-01 1.46475165e-01 3.26725147e-02 7.72535962e+01] [-1.46387418e-01 9.89214320e-01 -5.07471143e-03 -8.59675622e+00] [-3.30634387e-02 2.34393386e-04 9.99453228e-01 -3.10601405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34587156 meters 0.01511289939971863 Centerline is valid? [True, True] Translation: X:77.28, Y:-8.60, Z:-3.11 [[ 9.88433104e-01 1.48104464e-01 3.26353589e-02 7.72838308e+01] [-1.48017849e-01 9.88971706e-01 -5.06760019e-03 -8.59820842e+00] [-3.30259808e-02 1.78368163e-04 9.99454478e-01 -3.10658660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37587156000001 meters 0.015685468875505877 Centerline is valid? [True, True] Translation: X:77.31, Y:-8.60, Z:-3.11 [[ 9.88301053e-01 1.48857365e-01 3.32041245e-02 7.73125060e+01] [-1.48768151e-01 9.88858666e-01 -5.15522339e-03 -8.60197835e+00] [-3.36015793e-02 1.55196473e-04 9.99435295e-01 -3.11083795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40587156000001 meters 0.014316737685716618 Centerline is valid? [True, True] Translation: X:77.34, Y:-8.60, Z:-3.11 [[ 9.88147353e-01 1.49809284e-01 3.34960665e-02 7.73419710e+01] [-1.49719078e-01 9.88714905e-01 -5.19945295e-03 -8.60244949e+00] [-3.38969866e-02 1.22825460e-04 9.99425324e-01 -3.10753738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43587156000001 meters 0.024499207413516015 Centerline is valid? [True, True] Translation: X:77.37, Y:-8.60, Z:-3.11 [[ 9.87951739e-01 1.50870642e-01 3.44878311e-02 7.73701969e+01] [-1.50775716e-01 9.88553510e-01 -5.35177913e-03 -8.60442827e+00] [-3.49004929e-02 8.73720608e-05 9.99390788e-01 -3.10989502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46587156000001 meters 0.013596560818397902 Centerline is valid? [True, True] Translation: X:77.40, Y:-8.60, Z:-3.11 [[ 9.87618285e-01 1.53069276e-01 3.43499728e-02 7.73995922e+01] [-1.52976513e-01 9.88215461e-01 -5.32820122e-03 -8.60415881e+00] [-3.47607581e-02 7.48989779e-06 9.99395662e-01 -3.10955586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49587156000001 meters 0.01373594185585516 Centerline is valid? [True, True] Translation: X:77.43, Y:-8.60, Z:-3.11 [[ 9.87415987e-01 1.54403830e-01 3.41924895e-02 7.74290429e+01] [-1.54312772e-01 9.88007822e-01 -5.30213856e-03 -8.60458951e+00] [-3.46011176e-02 -4.09214589e-05 9.99401201e-01 -3.11078444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52587156 meters 0.013995938033785054 Centerline is valid? [True, True] Translation: X:77.46, Y:-8.60, Z:-3.11 [[ 9.87144987e-01 1.56094553e-01 3.43404395e-02 7.74579536e+01] [-1.56003785e-01 9.87742112e-01 -5.32342860e-03 -8.60449281e+00] [-3.47504565e-02 -1.02242707e-04 9.99396015e-01 -3.11162035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55587156 meters 0.0156890678607123 Centerline is valid? [True, True] Translation: X:77.49, Y:-8.60, Z:-3.11 [[ 9.86556704e-01 1.59680392e-01 3.47568917e-02 7.74872282e+01] [-1.59589687e-01 9.87168738e-01 -5.38641387e-03 -8.60003172e+00] [-3.51710216e-02 -2.32838764e-04 9.99381281e-01 -3.11204378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58587156 meters 0.02501110598187963 Centerline is valid? [True, True] Translation: X:77.52, Y:-8.60, Z:-3.11 [[ 9.86250340e-01 1.61421141e-01 3.54045571e-02 7.75160285e+01] [-1.61328226e-01 9.86885568e-01 -5.48451906e-03 -8.59909597e+00] [-3.58255637e-02 -3.02645597e-04 9.99358013e-01 -3.11499382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61587156 meters 0.019964980334167666 Centerline is valid? [True, True] Translation: X:77.54, Y:-8.59, Z:-3.11 [[ 9.85670066e-01 1.64889341e-01 3.55812521e-02 7.75449046e+01] [-1.64797811e-01 9.86311978e-01 -5.51030752e-03 -8.59369813e+00] [-3.60028062e-02 -4.32367270e-04 9.99351595e-01 -3.11416495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64587156 meters 0.021334794371109553 Centerline is valid? [True, True] Translation: X:77.57, Y:-8.59, Z:-3.12 [[ 9.85448616e-01 1.66249834e-01 3.53838739e-02 7.75736972e+01] [-1.66160270e-01 9.86083547e-01 -5.47756980e-03 -8.59360317e+00] [-3.58021010e-02 -4.81530479e-04 9.99358783e-01 -3.11552003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67587156 meters 0.02239632082474371 Centerline is valid? [True, True] Translation: X:77.60, Y:-8.59, Z:-3.12 [[ 9.85301969e-01 1.67136546e-01 3.52902864e-02 7.76029001e+01] [-1.67048082e-01 9.85933624e-01 -5.46143720e-03 -8.59374799e+00] [-3.57066857e-02 -5.14009842e-04 9.99362181e-01 -3.11727749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70587156 meters 0.02358042002174298 Centerline is valid? [True, True] Translation: X:77.63, Y:-8.59, Z:-3.12 [[ 9.85125032e-01 1.68097324e-01 3.56645500e-02 7.76318744e+01] [-1.68007660e-01 9.85770247e-01 -5.51777266e-03 -8.58929848e+00] [-3.60845751e-02 -5.56221629e-04 9.99348585e-01 -3.11796464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73587156 meters 0.023417347349764268 Centerline is valid? [True, True] Translation: X:77.66, Y:-8.59, Z:-3.12 [[ 9.85169406e-01 1.67825785e-01 3.57175939e-02 7.76607489e+01] [-1.67735755e-01 9.85816516e-01 -5.52379866e-03 -8.59107444e+00] [-3.61380299e-02 -5.49240135e-04 9.99346657e-01 -3.11959473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76587156000001 meters 0.02277473319916391 Centerline is valid? [True, True] Translation: X:77.69, Y:-8.59, Z:-3.12 [[ 9.85319245e-01 1.67005041e-01 3.54302488e-02 7.76888842e+01] [-1.66915982e-01 9.85955906e-01 -5.47773761e-03 -8.59480478e+00] [-3.58474728e-02 -5.16554480e-04 9.99357139e-01 -3.12178500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79587156000001 meters 0.021735010640357953 Centerline is valid? [True, True] Translation: X:77.72, Y:-8.60, Z:-3.12 [[ 9.85512751e-01 1.65873690e-01 3.53629271e-02 7.77177212e+01] [-1.65784299e-01 9.86146892e-01 -5.46570450e-03 -8.59880041e+00] [-3.57796572e-02 -4.76096613e-04 9.99359590e-01 -3.12342797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82587156000001 meters 0.020771635497439954 Centerline is valid? [True, True] Translation: X:77.75, Y:-8.60, Z:-3.12 [[ 9.85715949e-01 1.64650244e-01 3.54170178e-02 7.77451148e+01] [-1.64559845e-01 9.86351919e-01 -5.47253757e-03 -8.60176689e+00] [-3.58346982e-02 -4.33851394e-04 9.99357637e-01 -3.12485533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85587156000001 meters 0.020771635497439954 Centerline is valid? [True, True] Translation: X:77.77, Y:-8.61, Z:-3.13 [[ 9.85726958e-01 1.64584258e-01 3.54173081e-02 7.77722741e+01] [-1.64493883e-01 9.86362932e-01 -5.47065856e-03 -8.60582004e+00] [-3.58347041e-02 -4.33354905e-04 9.99357637e-01 -3.12609458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88587156 meters 0.017825676001867314 Centerline is valid? [True, True] Translation: X:77.80, Y:-8.61, Z:-3.13 [[ 9.86209757e-01 1.61448000e-01 3.63986029e-02 7.78001021e+01] [-1.61350509e-01 9.86881165e-01 -5.61955851e-03 -8.60975410e+00] [-3.68283621e-02 -3.30869668e-04 9.99321551e-01 -3.12545266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91587156 meters 0.015610071967080162 Centerline is valid? [True, True] Translation: X:77.83, Y:-8.62, Z:-3.12 [[ 9.86520013e-01 1.59371753e-01 3.71336552e-02 7.78287587e+01] [-1.59268900e-01 9.87218606e-01 -5.73072115e-03 -8.61667560e+00] [-3.75723505e-02 -2.60765340e-04 9.99293876e-01 -3.12480314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94587156 meters 0.013388231490681446 Centerline is valid? [True, True] Translation: X:77.86, Y:-8.62, Z:-3.13 [[ 9.87218615e-01 1.55017634e-01 3.69991726e-02 7.78564758e+01] [-1.54912511e-01 9.87911698e-01 -5.70876399e-03 -8.62448346e+00] [-3.74368745e-02 -9.58366502e-05 9.99298990e-01 -3.12577418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97587156 meters 0.01304234500978987 Centerline is valid? [True, True] Translation: X:77.88, Y:-8.63, Z:-3.13 [[ 9.87579891e-01 1.52854880e-01 3.63502944e-02 7.78849870e+01] [-1.52752010e-01 9.88248646e-01 -5.60697469e-03 -8.63046855e+00] [-3.67801827e-02 -1.52450705e-05 9.99323380e-01 -3.12718703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00587156 meters 0.013546380130035172 Centerline is valid? [True, True] Translation: X:77.91, Y:-8.64, Z:-3.13 [[ 9.87919682e-01 1.50752577e-01 3.58937746e-02 7.79115377e+01] [-1.50650944e-01 9.88571523e-01 -5.53500858e-03 -8.63657856e+00] [-3.63179802e-02 6.07128829e-05 9.99340283e-01 -3.13187321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03587156 meters 0.01424795266099892 Centerline is valid? [True, True] Translation: X:77.94, Y:-8.64, Z:-3.13 [[ 9.88457095e-01 1.47307347e-01 3.53993813e-02 7.79398524e+01] [-1.47206379e-01 9.89090750e-01 -5.45613593e-03 -8.64433735e+00] [-3.58169295e-02 1.82141524e-04 9.99358351e-01 -3.13274940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06587156 meters 0.0219966250184107 Centerline is valid? [True, True] Translation: X:77.97, Y:-8.65, Z:-3.14 [[ 9.88723250e-01 1.45569677e-01 3.51540058e-02 7.79672991e+01] [-1.45469063e-01 9.89347972e-01 -5.41675279e-03 -8.64928630e+00] [-3.55680593e-02 2.41849151e-04 9.99367227e-01 -3.13647345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09587156 meters 0.018463742174493026 Centerline is valid? [True, True] Translation: X:77.99, Y:-8.66, Z:-3.14 [[ 9.89085545e-01 1.43291620e-01 3.43117612e-02 7.79935588e+01] [-1.43194468e-01 9.89680460e-01 -5.28499029e-03 -8.65860169e+00] [-3.47149744e-02 3.14053107e-04 9.99397204e-01 -3.14029088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12587156000001 meters 0.029083334290200474 Centerline is valid? [True, True] Translation: X:78.02, Y:-8.66, Z:-3.14 [[ 9.89249587e-01 1.42197344e-01 3.41345873e-02 7.80222061e+01] [-1.42100616e-01 9.89838267e-01 -5.25555244e-03 -8.66151499e+00] [-3.45350463e-02 3.48507191e-04 9.99403427e-01 -3.14286244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15587156000001 meters 0.01773183517560771 Centerline is valid? [True, True] Translation: X:78.05, Y:-8.67, Z:-3.14 [[ 9.89298444e-01 1.42000457e-01 3.35329401e-02 7.80509307e+01] [-1.41907048e-01 9.89866531e-01 -5.16143482e-03 -8.66588366e+00] [-3.39260612e-02 3.47638910e-04 9.99424285e-01 -3.14217393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18587156000001 meters 0.017563284104893783 Centerline is valid? [True, True] Translation: X:78.08, Y:-8.67, Z:-3.14 [[ 9.89366832e-01 1.41608690e-01 3.31700239e-02 7.80793425e+01] [-1.41517124e-01 9.89922650e-01 -5.10404000e-03 -8.66970089e+00] [-3.35585344e-02 3.55641509e-04 9.99436690e-01 -3.14337596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21587156000001 meters 0.021047029730257395 Centerline is valid? [True, True] Translation: X:78.11, Y:-8.68, Z:-3.15 [[ 9.89457005e-01 1.41045987e-01 3.28765101e-02 7.81061608e+01] [-1.40955772e-01 9.90002976e-01 -5.05743900e-03 -8.67843005e+00] [-3.32611743e-02 3.69984598e-04 9.99446626e-01 -3.14991976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24587156000001 meters 0.021023300789029555 Centerline is valid? [True, True] Translation: X:78.14, Y:-8.68, Z:-3.15 [[ 9.89445694e-01 1.41105643e-01 3.29608314e-02 7.81350624e+01] [-1.41015071e-01 9.89994476e-01 -5.06820520e-03 -8.68252531e+00] [-3.33461934e-02 3.66739814e-04 9.99443794e-01 -3.15117745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27587156 meters 0.02771227280590343 Centerline is valid? [True, True] Translation: X:78.17, Y:-8.68, Z:-3.15 [[ 9.89426911e-01 1.41149393e-01 3.33352046e-02 7.81651158e+01] [-1.41056812e-01 9.89988239e-01 -5.12470983e-03 -8.68087782e+00] [-3.37248102e-02 3.68368150e-04 9.99431089e-01 -3.14895613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30587156 meters 0.022231242446086555 Centerline is valid? [True, True] Translation: X:78.19, Y:-8.68, Z:-3.15 [[ 9.89356787e-01 1.41534878e-01 3.37790680e-02 7.81926041e+01] [-1.41440132e-01 9.89933205e-01 -5.19021924e-03 -8.68439716e+00] [-3.41736181e-02 3.57262783e-04 9.99415847e-01 -3.14914220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33587156 meters 0.016742886852592218 Centerline is valid? [True, True] Translation: X:78.22, Y:-8.69, Z:-3.15 [[ 9.89195380e-01 1.42603039e-01 3.40128426e-02 7.82216784e+01] [-1.42507683e-01 9.89779910e-01 -5.22394827e-03 -8.68747813e+00] [-3.44101792e-02 3.20414106e-04 9.99407743e-01 -3.14811411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36587156 meters 0.016350709516492878 Centerline is valid? [True, True] Translation: X:78.25, Y:-8.69, Z:-3.15 [[ 9.89133304e-01 1.42973779e-01 3.42608391e-02 7.82506207e+01] [-1.42877306e-01 9.89726429e-01 -5.26039301e-03 -8.69078195e+00] [-3.46609562e-02 3.08133512e-04 9.99399081e-01 -3.14893115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39587156 meters 0.01606888091973564 Centerline is valid? [True, True] Translation: X:78.28, Y:-8.69, Z:-3.15 [[ 9.89063801e-01 1.43434779e-01 3.43403774e-02 7.82777087e+01] [-1.43338189e-01 9.89659729e-01 -5.27107477e-03 -8.69463322e+00] [-3.47413441e-02 2.91141737e-04 9.99396295e-01 -3.15044069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42587156 meters 0.02515505300291413 Centerline is valid? [True, True] Translation: X:78.31, Y:-8.70, Z:-3.15 [[ 9.88982661e-01 1.43960127e-01 3.44786512e-02 7.83060618e+01] [-1.43863152e-01 9.89583452e-01 -5.29011538e-03 -8.69851982e+00] [-3.48810683e-02 2.71624941e-04 9.99391433e-01 -3.15349341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45587156 meters 0.015404254136604165 Centerline is valid? [True, True] Translation: X:78.33, Y:-8.70, Z:-3.15 [[ 9.88914895e-01 1.44391256e-01 3.46192822e-02 7.83342433e+01] [-1.44293811e-01 9.89520641e-01 -5.31002947e-03 -8.70382633e+00] [-3.50232162e-02 2.55819064e-04 9.99386466e-01 -3.15305330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48587156 meters 0.014367522715874874 Centerline is valid? [True, True] Translation: X:78.36, Y:-8.71, Z:-3.15 [[ 9.88806668e-01 1.45120112e-01 3.46630546e-02 7.83634574e+01] [-1.45022915e-01 9.89414019e-01 -5.31540985e-03 -8.70604334e+00] [-3.50674851e-02 2.28975489e-04 9.99384920e-01 -3.15267228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51587156000001 meters 0.0144003536435875 Centerline is valid? [True, True] Translation: X:78.39, Y:-8.71, Z:-3.15 [[ 9.88737524e-01 1.45566914e-01 3.47617886e-02 7.83911758e+01] [-1.45469539e-01 9.89348386e-01 -5.32767932e-03 -8.71021002e+00] [-3.51670533e-02 2.10895104e-04 9.99381426e-01 -3.15469377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54587156000001 meters 0.014469810580650834 Centerline is valid? [True, True] Translation: X:78.42, Y:-8.71, Z:-3.16 [[ 9.88686406e-01 1.45839587e-01 3.50714394e-02 7.84183258e+01] [-1.45740729e-01 9.89308230e-01 -5.37265630e-03 -8.71445447e+00] [-3.54800096e-02 2.00535107e-04 9.99370366e-01 -3.15643251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57587156000001 meters 0.013983973205147712 Centerline is valid? [True, True] Translation: X:78.45, Y:-8.72, Z:-3.16 [[ 9.88580737e-01 1.46579416e-01 3.49657148e-02 7.84463275e+01] [-1.46481701e-01 9.89198891e-01 -5.35404522e-03 -8.71946432e+00] [-3.53728392e-02 1.71068583e-04 9.99374171e-01 -3.15730190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60587156000001 meters 0.01345172849690515 Centerline is valid? [True, True] Translation: X:78.48, Y:-8.72, Z:-3.16 [[ 9.88475955e-01 1.47238488e-01 3.51584039e-02 7.84750129e+01] [-1.47140168e-01 9.89101009e-01 -5.38188135e-03 -8.72314502e+00] [-3.55676329e-02 1.46646849e-04 9.99367261e-01 -3.15734670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63587156000001 meters 0.02967212765374757 Centerline is valid? [True, True] Translation: X:78.50, Y:-8.73, Z:-3.16 [[ 9.88446887e-01 1.47486624e-01 3.49348996e-02 7.85027061e+01] [-1.47389763e-01 9.89064041e-01 -5.34606428e-03 -8.72658277e+00] [-3.53413259e-02 1.35254034e-04 9.99375291e-01 -3.16154285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66587156 meters 0.013559680898367834 Centerline is valid? [True, True] Translation: X:78.53, Y:-8.73, Z:-3.16 [[ 9.88258580e-01 1.48697654e-01 3.51281332e-02 7.85298230e+01] [-1.48600561e-01 9.88882703e-01 -5.37343516e-03 -8.73270864e+00] [-3.55366205e-02 9.02830973e-05 9.99368371e-01 -3.16290151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69587156 meters 0.013404603415185309 Centerline is valid? [True, True] Translation: X:78.56, Y:-8.74, Z:-3.16 [[ 9.88251925e-01 1.48774271e-01 3.49907110e-02 7.85572847e+01] [-1.48678054e-01 9.88871179e-01 -5.35042764e-03 -8.73706640e+00] [-3.53973116e-02 8.52195812e-05 9.99373315e-01 -3.16336407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72587156 meters 0.013382298407656998 Centerline is valid? [True, True] Translation: X:78.58, Y:-8.74, Z:-3.16 [[ 9.88245328e-01 1.48814546e-01 3.50057379e-02 7.85834768e+01] [-1.48718354e-01 9.88865119e-01 -5.35040545e-03 -8.74120142e+00] [-3.54121714e-02 8.15174536e-05 9.99372789e-01 -3.16456294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75587156 meters 0.019223350650362545 Centerline is valid? [True, True] Translation: X:78.61, Y:-8.74, Z:-3.17 [[ 9.88208518e-01 1.49079450e-01 3.49176501e-02 7.86120747e+01] [-1.48984017e-01 9.88825219e-01 -5.33383325e-03 -8.74440004e+00] [-3.53226179e-02 6.87676726e-05 9.99375959e-01 -3.16569811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78587156 meters 0.012699930756940078 Centerline is valid? [True, True] Translation: X:78.64, Y:-8.75, Z:-3.17 [[ 9.88035843e-01 1.50096281e-01 3.54440187e-02 7.86402327e+01] [-1.49998666e-01 9.88671384e-01 -5.41246689e-03 -8.75089474e+00] [-3.58548782e-02 3.11557650e-05 9.99357007e-01 -3.16532716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81587156 meters 0.012607677093488298 Centerline is valid? [True, True] Translation: X:78.67, Y:-8.76, Z:-3.17 [[ 9.87976513e-01 1.50465940e-01 3.55304099e-02 7.86682089e+01] [-1.50368150e-01 9.88615193e-01 -5.42391310e-03 -8.75551787e+00] [-3.59420172e-02 1.60567447e-05 9.99353877e-01 -3.16598285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84587156 meters 0.012600265988198021 Centerline is valid? [True, True] Translation: X:78.70, Y:-8.76, Z:-3.17 [[ 9.87850965e-01 1.51157514e-01 3.60815254e-02 7.86959263e+01] [-1.51057189e-01 9.88509689e-01 -5.50636104e-03 -8.75915504e+00] [-3.64992653e-02 -1.09097246e-05 9.99333680e-01 -3.16735282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87587156000001 meters 0.012715251363905585 Centerline is valid? [True, True] Translation: X:78.72, Y:-8.76, Z:-3.17 [[ 9.87750505e-01 1.51855954e-01 3.58985971e-02 7.87236032e+01] [-1.51757189e-01 9.88402634e-01 -5.47611035e-03 -8.76254390e+00] [-3.63138479e-02 -3.88394321e-05 9.99340434e-01 -3.16932933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90587156000001 meters 0.013416696957102061 Centerline is valid? [True, True] Translation: X:78.75, Y:-8.76, Z:-3.17 [[ 9.87457022e-01 1.53999446e-01 3.48252834e-02 7.87521871e+01] [-1.53907921e-01 9.88070927e-01 -5.30988564e-03 -8.76486130e+00] [-3.52275695e-02 -1.16603087e-04 9.99379310e-01 -3.17178011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93587156000001 meters 0.025648439427877357 Centerline is valid? [True, True] Translation: X:78.78, Y:-8.77, Z:-3.18 [[ 9.87341909e-01 1.54828893e-01 3.44088509e-02 7.87805076e+01] [-1.54740105e-01 9.87941290e-01 -5.24476553e-03 -8.76678536e+00] [-3.48059658e-02 -1.46052381e-04 9.99394078e-01 -3.17546648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96587156000001 meters 0.014424180580912088 Centerline is valid? [True, True] Translation: X:78.81, Y:-8.77, Z:-3.17 [[ 9.87094512e-01 1.56252303e-01 3.50662446e-02 7.88080289e+01] [-1.56161039e-01 9.87717155e-01 -5.34347110e-03 -8.77022827e+00] [-3.54704610e-02 -2.01470170e-04 9.99370705e-01 -3.17427852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99587156000001 meters 0.014291998484346164 Centerline is valid? [True, True] Translation: X:78.84, Y:-8.78, Z:-3.17 [[ 9.87064717e-01 1.56326900e-01 3.55688764e-02 7.88360123e+01] [-1.56233149e-01 9.87705349e-01 -5.41725166e-03 -8.77523948e+00] [-3.59784316e-02 -2.09859594e-04 9.99352545e-01 -3.17451873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02587156 meters 0.014071405106998057 Centerline is valid? [True, True] Translation: X:78.86, Y:-8.78, Z:-3.17 [[ 9.87090635e-01 1.56114828e-01 3.57804149e-02 7.88642667e+01] [-1.56019883e-01 9.87738892e-01 -5.44773221e-03 -8.78072428e+00] [-3.61921792e-02 -2.05050694e-04 9.99344827e-01 -3.17485613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05587156 meters 0.013750774535737401 Centerline is valid? [True, True] Translation: X:78.89, Y:-8.79, Z:-3.18 [[ 9.87136348e-01 1.55814469e-01 3.58285138e-02 7.88921262e+01] [-1.55719125e-01 9.87786320e-01 -5.45352537e-03 -8.78631221e+00] [-3.62406540e-02 -1.95811721e-04 9.99343073e-01 -3.17556647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08587156 meters 0.02423302360797482 Centerline is valid? [True, True] Translation: X:78.92, Y:-8.79, Z:-3.18 [[ 9.87251527e-01 1.55073554e-01 3.58694196e-02 7.89190638e+01] [-1.54977604e-01 9.87902912e-01 -5.45699081e-03 -8.79009397e+00] [-3.62817390e-02 -1.71534212e-04 9.99341586e-01 -3.17980053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11587156 meters 0.01358760020747444 Centerline is valid? [True, True] Translation: X:78.95, Y:-8.80, Z:-3.18 [[ 9.87320830e-01 1.54799373e-01 3.51387713e-02 7.89468918e+01] [-1.54707199e-01 9.87945914e-01 -5.34360810e-03 -8.79756098e+00] [-3.55423927e-02 -1.60365300e-04 9.99368157e-01 -3.18000885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14587156 meters 0.013811157354540561 Centerline is valid? [True, True] Translation: X:78.97, Y:-8.80, Z:-3.18 [[ 9.87325445e-01 1.54860794e-01 3.47361413e-02 7.89746723e+01] [-1.54770813e-01 9.87936287e-01 -5.28083792e-03 -8.80229385e+00] [-3.51348893e-02 -1.62235190e-04 9.99382566e-01 -3.18233573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17587156 meters 0.014169504789603158 Centerline is valid? [True, True] Translation: X:79.00, Y:-8.81, Z:-3.18 [[ 9.87256934e-01 1.55293546e-01 3.47514026e-02 7.90026129e+01] [-1.55203822e-01 9.87868353e-01 -5.28121245e-03 -8.80612873e+00] [-3.51499490e-02 -1.79636891e-04 9.99382033e-01 -3.18416705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20587156 meters 0.014633609899438411 Centerline is valid? [True, True] Translation: X:79.03, Y:-8.81, Z:-3.18 [[ 9.87064338e-01 1.56567904e-01 3.45033772e-02 7.90314527e+01] [-1.56480335e-01 9.87667171e-01 -5.24067990e-03 -8.80949182e+00] [-3.48983752e-02 -2.26211774e-04 9.99390841e-01 -3.18496264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23587156 meters 0.015160332960435938 Centerline is valid? [True, True] Translation: X:79.06, Y:-8.81, Z:-3.19 [[ 9.86978374e-01 1.57150279e-01 3.43144241e-02 7.90595535e+01] [-1.57064072e-01 9.87574670e-01 -5.21044542e-03 -8.81292385e+00] [-3.47068790e-02 -2.46966205e-04 9.99397504e-01 -3.18634993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26587156000001 meters 0.015763073570190644 Centerline is valid? [True, True] Translation: X:79.09, Y:-8.82, Z:-3.19 [[ 9.86892759e-01 1.57708013e-01 3.42179125e-02 7.90866413e+01] [-1.57622697e-01 9.87485752e-01 -5.19372213e-03 -8.81704095e+00] [-3.46087927e-02 -2.67872884e-04 9.99400900e-01 -3.18847752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29587156000001 meters 0.023433961864438805 Centerline is valid? [True, True] Translation: X:79.11, Y:-8.82, Z:-3.19 [[ 9.86732060e-01 1.58725260e-01 3.41487054e-02 7.91146631e+01] [-1.58640972e-01 9.87322743e-01 -5.18102299e-03 -8.82221241e+00] [-3.45381527e-02 -3.05102346e-04 9.99403333e-01 -3.19148641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32587156000001 meters 0.01626341397400173 Centerline is valid? [True, True] Translation: X:79.14, Y:-8.83, Z:-3.19 [[ 9.86670813e-01 1.59064572e-01 3.43390267e-02 7.91417669e+01] [-1.58979596e-01 9.87268130e-01 -5.20851085e-03 -8.82851260e+00] [-3.47303162e-02 -3.20118933e-04 9.99396669e-01 -3.18994782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35587156000001 meters 0.01770081216800965 Centerline is valid? [True, True] Translation: X:79.17, Y:-8.83, Z:-3.19 [[ 9.86587330e-01 1.59576865e-01 3.43607917e-02 7.91696798e+01] [-1.59492185e-01 9.87185447e-01 -5.20913458e-03 -8.83061079e+00] [-3.47517309e-02 -3.41011585e-04 9.99395918e-01 -3.19229371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38587156000001 meters 0.017951851829287508 Centerline is valid? [True, True] Translation: X:79.20, Y:-8.83, Z:-3.19 [[ 9.86413560e-01 1.60598963e-01 3.45870271e-02 7.91982085e+01] [-1.60513871e-01 9.87019669e-01 -5.24115869e-03 -8.83417399e+00] [-3.49798007e-02 -3.81747599e-04 9.99387947e-01 -3.19167607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41587156 meters 0.018413615831347548 Centerline is valid? [True, True] Translation: X:79.23, Y:-8.84, Z:-3.19 [[ 9.86231526e-01 1.61607156e-01 3.50785452e-02 7.92269259e+01] [-1.61520326e-01 9.86855079e-01 -5.31392483e-03 -8.83731047e+00] [-3.54762088e-02 -4.25137863e-04 9.99370431e-01 -3.19212969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44587156 meters 0.020845958576231362 Centerline is valid? [True, True] Translation: X:79.26, Y:-8.84, Z:-3.19 [[ 9.85789085e-01 1.64293357e-01 3.50367301e-02 7.92562209e+01] [-1.64208490e-01 9.86411384e-01 -5.30588371e-03 -8.83873423e+00] [-3.54323509e-02 -5.22846301e-04 9.99371940e-01 -3.19299714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47587156 meters 0.02294033730967917 Centerline is valid? [True, True] Translation: X:79.28, Y:-8.84, Z:-3.19 [[ 9.85569621e-01 1.65550018e-01 3.52946666e-02 7.92843265e+01] [-1.65464759e-01 9.86201228e-01 -5.34332344e-03 -8.84059478e+00] [-3.56922308e-02 -5.73806237e-04 9.99362665e-01 -3.19435786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50587156 meters 0.022968994721043152 Centerline is valid? [True, True] Translation: X:79.31, Y:-8.85, Z:-3.19 [[ 9.85337807e-01 1.66866219e-01 3.55678301e-02 7.93126837e+01] [-1.66780574e-01 9.85979346e-01 -5.38239500e-03 -8.84515717e+00] [-3.59672858e-02 -6.28545850e-04 9.99352770e-01 -3.19426741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53587156 meters 0.027015672967190627 Centerline is valid? [True, True] Translation: X:79.34, Y:-8.84, Z:-3.19 [[ 9.84845682e-01 1.69727433e-01 3.56592403e-02 7.93407414e+01] [-1.69643277e-01 9.85490769e-01 -5.39466592e-03 -8.84219701e+00] [-3.60574750e-02 -7.36436961e-04 9.99349446e-01 -3.19470226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56587156 meters 0.028533063020866587 Centerline is valid? [True, True] Translation: X:79.37, Y:-8.84, Z:-3.20 [[ 9.84562141e-01 1.71318150e-01 3.58814936e-02 7.93696921e+01] [-1.71234102e-01 9.85215432e-01 -5.42538552e-03 -8.84348740e+00] [-3.62804683e-02 -8.02506145e-04 9.99341325e-01 -3.19573203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59587156 meters 0.02853322639135557 Centerline is valid? [True, True] Translation: X:79.40, Y:-8.85, Z:-3.20 [[ 9.84271954e-01 1.73005040e-01 3.57488051e-02 7.93986199e+01] [-1.72922786e-01 9.84920561e-01 -5.40360911e-03 -8.84708812e+00] [-3.61445848e-02 -8.63162076e-04 9.99346198e-01 -3.19633794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62587156000001 meters 0.03263989492155138 Centerline is valid? [True, True] Translation: X:79.43, Y:-8.84, Z:-3.20 [[ 9.84001981e-01 1.74504096e-01 3.58945870e-02 7.94271450e+01] [-1.74422228e-01 9.84656015e-01 -5.42393168e-03 -8.84445287e+00] [-3.62903193e-02 -9.23654342e-04 9.99340863e-01 -3.19853238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65587156000001 meters 0.03574701228006328 Centerline is valid? [True, True] Translation: X:79.46, Y:-8.84, Z:-3.20 [[ 9.83467036e-01 1.77452052e-01 3.61020519e-02 7.94574579e+01] [-1.77371309e-01 9.84128897e-01 -5.45277291e-03 -8.84031434e+00] [-3.64966783e-02 -1.04084579e-03 9.99333232e-01 -3.19909242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68587156000001 meters 0.04383131312783736 Centerline is valid? [True, True] Translation: X:79.49, Y:-8.84, Z:-3.20 [[ 9.83250159e-01 1.78668930e-01 3.60074639e-02 7.94857889e+01] [-1.78589455e-01 9.83908653e-01 -5.43765852e-03 -8.84101765e+00] [-3.63995959e-02 -1.08397475e-03 9.99336727e-01 -3.20204014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71587156000001 meters 0.039761182375199426 Centerline is valid? [True, True] Translation: X:79.51, Y:-8.84, Z:-3.20 [[ 9.83106673e-01 1.79432648e-01 3.61274743e-02 7.95135785e+01] [-1.79353286e-01 9.83769623e-01 -5.45226786e-03 -8.83971121e+00] [-3.65194266e-02 -1.11942031e-03 9.99332316e-01 -3.20237335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74587156000001 meters 0.039761182375199426 Centerline is valid? [True, True] Translation: X:79.54, Y:-8.84, Z:-3.20 [[ 9.83139785e-01 1.79251086e-01 3.61277195e-02 7.95407399e+01] [-1.79171660e-01 9.83802727e-01 -5.45064294e-03 -8.84360031e+00] [-3.65195826e-02 -1.11431957e-03 9.99332316e-01 -3.20361177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77587156 meters 0.03850477483774034 Centerline is valid? [True, True] Translation: X:79.57, Y:-8.85, Z:-3.20 [[ 9.83026597e-01 1.79855621e-01 3.62031122e-02 7.95687297e+01] [-1.79776564e-01 9.83692350e-01 -5.45408574e-03 -8.84781338e+00] [-3.65936725e-02 -1.14695975e-03 9.99329569e-01 -3.20416403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80587156 meters 0.03758003814809972 Centerline is valid? [True, True] Translation: X:79.60, Y:-8.85, Z:-3.21 [[ 9.82974468e-01 1.80125493e-01 3.62767419e-02 7.95976662e+01] [-1.80046382e-01 9.83642952e-01 -5.46287490e-03 -8.85105492e+00] [-3.66673645e-02 -1.16162959e-03 9.99326851e-01 -3.20509227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83587156 meters 0.036565095815647486 Centerline is valid? [True, True] Translation: X:79.63, Y:-8.85, Z:-3.21 [[ 9.83121580e-01 1.79568746e-01 3.50289202e-02 7.96266298e+01] [-1.79494690e-01 9.83744809e-01 -5.27332026e-03 -8.85124387e+00] [-3.54064419e-02 -1.10319023e-03 9.99372386e-01 -3.20806080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86587156 meters 0.03840979843005136 Centerline is valid? [True, True] Translation: X:79.65, Y:-8.85, Z:-3.21 [[ 9.83302984e-01 1.78666092e-01 3.45495263e-02 7.96545499e+01] [-1.78593547e-01 9.83909198e-01 -5.19959025e-03 -8.85052520e+00] [-3.49225871e-02 -1.05754984e-03 9.99389461e-01 -3.21185438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89587156 meters 0.037235694518112004 Centerline is valid? [True, True] Translation: X:79.68, Y:-8.85, Z:-3.21 [[ 9.83515572e-01 1.77542215e-01 3.42911223e-02 7.96831390e+01] [-1.77470103e-01 9.84112666e-01 -5.15970447e-03 -8.85428936e+00] [-3.46623932e-02 -1.01099932e-03 9.99398567e-01 -3.21348388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92587156 meters 0.03562823552328367 Centerline is valid? [True, True] Translation: X:79.71, Y:-8.86, Z:-3.22 [[ 9.83851040e-01 1.75696511e-01 3.41740588e-02 7.97117926e+01] [-1.75623977e-01 9.84443922e-01 -5.13635887e-03 -8.85839341e+00] [-3.45448848e-02 -9.48372091e-04 9.99402697e-01 -3.21504486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95587156 meters 0.03238239618460161 Centerline is valid? [True, True] Translation: X:79.74, Y:-8.86, Z:-3.22 [[ 9.84651830e-01 1.71184767e-01 3.40080792e-02 7.97404481e+01] [-1.71110493e-01 9.85238624e-01 -5.10422258e-03 -8.86378352e+00] [-3.43798383e-02 -7.93257085e-04 9.99408524e-01 -3.21799500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98587156 meters 0.03257403333818117 Centerline is valid? [True, True] Translation: X:79.77, Y:-8.88, Z:-3.22 [[ 9.85133456e-01 1.68384881e-01 3.40383046e-02 7.97682797e+01] [-1.68308781e-01 9.85721080e-01 -5.10941774e-03 -8.87535048e+00] [-3.44126231e-02 -6.95487209e-04 9.99407468e-01 -3.21759049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01587156000001 meters 0.025412382830554994 Centerline is valid? [True, True] Translation: X:79.80, Y:-8.88, Z:-3.22 [[ 9.85627528e-01 1.65394191e-01 3.43967517e-02 7.97958888e+01] [-1.65314893e-01 9.86227356e-01 -5.15650399e-03 -8.87898946e+00] [-3.47758733e-02 -6.03903031e-04 9.99394954e-01 -3.21904488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04587156000001 meters 0.01901742562119356 Centerline is valid? [True, True] Translation: X:79.82, Y:-8.89, Z:-3.22 [[ 9.86543675e-01 1.59930002e-01 3.39701596e-02 7.98235245e+01] [-1.59849495e-01 9.87128273e-01 -5.09032003e-03 -8.88901047e+00] [-3.43469998e-02 -4.08289803e-04 9.99409884e-01 -3.21907230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07587156000001 meters 0.01718971837847462 Centerline is valid? [True, True] Translation: X:79.85, Y:-8.89, Z:-3.22 [[ 9.86959221e-01 1.57414920e-01 3.36458008e-02 7.98522403e+01] [-1.57334540e-01 9.87532501e-01 -5.03999663e-03 -8.89488273e+00] [-3.40196924e-02 -3.19375425e-04 9.99421112e-01 -3.22137984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10587156000001 meters 0.015147375294591921 Centerline is valid? [True, True] Translation: X:79.88, Y:-8.90, Z:-3.22 [[ 9.87389539e-01 1.54730126e-01 3.34736544e-02 7.98805028e+01] [-1.54649060e-01 9.87956748e-01 -5.01315675e-03 -8.90170253e+00] [-3.38462091e-02 -2.26730643e-04 9.99427027e-01 -3.22202866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13587156000001 meters 0.014032209973046009 Centerline is valid? [True, True] Translation: X:79.91, Y:-8.91, Z:-3.22 [[ 9.87771545e-01 1.52241887e-01 3.36122425e-02 7.99079159e+01] [-1.52158760e-01 9.88343254e-01 -5.03236876e-03 -8.90796938e+00] [-3.39865704e-02 -1.43566468e-04 9.99422279e-01 -3.22342971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16587156 meters 0.01318778496673766 Centerline is valid? [True, True] Translation: X:79.93, Y:-8.92, Z:-3.22 [[ 9.88578294e-01 1.46822893e-01 3.39999302e-02 7.99345068e+01] [-1.46734696e-01 9.89162796e-01 -5.08850018e-03 -8.91796801e+00] [-3.43785743e-02 4.14114118e-05 9.99408881e-01 -3.22372485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19587156 meters 0.01382788720051194 Centerline is valid? [True, True] Translation: X:79.96, Y:-8.92, Z:-3.23 [[ 9.88922464e-01 1.44475375e-01 3.40474180e-02 7.99612844e+01] [-1.44385644e-01 9.89508389e-01 -5.09254826e-03 -8.92491433e+00] [-3.44259535e-02 1.20176993e-04 9.99407244e-01 -3.22551893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22587156 meters 0.014628857505421254 Centerline is valid? [True, True] Translation: X:79.99, Y:-8.93, Z:-3.23 [[ 9.89258733e-01 1.42290950e-01 3.34730533e-02 7.99891973e+01] [-1.42203043e-01 9.89824858e-01 -5.00453188e-03 -8.93145307e+00] [-3.38445599e-02 1.90806827e-04 9.99427091e-01 -3.22713474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25587156 meters 0.02491226878097192 Centerline is valid? [True, True] Translation: X:80.02, Y:-8.94, Z:-3.23 [[ 9.89497678e-01 1.40684762e-01 3.31985277e-02 8.00163483e+01] [-1.40597437e-01 9.90054412e-01 -4.96204169e-03 -8.93657706e+00] [-3.35664325e-02 2.42300821e-04 9.99436459e-01 -3.23039643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28587156 meters 0.028486038764500454 Centerline is valid? [True, True] Translation: X:80.04, Y:-8.94, Z:-3.23 [[ 9.89880349e-01 1.37894376e-01 3.34968051e-02 8.00447437e+01] [-1.37803949e-01 9.90446882e-01 -5.00445678e-03 -8.94350751e+00] [-3.38668926e-02 3.37821386e-04 9.99426295e-01 -3.23029386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31587156 meters 0.017922928825483884 Centerline is valid? [True, True] Translation: X:80.07, Y:-8.95, Z:-3.23 [[ 9.90038249e-01 1.36626203e-01 3.40227440e-02 8.00728282e+01] [-1.36532222e-01 9.90622598e-01 -5.08138286e-03 -8.94988119e+00] [-3.43979491e-02 3.85562554e-04 9.99408141e-01 -3.22951672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34587156 meters 0.018884678409832892 Centerline is valid? [True, True] Translation: X:80.10, Y:-8.96, Z:-3.23 [[ 9.90177772e-01 1.35582428e-01 3.41377266e-02 8.00995036e+01] [-1.35487238e-01 9.90765980e-01 -5.09716275e-03 -8.95615279e+00] [-3.45135839e-02 4.21870955e-04 9.99404140e-01 -3.23068215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37587156000001 meters 0.01991175377218627 Centerline is valid? [True, True] Translation: X:80.13, Y:-8.96, Z:-3.23 [[ 9.90420397e-01 1.33698012e-01 3.45294000e-02 8.01273472e+01] [-1.33599575e-01 9.91021998e-01 -5.15291157e-03 -8.96416675e+00] [-3.49083290e-02 4.90435573e-04 9.99390398e-01 -3.23086321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40587156000001 meters 0.027071773253017073 Centerline is valid? [True, True] Translation: X:80.15, Y:-8.97, Z:-3.23 [[ 9.90492583e-01 1.33185070e-01 3.44409631e-02 8.01541541e+01] [-1.33086880e-01 9.91091056e-01 -5.13818143e-03 -8.96968743e+00] [-3.48184596e-02 5.05690266e-04 9.99393526e-01 -3.23331485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43587156000001 meters 0.021233304128217667 Centerline is valid? [True, True] Translation: X:80.18, Y:-8.98, Z:-3.23 [[ 9.90533538e-01 1.32901892e-01 3.43569061e-02 8.01809535e+01] [-1.32804081e-01 9.91129065e-01 -5.12363336e-03 -8.97590371e+00] [-3.47330688e-02 5.12393339e-04 9.99396494e-01 -3.23363904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46587156000001 meters 0.021213868332902765 Centerline is valid? [True, True] Translation: X:80.21, Y:-8.98, Z:-3.24 [[ 9.90530313e-01 1.32962997e-01 3.42131468e-02 8.02096690e+01] [-1.32866121e-01 9.91120873e-01 -5.09982873e-03 -8.98077860e+00] [-3.45874524e-02 5.05766838e-04 9.99401547e-01 -3.23565314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49587156000001 meters 0.02081805865239236 Centerline is valid? [True, True] Translation: X:80.24, Y:-8.99, Z:-3.24 [[ 9.90496436e-01 1.33345629e-01 3.37009494e-02 8.02384452e+01] [-1.33251907e-01 9.91069478e-01 -5.02194513e-03 -8.98528515e+00] [-3.40696368e-02 4.83502990e-04 9.99419344e-01 -3.23771757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52587156 meters 0.02004277711498621 Centerline is valid? [True, True] Translation: X:80.27, Y:-8.99, Z:-3.24 [[ 9.90282391e-01 1.35063575e-01 3.31454016e-02 8.02655428e+01] [-1.34973926e-01 9.90836847e-01 -4.93780354e-03 -8.98971794e+00] [-3.35086026e-02 4.16054928e-04 9.99438342e-01 -3.24084685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55587156 meters 0.021294335152946306 Centerline is valid? [True, True] Translation: X:80.29, Y:-8.99, Z:-3.24 [[ 9.90061413e-01 1.36626093e-01 3.33422915e-02 8.02944399e+01] [-1.36536338e-01 9.90622622e-01 -4.96481659e-03 -8.99173353e+00] [-3.37079517e-02 3.63038943e-04 9.99431660e-01 -3.24205434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58587156 meters 0.030332261246208303 Centerline is valid? [True, True] Translation: X:80.32, Y:-8.99, Z:-3.24 [[ 9.89779609e-01 1.38535251e-01 3.38276459e-02 8.03228856e+01] [-1.38444014e-01 9.90357457e-01 -5.03602187e-03 -8.99369575e+00] [-3.41991279e-02 3.01316681e-04 9.99414993e-01 -3.24272238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61587156 meters 0.015480858846044098 Centerline is valid? [True, True] Translation: X:80.35, Y:-9.00, Z:-3.24 [[ 9.89554870e-01 1.40124892e-01 3.38552024e-02 8.03517898e+01] [-1.40034491e-01 9.90133806e-01 -5.03854624e-03 -8.99654350e+00] [-3.42272062e-02 2.45021941e-04 9.99414047e-01 -3.24175256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64587156 meters 0.013471717341185237 Centerline is valid? [True, True] Translation: X:80.38, Y:-9.00, Z:-3.24 [[ 9.88936894e-01 1.44444518e-01 3.37579798e-02 8.03810887e+01] [-1.44357202e-01 9.89512897e-01 -5.02250917e-03 -8.99560977e+00] [-3.41294302e-02 9.37370998e-05 9.99417417e-01 -3.24293486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67587156 meters 0.013208898964200117 Centerline is valid? [True, True] Translation: X:80.41, Y:-9.00, Z:-3.24 [[ 9.88648378e-01 1.46386551e-01 3.38431907e-02 8.04092414e+01] [-1.46299976e-01 9.89227465e-01 -5.03387311e-03 -8.99687512e+00] [-3.42155051e-02 2.54724895e-05 9.99414478e-01 -3.24461315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70587156 meters 0.013074750494424235 Centerline is valid? [True, True] Translation: X:80.44, Y:-9.00, Z:-3.24 [[ 9.88376557e-01 1.48162892e-01 3.40519975e-02 8.04369363e+01] [-1.48076388e-01 9.88962970e-01 -5.06236672e-03 -8.99818077e+00] [-3.44262194e-02 -3.87721939e-05 9.99407241e-01 -3.24476256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73587156 meters 0.013408718532691589 Centerline is valid? [True, True] Translation: X:80.46, Y:-9.00, Z:-3.25 [[ 9.88149954e-01 1.49659228e-01 3.40849431e-02 8.04643703e+01] [-1.49573535e-01 9.88737633e-01 -5.06468282e-03 -8.99965020e+00] [-3.44590425e-02 -9.35393340e-05 9.99406106e-01 -3.24659359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76587156000001 meters 0.014328727347369674 Centerline is valid? [True, True] Translation: X:80.49, Y:-9.00, Z:-3.25 [[ 9.87927294e-01 1.51377745e-01 3.29308331e-02 8.04925753e+01] [-1.51298775e-01 9.88475976e-01 -4.89132789e-03 -9.00173882e+00] [-3.32917756e-02 -1.50118376e-04 9.99445664e-01 -3.25015782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79587156000001 meters 0.014499986168073117 Centerline is valid? [True, True] Translation: X:80.52, Y:-9.01, Z:-3.25 [[ 9.87872289e-01 1.51701075e-01 3.30926667e-02 8.05198599e+01] [-1.51621570e-01 9.88426404e-01 -4.91351949e-03 -9.00500677e+00] [-3.34550517e-02 -1.63632317e-04 9.99440210e-01 -3.25170558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82587156000001 meters 0.014715895626135119 Centerline is valid? [True, True] Translation: X:80.55, Y:-9.01, Z:-3.25 [[ 9.87828081e-01 1.51964528e-01 3.32033861e-02 8.05472167e+01] [-1.51884717e-01 9.88385932e-01 -4.92759604e-03 -9.00788204e+00] [-3.35665796e-02 -1.75469176e-04 9.99436468e-01 -3.25243131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85587156000001 meters 0.014374669544826468 Centerline is valid? [True, True] Translation: X:80.58, Y:-9.01, Z:-3.25 [[ 9.87807948e-01 1.51994590e-01 3.36615951e-02 8.05755924e+01] [-1.51912669e-01 9.88381309e-01 -4.99292382e-03 -9.01144785e+00] [-3.40293889e-02 -1.81572942e-04 9.99420816e-01 -3.25229226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88587156000001 meters 0.014132186099744648 Centerline is valid? [True, True] Translation: X:80.60, Y:-9.01, Z:-3.25 [[ 9.87759023e-01 1.52139978e-01 3.44316737e-02 8.06048367e+01] [-1.52054413e-01 9.88358938e-01 -5.10543279e-03 -9.01359094e+00] [-3.48075929e-02 -1.92550650e-04 9.99394014e-01 -3.25169291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91587156 meters 0.030454380724754534 Centerline is valid? [True, True] Translation: X:80.63, Y:-9.02, Z:-3.26 [[ 9.87770089e-01 1.52116876e-01 3.42156129e-02 8.06321391e+01] [-1.52032425e-01 9.88362494e-01 -5.07174176e-03 -9.01583026e+00] [-3.45889260e-02 -1.92167816e-04 9.99401606e-01 -3.25538620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94587156 meters 0.014296548248956008 Centerline is valid? [True, True] Translation: X:80.66, Y:-9.02, Z:-3.26 [[ 9.87847437e-01 1.51715873e-01 3.37599735e-02 8.06595981e+01] [-1.51633473e-01 9.88424131e-01 -5.00273665e-03 -9.02097974e+00] [-3.41281671e-02 -1.77201466e-04 9.99417449e-01 -3.25671715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97587156 meters 0.020283085855946976 Centerline is valid? [True, True] Translation: X:80.69, Y:-9.02, Z:-3.26 [[ 9.87975875e-01 1.50984975e-01 3.32747326e-02 8.06865487e+01] [-1.50904560e-01 9.88536046e-01 -4.92941678e-03 -9.02405449e+00] [-3.36375405e-02 -1.51164043e-04 9.99434086e-01 -3.26164789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00587156 meters 0.024403779431354137 Centerline is valid? [True, True] Translation: X:80.72, Y:-9.03, Z:-3.26 [[ 9.88148615e-01 1.49991514e-01 3.26322005e-02 8.07150251e+01] [-1.49913771e-01 9.88687277e-01 -4.83008985e-03 -9.02922521e+00] [-3.29875139e-02 -1.19169647e-04 9.99455757e-01 -3.26257981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03587156 meters 0.013450239301849316 Centerline is valid? [True, True] Translation: X:80.74, Y:-9.04, Z:-3.26 [[ 9.88539065e-01 1.47406998e-01 3.25836404e-02 8.07417289e+01] [-1.47328129e-01 9.89075920e-01 -4.82147736e-03 -9.03617452e+00] [-3.29384137e-02 -3.42680675e-05 9.99457383e-01 -3.26374032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06587156 meters 0.013658488591743593 Centerline is valid? [True, True] Translation: X:80.77, Y:-9.04, Z:-3.27 [[ 9.88768725e-01 1.45827113e-01 3.27240318e-02 8.07679787e+01] [-1.45746744e-01 9.89310089e-01 -4.84083447e-03 -9.04176270e+00] [-3.30801398e-02 1.70446345e-05 9.99452702e-01 -3.26661016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09587156 meters 0.013495140656062957 Centerline is valid? [True, True] Translation: X:80.80, Y:-9.05, Z:-3.27 [[ 9.89006208e-01 1.44227456e-01 3.26368144e-02 8.07961910e+01] [-1.44146782e-01 9.89544560e-01 -4.82377122e-03 -9.04758654e+00] [-3.29913024e-02 6.62479267e-05 9.99455637e-01 -3.26628736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12587156000001 meters 0.013699371579978614 Centerline is valid? [True, True] Translation: X:80.82, Y:-9.05, Z:-3.27 [[ 9.89223582e-01 1.42758405e-01 3.25075921e-02 8.08245112e+01] [-1.42677625e-01 9.89757559e-01 -4.80317258e-03 -9.05358313e+00] [-3.28603283e-02 1.13305552e-04 9.99459947e-01 -3.26683812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15587156000001 meters 0.015273037818656998 Centerline is valid? [True, True] Translation: X:80.85, Y:-9.06, Z:-3.27 [[ 9.89680716e-01 1.39731696e-01 3.17353540e-02 8.08517507e+01] [-1.39653200e-01 9.90189381e-01 -4.68758800e-03 -9.06221124e+00] [-3.20790151e-02 2.07271703e-04 9.99485314e-01 -3.27016574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18587156000001 meters 0.0241084141510046 Centerline is valid? [True, True] Translation: X:80.88, Y:-9.07, Z:-3.27 [[ 9.89825377e-01 1.38756804e-01 3.15003438e-02 8.08795787e+01] [-1.38679021e-01 9.90326458e-01 -4.65137925e-03 -9.06736620e+00] [-3.18410344e-02 2.35616375e-04 9.99492918e-01 -3.27307752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21587156000001 meters 0.025570948003499797 Centerline is valid? [True, True] Translation: X:80.91, Y:-9.07, Z:-3.27 [[ 9.89984826e-01 1.38014361e-01 2.96998368e-02 8.09121418e+01] [-1.37718486e-01 9.90401155e-01 -1.17970767e-02 -9.06855698e+00] [-3.10429187e-02 7.58871035e-03 9.99489244e-01 -3.27268980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24587156000001 meters 0.016500255593364262 Centerline is valid? [True, True] Translation: X:80.93, Y:-9.08, Z:-3.28 [[ 9.89976957e-01 1.37561260e-01 3.19769212e-02 8.09347869e+01] [-1.37709767e-01 9.90469523e-01 2.47869081e-03 -9.08085809e+00] [-3.13311940e-02 -6.85738116e-03 9.99485534e-01 -3.27582773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27587156 meters 0.020756314496175328 Centerline is valid? [True, True] Translation: X:80.96, Y:-9.08, Z:-3.28 [[ 9.89868129e-01 1.38444285e-01 3.15319968e-02 8.09641832e+01] [-1.38366337e-01 9.90370194e-01 -4.65136416e-03 -9.07791846e+00] [-3.18723046e-02 2.41270255e-04 9.99491920e-01 -3.27503495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30587156 meters 0.01564468594143765 Centerline is valid? [True, True] Translation: X:80.99, Y:-9.08, Z:-3.28 [[ 9.89763032e-01 1.39115231e-01 3.18762049e-02 8.09921383e+01] [-1.39035965e-01 9.90276175e-01 -4.70070445e-03 -9.08138297e+00] [-3.22201859e-02 2.20644569e-04 9.99480771e-01 -3.27573034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33587156 meters 0.015003439044934038 Centerline is valid? [True, True] Translation: X:81.02, Y:-9.08, Z:-3.28 [[ 9.89649103e-01 1.39871931e-01 3.21013508e-02 8.10211008e+01] [-1.39792009e-01 9.90169584e-01 -4.73175138e-03 -9.08320034e+00] [-3.24476204e-02 1.95261187e-04 9.99473418e-01 -3.27590350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36587156 meters 0.031039623907099304 Centerline is valid? [True, True] Translation: X:81.05, Y:-9.08, Z:-3.28 [[ 9.89291176e-01 1.42240495e-01 3.27201874e-02 8.10500846e+01] [-1.42158809e-01 9.89832121e-01 -4.82135769e-03 -9.08222243e+00] [-3.30732848e-02 1.18263739e-04 9.99452922e-01 -3.27793073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39587156 meters 0.014142594057033104 Centerline is valid? [True, True] Translation: X:81.08, Y:-9.09, Z:-3.28 [[ 9.89234709e-01 1.42708884e-01 3.23861988e-02 8.10776739e+01] [-1.42629154e-01 9.89764702e-01 -4.77076083e-03 -9.08549092e+00] [-3.27355463e-02 1.00186072e-04 9.99464043e-01 -3.27867890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42587156 meters 0.013828330968792005 Centerline is valid? [True, True] Translation: X:81.11, Y:-9.09, Z:-3.28 [[ 9.89071803e-01 1.43696635e-01 3.29885677e-02 8.11067204e+01] [-1.43614532e-01 9.89621783e-01 -4.85732465e-03 -9.08703793e+00] [-3.33441864e-02 6.66051368e-05 9.99443926e-01 -3.27890872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45587156 meters 0.013428220364557082 Centerline is valid? [True, True] Translation: X:81.14, Y:-9.09, Z:-3.28 [[ 9.88921770e-01 1.44671963e-01 3.32228110e-02 8.11353611e+01] [-1.44589291e-01 9.89479672e-01 -4.89028953e-03 -9.08847472e+00] [-3.35807840e-02 3.24510988e-05 9.99436006e-01 -3.27826421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48587156 meters 0.019234531052521077 Centerline is valid? [True, True] Translation: X:81.16, Y:-9.09, Z:-3.28 [[ 9.88636323e-01 1.46425327e-01 3.40271256e-02 8.11640584e+01] [-1.46339698e-01 9.89221726e-01 -5.00700556e-03 -9.08876490e+00] [-3.43935244e-02 -2.94117331e-05 9.99408367e-01 -3.27993907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51587156000001 meters 0.012979866411894522 Centerline is valid? [True, True] Translation: X:81.19, Y:-9.09, Z:-3.28 [[ 9.88587151e-01 1.46649369e-01 3.44877938e-02 8.11927415e+01] [-1.46561600e-01 9.89188537e-01 -5.07312790e-03 -9.09153375e+00] [-3.48589013e-02 -3.93571688e-05 9.99392243e-01 -3.27808398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54587156000001 meters 0.013257185275679952 Centerline is valid? [True, True] Translation: X:81.22, Y:-9.09, Z:-3.28 [[ 9.88519335e-01 1.47021249e-01 3.48464643e-02 8.12196031e+01] [-1.46931923e-01 9.89133332e-01 -5.12451449e-03 -9.09258369e+00] [-3.52212118e-02 -5.43763378e-05 9.99379539e-01 -3.27952762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57587156000001 meters 0.013331010429365148 Centerline is valid? [True, True] Translation: X:81.25, Y:-9.09, Z:-3.28 [[ 9.88338759e-01 1.48114404e-01 3.53358239e-02 8.12482423e+01] [-1.48023362e-01 9.88970229e-01 -5.19331359e-03 -9.09270258e+00] [-3.57152824e-02 -9.77743645e-05 9.99362001e-01 -3.28007851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60587156000001 meters 0.01391955868405229 Centerline is valid? [True, True] Translation: X:81.28, Y:-9.09, Z:-3.28 [[ 9.88315994e-01 1.48331226e-01 3.50619964e-02 8.12761504e+01] [-1.48241820e-01 9.88937731e-01 -5.15043681e-03 -9.09472053e+00] [-3.54381018e-02 -1.07395077e-04 9.99371867e-01 -3.28335611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63587156000001 meters 0.013533820099815685 Centerline is valid? [True, True] Translation: X:81.30, Y:-9.10, Z:-3.28 [[ 9.88275358e-01 1.48667988e-01 3.47799776e-02 8.13046665e+01] [-1.48580299e-01 9.88887160e-01 -5.10683436e-03 -9.09746017e+00] [-3.51526961e-02 -1.20660937e-04 9.99381946e-01 -3.28277971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66587156 meters 0.013533820099815685 Centerline is valid? [True, True] Translation: X:81.33, Y:-9.10, Z:-3.28 [[ 9.88285898e-01 1.48597854e-01 3.47801855e-02 8.13318498e+01] [-1.48510172e-01 9.88897701e-01 -5.10541852e-03 -9.10131926e+00] [-3.51526997e-02 -1.19598198e-04 9.99381946e-01 -3.28401886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69587156 meters 0.014185234496261221 Centerline is valid? [True, True] Translation: X:81.36, Y:-9.10, Z:-3.29 [[ 9.88177642e-01 1.49439041e-01 3.42479306e-02 8.13601757e+01] [-1.49354616e-01 9.88770929e-01 -5.02472669e-03 -9.09930640e+00] [-3.46142485e-02 -1.49763965e-04 9.99400736e-01 -3.28676101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72587156 meters 0.02005182176687021 Centerline is valid? [True, True] Translation: X:81.39, Y:-9.10, Z:-3.29 [[ 9.88112783e-01 1.49860127e-01 3.42792903e-02 8.13887849e+01] [-1.49775877e-01 9.88707194e-01 -5.02714277e-03 -9.10163228e+00] [-3.46455492e-02 -1.66826723e-04 9.99399649e-01 -3.28955814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75587156 meters 0.014116681063469777 Centerline is valid? [True, True] Translation: X:81.42, Y:-9.11, Z:-3.29 [[ 9.88240924e-01 1.49110323e-01 3.38524312e-02 8.14160244e+01] [-1.49027765e-01 9.88820556e-01 -4.96319713e-03 -9.10539939e+00] [-3.42140438e-02 -1.40117634e-04 9.99414518e-01 -3.29004649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78587156 meters 0.013937254659241505 Centerline is valid? [True, True] Translation: X:81.44, Y:-9.11, Z:-3.29 [[ 9.88316303e-01 1.48587804e-01 3.39492341e-02 8.14443743e+01] [-1.48504559e-01 9.88899211e-01 -4.97465901e-03 -9.10927949e+00] [-3.43115445e-02 -1.25079432e-04 9.99411178e-01 -3.29141851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81587156 meters 0.013396769284288337 Centerline is valid? [True, True] Translation: X:81.47, Y:-9.11, Z:-3.29 [[ 9.88617530e-01 1.46452721e-01 3.44525682e-02 8.14717122e+01] [-1.46365747e-01 9.89217670e-01 -5.04682834e-03 -9.11374392e+00] [-3.48202110e-02 -5.32929114e-05 9.99393591e-01 -3.29212473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84587156 meters 0.013396769284288337 Centerline is valid? [True, True] Translation: X:81.50, Y:-9.12, Z:-3.29 [[ 9.88627852e-01 1.46382961e-01 3.44528502e-02 8.14988965e+01] [-1.46296011e-01 9.89227995e-01 -5.04490249e-03 -9.11759226e+00] [-3.48202117e-02 -5.27834516e-05 9.99393591e-01 -3.29336397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87587156000001 meters 0.013000791530156156 Centerline is valid? [True, True] Translation: X:81.53, Y:-9.12, Z:-3.29 [[ 9.89027252e-01 1.43405976e-01 3.54939697e-02 8.15268004e+01] [-1.43311876e-01 9.89663945e-01 -5.19448390e-03 -9.12402553e+00] [-3.58720221e-02 5.07787633e-05 9.99356391e-01 -3.29233778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90587156000001 meters 0.013314115267875785 Centerline is valid? [True, True] Translation: X:81.55, Y:-9.13, Z:-3.29 [[ 9.89235571e-01 1.41887490e-01 3.57900142e-02 8.15530699e+01] [-1.41790872e-01 9.89882786e-01 -5.23636859e-03 -9.12891852e+00] [-3.61708941e-02 1.05304761e-04 9.99345614e-01 -3.29344486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93587156000001 meters 0.013530890986276958 Centerline is valid? [True, True] Translation: X:81.58, Y:-9.13, Z:-3.29 [[ 9.89433722e-01 1.40438943e-01 3.60251744e-02 8.15817868e+01] [-1.40340213e-01 9.90089329e-01 -5.26741432e-03 -9.13386016e+00] [-3.64078909e-02 1.55976693e-04 9.99337001e-01 -3.29387443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96587156000001 meters 0.014156194172427077 Centerline is valid? [True, True] Translation: X:81.61, Y:-9.14, Z:-3.29 [[ 9.89627383e-01 1.38974366e-01 3.63836333e-02 8.16105529e+01] [-1.38872737e-01 9.90295956e-01 -5.31804117e-03 -9.13873283e+00] [-3.67696363e-02 2.10184420e-04 9.99323746e-01 -3.29453136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99587156000001 meters 0.0156948933343122 Centerline is valid? [True, True] Translation: X:81.64, Y:-9.14, Z:-3.30 [[ 9.89914287e-01 1.36851411e-01 3.66250597e-02 8.16373053e+01] [-1.36747034e-01 9.90591544e-01 -5.35174277e-03 -9.14409033e+00] [-3.70128680e-02 2.89398336e-04 9.99314747e-01 -3.29619604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02587156 meters 0.015540566670338393 Centerline is valid? [True, True] Translation: X:81.67, Y:-9.15, Z:-3.30 [[ 9.90022238e-01 1.36186832e-01 3.61816982e-02 8.16659902e+01] [-1.36084624e-01 9.90683124e-01 -5.28421277e-03 -9.14733660e+00] [-3.65642380e-02 3.07715335e-04 9.99331257e-01 -3.29730873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05587156 meters 0.025046107720568252 Centerline is valid? [True, True] Translation: X:81.69, Y:-9.15, Z:-3.30 [[ 9.90059481e-01 1.35925392e-01 3.61457049e-02 8.16941945e+01] [-1.35823278e-01 9.90719026e-01 -5.27721130e-03 -9.15081157e+00] [-3.65275446e-02 3.15324964e-04 9.99332597e-01 -3.30103340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08587156 meters 0.0166795803240315 Centerline is valid? [True, True] Translation: X:81.72, Y:-9.15, Z:-3.30 [[ 9.90258570e-01 1.34905965e-01 3.44723887e-02 8.17216763e+01] [-1.34812519e-01 9.90858349e-01 -5.03153614e-03 -9.15403036e+00] [-3.48360384e-02 3.35212219e-04 9.99392985e-01 -3.30394291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11587156 meters 0.01658556499942094 Centerline is valid? [True, True] Translation: X:81.75, Y:-9.16, Z:-3.31 [[ 9.90321724e-01 1.34634952e-01 3.37092524e-02 8.17498963e+01] [-1.34545518e-01 9.90895210e-01 -4.91792855e-03 -9.15636159e+00] [-3.40644618e-02 3.34902648e-04 9.99419582e-01 -3.30588554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14587156 meters 0.017035617947888222 Centerline is valid? [True, True] Translation: X:81.78, Y:-9.16, Z:-3.31 [[ 9.90388648e-01 1.34211163e-01 3.34318786e-02 8.17776965e+01] [-1.34123025e-01 9.90952696e-01 -4.87535689e-03 -9.15952895e+00] [-3.37837375e-02 3.44513417e-04 9.99429107e-01 -3.30836064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17587156 meters 0.017990522998070455 Centerline is valid? [True, True] Translation: X:81.80, Y:-9.16, Z:-3.31 [[ 9.90429777e-01 1.33878274e-01 3.35479353e-02 8.18046704e+01] [-1.33789420e-01 9.90997721e-01 -4.88968368e-03 -9.16320195e+00] [-3.39005498e-02 3.54529530e-04 9.99425148e-01 -3.31127151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20587156 meters 0.019070191504071406 Centerline is valid? [True, True] Translation: X:81.83, Y:-9.17, Z:-3.31 [[ 9.90500530e-01 1.33394021e-01 3.33876596e-02 8.18321160e+01] [-1.33305843e-01 9.91063016e-01 -4.86323935e-03 -9.16675137e+00] [-3.37380017e-02 3.66271025e-04 9.99430644e-01 -3.31376864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23587156 meters 0.01817839101453059 Centerline is valid? [True, True] Translation: X:81.86, Y:-9.17, Z:-3.31 [[ 9.90685803e-01 1.32130900e-01 3.29099414e-02 8.18610758e+01] [-1.32044596e-01 9.91232195e-01 -4.79170023e-03 -9.16616265e+00] [-3.32545251e-02 4.01489466e-04 9.99446835e-01 -3.31301549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26587156000001 meters 0.03289908721707249 Centerline is valid? [True, True] Translation: X:81.89, Y:-9.17, Z:-3.32 [[ 9.90732313e-01 1.31781311e-01 3.29115367e-02 8.18877105e+01] [-1.31694848e-01 9.91278728e-01 -4.79069482e-03 -9.17317029e+00] [-3.32558303e-02 4.12016330e-04 9.99446787e-01 -3.31959766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29587156000001 meters 0.020096732138709588 Centerline is valid? [True, True] Translation: X:81.92, Y:-9.18, Z:-3.32 [[ 9.90946155e-01 1.30138191e-01 3.30116512e-02 8.19160624e+01] [-1.30050384e-01 9.91495756e-01 -4.80244748e-03 -9.17604247e+00] [-3.33558939e-02 4.65788956e-04 9.99443429e-01 -3.31677664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32587156000001 meters 0.021830089071707557 Centerline is valid? [True, True] Translation: X:81.94, Y:-9.18, Z:-3.32 [[ 9.91317961e-01 1.27170566e-01 3.34117843e-02 8.19443749e+01] [-1.27079003e-01 9.91880699e-01 -4.85852254e-03 -9.18196141e+00] [-3.37583651e-02 5.70404430e-04 9.99429861e-01 -3.31686724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35587156000001 meters 0.03148988751531063 Centerline is valid? [True, True] Translation: X:81.97, Y:-9.19, Z:-3.32 [[ 9.91449127e-01 1.26060331e-01 3.37256756e-02 8.19728475e+01] [-1.25966453e-01 9.92022388e-01 -4.90252612e-03 -9.18552880e+00] [-3.40746393e-02 6.12301506e-04 9.99419103e-01 -3.31859646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38587156000001 meters 0.025545036262538613 Centerline is valid? [True, True] Translation: X:82.00, Y:-9.19, Z:-3.32 [[ 9.91729619e-01 1.23826259e-01 3.37552889e-02 8.19996557e+01] [-1.23730975e-01 9.92303675e-01 -4.90528559e-03 -9.19366725e+00] [-3.41029004e-02 6.88142219e-04 9.99418090e-01 -3.31950437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41587156 meters 0.026623045954510566 Centerline is valid? [True, True] Translation: X:82.03, Y:-9.20, Z:-3.32 [[ 9.91921037e-01 1.22177850e-01 3.41354621e-02 8.20281416e+01] [-1.22079510e-01 9.92507939e-01 -4.95824982e-03 -9.19863024e+00] [-3.44855054e-02 7.50951813e-04 9.99404916e-01 -3.31985934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44587156 meters 0.02908383988053805 Centerline is valid? [True, True] Translation: X:82.05, Y:-9.21, Z:-3.32 [[ 9.92092035e-01 1.20759521e-01 3.42130485e-02 8.20548783e+01] [-1.20659942e-01 9.92681468e-01 -4.96801519e-03 -9.20541727e+00] [-3.45625943e-02 8.00583842e-04 9.99402214e-01 -3.32119940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47587156 meters 0.047155794631392564 Centerline is valid? [True, True] Translation: X:82.08, Y:-9.21, Z:-3.32 [[ 9.92295713e-01 1.19008598e-01 3.44408546e-02 8.20831024e+01] [-1.18906710e-01 9.92892847e-01 -4.99892509e-03 -9.21090053e+00] [-3.47909932e-02 8.65163236e-04 9.99394236e-01 -3.32324889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50587156 meters 0.03805728778125932 Centerline is valid? [True, True] Translation: X:82.11, Y:-9.22, Z:-3.32 [[ 9.92353105e-01 1.18562649e-01 3.43251201e-02 8.21111168e+01] [-1.18461234e-01 9.92946187e-01 -4.98050519e-03 -9.21554581e+00] [-3.46734990e-02 8.76223690e-04 9.99398309e-01 -3.32363983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53587156 meters 0.030114079078139223 Centerline is valid? [True, True] Translation: X:82.14, Y:-9.22, Z:-3.32 [[ 9.92391808e-01 1.18178125e-01 3.45315969e-02 8.21389439e+01] [-1.18075305e-01 9.92992010e-01 -5.00898732e-03 -9.22089790e+00] [-3.48815526e-02 8.93549145e-04 9.99391054e-01 -3.32364468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56587156 meters 0.02879634473483057 Centerline is valid? [True, True] Translation: X:82.17, Y:-9.22, Z:-3.32 [[ 9.92338990e-01 1.18630350e-01 3.44988317e-02 8.21682089e+01] [-1.18528076e-01 9.92938102e-01 -5.00201105e-03 -9.22333109e+00] [-3.48485948e-02 8.74610451e-04 9.99392221e-01 -3.32434407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59587156 meters 0.0281017070210739 Centerline is valid? [True, True] Translation: X:82.20, Y:-9.23, Z:-3.33 [[ 9.92108572e-01 1.20422746e-01 3.49133766e-02 8.21958545e+01] [-1.20319214e-01 9.92722364e-01 -5.05908579e-03 -9.22511307e+00] [-3.52685188e-02 8.18412349e-04 9.99377537e-01 -3.32517877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62587156000001 meters 0.025922849577587257 Centerline is valid? [True, True] Translation: X:82.22, Y:-9.23, Z:-3.33 [[ 9.91934718e-01 1.21717458e-01 3.53606381e-02 8.22248037e+01] [-1.21612138e-01 9.92564482e-01 -5.12218811e-03 -9.22597657e+00] [-3.57211732e-02 7.80593425e-04 9.99361490e-01 -3.32543871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65587156000001 meters 0.025208594090279028 Centerline is valid? [True, True] Translation: X:82.25, Y:-9.23, Z:-3.33 [[ 9.91774867e-01 1.22892382e-01 3.57781364e-02 8.22520520e+01] [-1.22785382e-01 9.92419723e-01 -5.18101636e-03 -9.22879084e+00] [-3.61436356e-02 7.45369666e-04 9.99346327e-01 -3.32675810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68587156000001 meters 0.023853355283572332 Centerline is valid? [True, True] Translation: X:82.28, Y:-9.23, Z:-3.33 [[ 9.91625909e-01 1.24125137e-01 3.56511990e-02 8.22810074e+01] [-1.24019772e-01 9.92266328e-01 -5.16039981e-03 -9.23173473e+00] [-3.60160197e-02 6.95732578e-04 9.99350971e-01 -3.32842551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71587156000001 meters 0.022025410692977677 Centerline is valid? [True, True] Translation: X:82.31, Y:-9.23, Z:-3.33 [[ 9.91400420e-01 1.25886152e-01 3.57475009e-02 8.23104300e+01] [-1.25781426e-01 9.92044494e-01 -5.17252353e-03 -9.23275946e+00] [-3.61142606e-02 6.31670342e-04 9.99347468e-01 -3.32957232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74587156000001 meters 0.02716980191960585 Centerline is valid? [True, True] Translation: X:82.34, Y:-9.24, Z:-3.33 [[ 9.91289450e-01 1.26783923e-01 3.56519791e-02 8.23377196e+01] [-1.26680376e-01 9.91930180e-01 -5.15763570e-03 -9.23570418e+00] [-3.60181793e-02 5.96303745e-04 9.99350957e-01 -3.33264622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77587156 meters 0.027888784344279532 Centerline is valid? [True, True] Translation: X:82.37, Y:-9.24, Z:-3.33 [[ 9.91228047e-01 1.27343732e-01 3.53628588e-02 8.23664822e+01] [-1.27242293e-01 9.91858483e-01 -5.11359967e-03 -9.23806273e+00] [-3.57261364e-02 5.69092187e-04 9.99361456e-01 -3.33441400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80587156 meters 0.026638647825406776 Centerline is valid? [True, True] Translation: X:82.40, Y:-9.24, Z:-3.34 [[ 9.91193150e-01 1.27711625e-01 3.50125749e-02 8.23950853e+01] [-1.27612474e-01 9.91811192e-01 -5.06130477e-03 -9.24086957e+00] [-3.53722511e-02 5.48689325e-04 9.99374055e-01 -3.33593478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83587156 meters 0.020540156650733294 Centerline is valid? [True, True] Translation: X:82.42, Y:-9.24, Z:-3.34 [[ 9.91167728e-01 1.27892074e-01 3.50735279e-02 8.24241655e+01] [-1.27792748e-01 9.91787943e-01 -5.06845260e-03 -9.24409351e+00] [-3.54337170e-02 5.41544128e-04 9.99371882e-01 -3.33582507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86587156 meters 0.020112941773295447 Centerline is valid? [True, True] Translation: X:82.45, Y:-9.25, Z:-3.34 [[ 9.91008203e-01 1.29095117e-01 3.51737400e-02 8.24520847e+01] [-1.28996036e-01 9.91632090e-01 -5.08136328e-03 -9.24706688e+00] [-3.55353885e-02 4.98399674e-04 9.99368294e-01 -3.33739372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89587156 meters 0.018893616829578574 Centerline is valid? [True, True] Translation: X:82.48, Y:-9.25, Z:-3.34 [[ 9.90940176e-01 1.29711891e-01 3.48194331e-02 8.24807692e+01] [-1.29615253e-01 9.91551615e-01 -5.02802455e-03 -9.24850808e+00] [-3.51774597e-02 4.69341892e-04 9.99380971e-01 -3.33851881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92587156 meters 0.026348077611707325 Centerline is valid? [True, True] Translation: X:82.51, Y:-9.25, Z:-3.34 [[ 9.90819386e-01 1.30765185e-01 3.43134262e-02 8.25082646e+01] [-1.30672019e-01 9.91413277e-01 -4.95346261e-03 -9.25091714e+00] [-3.46665268e-02 4.24182085e-04 9.99398845e-01 -3.34100422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95587156 meters 0.018081143454475482 Centerline is valid? [True, True] Translation: X:82.54, Y:-9.25, Z:-3.34 [[ 9.90742442e-01 1.31307968e-01 3.44620239e-02 8.25372675e+01] [-1.31214398e-01 9.91341542e-01 -4.97272957e-03 -9.25327877e+00] [-3.48165950e-02 4.04780495e-04 9.99393637e-01 -3.34217445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98587156 meters 0.01720822873469492 Centerline is valid? [True, True] Translation: X:82.57, Y:-9.25, Z:-3.34 [[ 9.90575606e-01 1.32529990e-01 3.45799084e-02 8.25659286e+01] [-1.32436580e-01 9.91178930e-01 -4.98810279e-03 -9.25255761e+00] [-3.49359498e-02 3.61448133e-04 9.99389488e-01 -3.34362453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01587156000001 meters 0.01659806787595522 Centerline is valid? [True, True] Translation: X:82.59, Y:-9.25, Z:-3.34 [[ 9.90550698e-01 1.32578555e-01 3.51032869e-02 8.25944985e+01] [-1.32482384e-01 9.91172434e-01 -5.06192701e-03 -9.25406745e+00] [-3.54645133e-02 3.63528175e-04 9.99370870e-01 -3.34347129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04587156000001 meters 0.016703288452510793 Centerline is valid? [True, True] Translation: X:82.62, Y:-9.26, Z:-3.34 [[ 9.90553452e-01 1.32431670e-01 3.55768307e-02 8.26231506e+01] [-1.32332854e-01 9.91192067e-01 -5.12848491e-03 -9.25756111e+00] [-3.59426462e-02 3.72054897e-04 9.99353785e-01 -3.34369697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07587156000001 meters 0.018000471014142573 Centerline is valid? [True, True] Translation: X:82.65, Y:-9.26, Z:-3.35 [[ 9.90717892e-01 1.31126337e-01 3.58321264e-02 8.26507487e+01] [-1.31025303e-01 9.91365577e-01 -5.16366336e-03 -9.26331040e+00] [-3.61998289e-02 4.20818488e-04 9.99344483e-01 -3.34515864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10587156000001 meters 0.019031242741081693 Centerline is valid? [True, True] Translation: X:82.68, Y:-9.27, Z:-3.35 [[ 9.90864068e-01 1.30030187e-01 3.57847596e-02 8.26794171e+01] [-1.29928787e-01 9.91509930e-01 -5.15459436e-03 -9.26844857e+00] [-3.61511973e-02 4.58031949e-04 9.99346227e-01 -3.34686021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13587156000001 meters 0.020717944223360114 Centerline is valid? [True, True] Translation: X:82.71, Y:-9.27, Z:-3.35 [[ 9.91055920e-01 1.28650653e-01 3.54566214e-02 8.27064557e+01] [-1.28550276e-01 9.91689849e-01 -5.10581274e-03 -9.27421115e+00] [-3.58188376e-02 5.02187473e-04 9.99358173e-01 -3.34898919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16587156 meters 0.030414643892529413 Centerline is valid? [True, True] Translation: X:82.73, Y:-9.28, Z:-3.35 [[ 9.91246665e-01 1.27305433e-01 3.49767884e-02 8.27344390e+01] [-1.27206993e-01 9.91863415e-01 -5.03461647e-03 -9.27923776e+00] [-3.53331308e-02 5.41254722e-04 9.99375443e-01 -3.35230636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19587156 meters 0.03199605982366906 Centerline is valid? [True, True] Translation: X:82.76, Y:-9.29, Z:-3.35 [[ 9.91738696e-01 1.23535997e-01 3.45429588e-02 8.27630538e+01] [-1.23437760e-01 9.92339869e-01 -4.97037230e-03 -9.28980123e+00] [-3.48923751e-02 6.65405090e-04 9.99390854e-01 -3.35461924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22587156 meters 0.02604774791830906 Centerline is valid? [True, True] Translation: X:82.79, Y:-9.30, Z:-3.35 [[ 9.92050160e-01 1.20988822e-01 3.46148008e-02 8.27911463e+01] [-1.20888646e-01 9.92653582e-01 -4.98016026e-03 -9.29562276e+00] [-3.49630498e-02 7.56032378e-04 9.99388320e-01 -3.35348471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25587156 meters 0.027458469379602515 Centerline is valid? [True, True] Translation: X:82.82, Y:-9.30, Z:-3.35 [[ 9.92337285e-01 1.18675350e-01 3.43929370e-02 8.28192442e+01] [-1.18575122e-01 9.92932763e-01 -4.94661319e-03 -9.30286967e+00] [-3.47369150e-02 8.30561996e-04 9.99396146e-01 -3.35496128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28587156 meters 0.03362770845514446 Centerline is valid? [True, True] Translation: X:82.85, Y:-9.32, Z:-3.36 [[ 9.92619333e-01 1.16368169e-01 3.41366104e-02 8.28455276e+01] [-1.16268135e-01 9.93205736e-01 -4.90776140e-03 -9.31655754e+00] [-3.44757845e-02 9.02538841e-04 9.99405126e-01 -3.35890670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31587156 meters 0.03335106049233275 Centerline is valid? [True, True] Translation: X:82.87, Y:-9.32, Z:-3.36 [[ 9.93051451e-01 1.12588343e-01 3.42444304e-02 8.28743960e+01] [-1.12485438e-01 9.93641178e-01 -4.92304006e-03 -9.32350188e+00] [-3.45809531e-02 1.03683233e-03 9.99401362e-01 -3.35753436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34587156 meters 0.04093274615951318 Centerline is valid? [True, True] Translation: X:82.90, Y:-9.33, Z:-3.36 [[ 9.93184423e-01 1.11403153e-01 3.42642463e-02 8.29030182e+01] [-1.11299471e-01 9.93774711e-01 -4.92453132e-03 -9.33116252e+00] [-3.45995498e-02 1.07737533e-03 9.99400676e-01 -3.35975654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37587156000001 meters 0.04016761490494108 Centerline is valid? [True, True] Translation: X:82.93, Y:-9.34, Z:-3.36 [[ 9.93229690e-01 1.10793220e-01 3.49234195e-02 8.29303893e+01] [-1.10685160e-01 9.93842850e-01 -5.01845163e-03 -9.34464903e+00] [-3.52644012e-02 1.11897087e-03 9.99377391e-01 -3.36044323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40587156000001 meters 0.034297436253861724 Centerline is valid? [True, True] Translation: X:82.96, Y:-9.34, Z:-3.36 [[ 9.93121109e-01 1.11593123e-01 3.54603824e-02 8.29606083e+01] [-1.11482256e-01 9.93753365e-01 -5.09468383e-03 -9.34273340e+00] [-3.58074060e-02 1.10643463e-03 9.99358097e-01 -3.35869649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43587156000001 meters 0.03320633838500977 Centerline is valid? [True, True] Translation: X:82.99, Y:-9.35, Z:-3.36 [[ 9.92946904e-01 1.12976241e-01 3.59557248e-02 8.29885979e+01] [-1.12863210e-01 9.93597114e-01 -5.16447531e-03 -9.34745425e+00] [-3.63089674e-02 1.06997126e-03 9.99340039e-01 -3.35905228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46587156000001 meters 0.03692626274299211 Centerline is valid? [True, True] Translation: X:83.02, Y:-9.35, Z:-3.36 [[ 9.92770023e-01 1.14597359e-01 3.57089068e-02 8.30170804e+01] [-1.14486937e-01 9.93411515e-01 -5.12861161e-03 -9.35158712e+00] [-3.60613646e-02 1.00332849e-03 9.99349074e-01 -3.36130759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49587156000001 meters 0.035698489849150715 Centerline is valid? [True, True] Translation: X:83.05, Y:-9.36, Z:-3.36 [[ 9.92523676e-01 1.16650995e-01 3.59068020e-02 8.30458800e+01] [-1.16540737e-01 9.93172531e-01 -5.15564603e-03 -9.35511287e+00] [-3.62630606e-02 9.32495573e-04 9.99341844e-01 -3.36261652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52587156 meters 0.035698489849150715 Centerline is valid? [True, True] Translation: X:83.07, Y:-9.36, Z:-3.36 [[ 9.92529022e-01 1.16605467e-01 3.59068915e-02 8.30739084e+01] [-1.16495202e-01 9.93177876e-01 -5.15502222e-03 -9.35905101e+00] [-3.62630341e-02 9.33528580e-04 9.99341844e-01 -3.36389373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55587156 meters 0.025708304239637107 Centerline is valid? [True, True] Translation: X:83.10, Y:-9.36, Z:-3.36 [[ 9.91952135e-01 1.21513952e-01 3.55713518e-02 8.31039979e+01] [-1.21408958e-01 9.92589444e-01 -5.10499223e-03 -9.35805847e+00] [-3.59280761e-02 7.45227207e-04 9.99354100e-01 -3.36468849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58587156 meters 0.021630354580260483 Centerline is valid? [True, True] Translation: X:83.13, Y:-9.36, Z:-3.37 [[ 9.91648963e-01 1.24112737e-01 3.50479970e-02 8.31336766e+01] [-1.24012446e-01 9.92267916e-01 -5.02949049e-03 -9.35666578e+00] [-3.54012267e-02 6.41101192e-04 9.99372974e-01 -3.36528322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61587156 meters 0.02102885274661391 Centerline is valid? [True, True] Translation: X:83.16, Y:-9.36, Z:-3.37 [[ 9.91301557e-01 1.26907102e-01 3.48684622e-02 8.31615447e+01] [-1.26809648e-01 9.91914462e-01 -5.00133626e-03 -9.35905549e+00] [-3.52212370e-02 5.36175020e-04 9.99379396e-01 -3.36849064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64587156 meters 0.016675904550449636 Centerline is valid? [True, True] Translation: X:83.19, Y:-9.35, Z:-3.37 [[ 9.90576683e-01 1.32499981e-01 3.46639734e-02 8.31903172e+01] [-1.32407157e-01 9.91182952e-01 -4.96998576e-03 -9.35440430e+00] [-3.50168625e-02 3.33393817e-04 9.99386666e-01 -3.37003952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67587156 meters 0.014672604900082152 Centerline is valid? [True, True] Translation: X:83.22, Y:-9.35, Z:-3.37 [[ 9.90217145e-01 1.35174857e-01 3.46087353e-02 8.32196798e+01] [-1.35084035e-01 9.90821731e-01 -4.95995158e-03 -9.35425056e+00] [-3.49615478e-02 2.36341471e-04 9.99388630e-01 -3.37084236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70587156 meters 0.013482264313904672 Centerline is valid? [True, True] Translation: X:83.25, Y:-9.35, Z:-3.37 [[ 9.89832271e-01 1.37937818e-01 3.47164807e-02 8.32477920e+01] [-1.37848182e-01 9.90440881e-01 -4.97386260e-03 -9.35426813e+00] [-3.50707055e-02 1.37685944e-04 9.99384824e-01 -3.37251159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73587156 meters 0.012837313049019253 Centerline is valid? [True, True] Translation: X:83.28, Y:-9.35, Z:-3.37 [[ 9.89464128e-01 1.40592667e-01 3.45606840e-02 8.32774316e+01] [-1.40505527e-01 9.90067523e-01 -4.94941059e-03 -9.35355536e+00] [-3.49132617e-02 4.12971078e-05 9.99390345e-01 -3.37339064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76587156000001 meters 0.013518103418443287 Centerline is valid? [True, True] Translation: X:83.31, Y:-9.35, Z:-3.38 [[ 9.88826408e-01 1.45132391e-01 3.40429849e-02 8.33067083e+01] [-1.45050581e-01 9.89412237e-01 -4.87381765e-03 -9.34828420e+00] [-3.43898947e-02 -1.18595137e-04 9.99408486e-01 -3.37580591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79587156000001 meters 0.014303921875821688 Centerline is valid? [True, True] Translation: X:83.34, Y:-9.35, Z:-3.38 [[ 9.88618503e-01 1.46663693e-01 3.35144184e-02 8.33359440e+01] [-1.46585354e-01 9.89186399e-01 -4.79604579e-03 -9.34859888e+00] [-3.38554126e-02 -1.71263288e-04 9.99426727e-01 -3.37805786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82587156000001 meters 0.023153320509789403 Centerline is valid? [True, True] Translation: X:83.36, Y:-9.35, Z:-3.38 [[ 9.88562849e-01 1.47187754e-01 3.28520792e-02 8.33642608e+01] [-1.47112822e-01 9.89108553e-01 -4.69973258e-03 -9.35012729e+00] [-3.31860156e-02 -1.86981040e-04 9.99449175e-01 -3.38145395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85587156000001 meters 0.015324415153698652 Centerline is valid? [True, True] Translation: X:83.39, Y:-9.35, Z:-3.38 [[ 9.88552731e-01 1.47269790e-01 3.27888231e-02 8.33911530e+01] [-1.47195230e-01 9.89096341e-01 -4.68951428e-03 -9.35140192e+00] [-3.31219288e-02 -1.90526214e-04 9.99451300e-01 -3.38402177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88587156000001 meters 0.014590943262255249 Centerline is valid? [True, True] Translation: X:83.42, Y:-9.36, Z:-3.38 [[ 9.88663428e-01 1.46577620e-01 3.25519153e-02 8.34187945e+01] [-1.46503854e-01 9.89199157e-01 -4.65275538e-03 -9.35546376e+00] [-3.28823170e-02 -1.68971949e-04 9.99459216e-01 -3.38416936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91587156 meters 0.013588191846079041 Centerline is valid? [True, True] Translation: X:83.45, Y:-9.36, Z:-3.39 [[ 9.89104029e-01 1.43500643e-01 3.28753056e-02 8.34461812e+01] [-1.43423777e-01 9.89650221e-01 -4.69676599e-03 -9.36209787e+00] [-3.32090424e-02 -6.95103440e-05 9.99448425e-01 -3.38524182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94587156 meters 0.013153333679238679 Centerline is valid? [True, True] Translation: X:83.47, Y:-9.37, Z:-3.39 [[ 9.89389852e-01 1.41597010e-01 3.25270400e-02 8.34737714e+01] [-1.41520836e-01 9.89924384e-01 -4.64394120e-03 -9.36833255e+00] [-3.28568782e-02 -8.58560101e-06 9.99460067e-01 -3.38617351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97587156 meters 0.013555827589625046 Centerline is valid? [True, True] Translation: X:83.50, Y:-9.37, Z:-3.39 [[ 9.89695127e-01 1.39444740e-01 3.25379722e-02 8.35005087e+01] [-1.39367425e-01 9.90229853e-01 -4.64328518e-03 -9.37422662e+00] [-3.28675531e-02 6.07033285e-05 9.99459714e-01 -3.38908079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00587156 meters 0.0136185021573993 Centerline is valid? [True, True] Translation: X:83.53, Y:-9.38, Z:-3.39 [[ 9.89949164e-01 1.37609081e-01 3.26250557e-02 8.35286894e+01] [-1.37530459e-01 9.90486611e-01 -4.65252905e-03 -9.37878192e+00] [-3.29549111e-02 1.18828355e-04 9.99456832e-01 -3.38891355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03587156 meters 0.014891177702157758 Centerline is valid? [True, True] Translation: X:83.56, Y:-9.38, Z:-3.39 [[ 9.90396617e-01 1.34261790e-01 3.29895838e-02 8.35564771e+01] [-1.34179598e-01 9.90945871e-01 -4.70289234e-03 -9.38491993e+00] [-3.33223106e-02 2.31199575e-04 9.99444631e-01 -3.38982240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06587156 meters 0.015728625182596465 Centerline is valid? [True, True] Translation: X:83.58, Y:-9.39, Z:-3.39 [[ 9.90590096e-01 1.32754024e-01 3.32810954e-02 8.35845456e+01] [-1.32669576e-01 9.91148974e-01 -4.74283827e-03 -9.39038359e+00] [-3.36161544e-02 2.82819811e-04 9.99434777e-01 -3.39125941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09587156 meters 0.023322432028446805 Centerline is valid? [True, True] Translation: X:83.61, Y:-9.40, Z:-3.39 [[ 9.90828896e-01 1.31038946e-01 3.29680600e-02 8.36126504e+01] [-1.30955181e-01 9.91377164e-01 -4.69668084e-03 -9.39530288e+00] [-3.32992299e-02 3.36268825e-04 9.99445370e-01 -3.39385801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12587156000001 meters 0.018817912321450147 Centerline is valid? [True, True] Translation: X:83.64, Y:-9.40, Z:-3.39 [[ 9.91141072e-01 1.28546609e-01 3.33937848e-02 8.36400185e+01] [-1.28459294e-01 9.91703378e-01 -4.75611962e-03 -9.40063934e+00] [-3.37281122e-02 4.24243494e-04 9.99430955e-01 -3.39330353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15587156000001 meters 0.02343109236555309 Centerline is valid? [True, True] Translation: X:83.67, Y:-9.41, Z:-3.40 [[ 9.91384162e-01 1.26686292e-01 3.32870373e-02 8.36680488e+01] [-1.26598592e-01 9.91942715e-01 -4.73775306e-03 -9.40621983e+00] [-3.36190425e-02 4.82841308e-04 9.99434604e-01 -3.39570638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18587156000001 meters 0.021824525868802555 Centerline is valid? [True, True] Translation: X:83.70, Y:-9.41, Z:-3.39 [[ 9.91558041e-01 1.25107832e-01 3.40687822e-02 8.36962984e+01] [-1.25015087e-01 9.92142999e-01 -4.84738222e-03 -9.41177333e+00] [-3.44075492e-02 5.47349033e-04 9.99407735e-01 -3.39459612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21587156000001 meters 0.02311448974109094 Centerline is valid? [True, True] Translation: X:83.72, Y:-9.42, Z:-3.39 [[ 9.91810963e-01 1.23002354e-01 3.43719898e-02 8.37247191e+01] [-1.22906742e-01 9.92406183e-01 -4.88891527e-03 -9.41750452e+00] [-3.47123232e-02 6.24330471e-04 9.99397151e-01 -3.39442822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24587156000001 meters 0.02655988022255895 Centerline is valid? [True, True] Translation: X:83.75, Y:-9.43, Z:-3.40 [[ 9.92294389e-01 1.18951810e-01 3.46743735e-02 8.37536700e+01] [-1.18852101e-01 9.92899729e-01 -4.93004027e-03 -9.42623968e+00] [-3.50146132e-02 7.70929142e-04 9.99386503e-01 -3.39515739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27587156 meters 0.02783108441929533 Centerline is valid? [True, True] Translation: X:83.78, Y:-9.43, Z:-3.40 [[ 9.92545145e-01 1.16894337e-01 3.44941883e-02 8.37820214e+01] [-1.16794440e-01 9.93144003e-01 -4.90385611e-03 -9.43167053e+00] [-3.48309293e-02 8.38569146e-04 9.99392867e-01 -3.39593264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30587156 meters 0.04237249544189598 Centerline is valid? [True, True] Translation: X:83.81, Y:-9.44, Z:-3.40 [[ 9.93016958e-01 1.13011541e-01 3.38483840e-02 8.38100969e+01] [-1.12913155e-01 9.93593217e-01 -4.81033355e-03 -9.43997867e+00] [-3.41751479e-02 9.54814947e-04 9.99415403e-01 -3.39978941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33587156 meters 0.034709520839933096 Centerline is valid? [True, True] Translation: X:83.84, Y:-9.45, Z:-3.40 [[ 9.93128545e-01 1.11965414e-01 3.40505326e-02 8.38373092e+01] [-1.11865265e-01 9.93711605e-01 -4.83822005e-03 -9.44891050e+00] [-3.43781227e-02 9.95902608e-04 9.99408401e-01 -3.40031415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36587156 meters 0.0434895570876537 Centerline is valid? [True, True] Translation: X:83.87, Y:-9.45, Z:-3.40 [[ 9.93329328e-01 1.10183295e-01 3.40071734e-02 8.38664545e+01] [-1.10082456e-01 9.93910726e-01 -4.82917950e-03 -9.45442480e+00] [-3.43321893e-02 1.05337245e-03 9.99409921e-01 -3.40271226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39587156 meters 0.03911852984747473 Centerline is valid? [True, True] Translation: X:83.89, Y:-9.46, Z:-3.40 [[ 9.93380100e-01 1.09603204e-01 3.43964359e-02 8.38938134e+01] [-1.09499711e-01 9.93974829e-01 -4.88399937e-03 -9.46271783e+00] [-3.47244935e-02 1.08526799e-03 9.99396334e-01 -3.40323037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42587156 meters 0.04012990317287477 Centerline is valid? [True, True] Translation: X:83.92, Y:-9.47, Z:-3.41 [[ 9.93579828e-01 1.08031156e-01 3.35915771e-02 8.39223472e+01] [-1.07931627e-01 9.94146888e-01 -4.76756815e-03 -9.46858735e+00] [-3.39100077e-02 1.11136597e-03 9.99424272e-01 -3.40552560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45587156 meters 0.03939446929514366 Centerline is valid? [True, True] Translation: X:83.95, Y:-9.47, Z:-3.41 [[ 9.93664207e-01 1.07406369e-01 3.30955456e-02 8.39519866e+01] [-1.07309454e-01 9.94214579e-01 -4.69594729e-03 -9.47273433e+00] [-3.34084486e-02 1.11472981e-03 9.99441160e-01 -3.40712718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48587156 meters 0.04388720692207358 Centerline is valid? [True, True] Translation: X:83.98, Y:-9.48, Z:-3.41 [[ 9.93748502e-01 1.06764453e-01 3.26384067e-02 8.39801737e+01] [-1.06669871e-01 9.94283711e-01 -4.63048215e-03 -9.47908682e+00] [-3.29462070e-02 1.12000007e-03 9.99456499e-01 -3.41084141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51587156000001 meters 0.037245498418124585 Centerline is valid? [True, True] Translation: X:84.01, Y:-9.48, Z:-3.41 [[ 9.93714310e-01 1.07057071e-01 3.27208335e-02 8.40095027e+01] [-1.06962201e-01 9.94252255e-01 -4.64121168e-03 -9.47986853e+00] [-3.30296370e-02 1.11214607e-03 9.99453754e-01 -3.40894194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54587156000001 meters 0.0402621234578507 Centerline is valid? [True, True] Translation: X:84.04, Y:-9.49, Z:-3.41 [[ 9.93628332e-01 1.07760332e-01 3.30219323e-02 8.40368503e+01] [-1.07664153e-01 9.94176296e-01 -4.68220318e-03 -9.48970569e+00] [-3.33341781e-02 1.09709137e-03 9.99443660e-01 -3.41125417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57587156000001 meters 0.03506676319450793 Centerline is valid? [True, True] Translation: X:84.07, Y:-9.49, Z:-3.41 [[ 9.93508291e-01 1.08838394e-01 3.30980371e-02 8.40670436e+01] [-1.08742411e-01 9.94058890e-01 -4.69168363e-03 -9.48801133e+00] [-3.34120333e-02 1.06206622e-03 9.99441098e-01 -3.41064008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60587156000001 meters 0.03612557256065166 Centerline is valid? [True, True] Translation: X:84.10, Y:-9.49, Z:-3.41 [[ 9.93375605e-01 1.10105949e-01 3.28874950e-02 8.40953235e+01] [-1.10011899e-01 9.93919340e-01 -4.66120140e-03 -9.49123160e+00] [-3.32007434e-02 1.01230798e-03 9.99448191e-01 -3.41300017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63587156000001 meters 0.03257218559413206 Centerline is valid? [True, True] Translation: X:84.12, Y:-9.49, Z:-3.41 [[ 9.93083155e-01 1.12609661e-01 3.32402104e-02 8.41237228e+01] [-1.12515023e-01 9.93638861e-01 -4.70999710e-03 -9.49366712e+00] [-3.35591559e-02 9.37395744e-04 9.99436293e-01 -3.41342888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66587156 meters 0.02672590028787554 Centerline is valid? [True, True] Translation: X:84.15, Y:-9.49, Z:-3.41 [[ 9.92461343e-01 1.17992673e-01 3.31392689e-02 8.41547276e+01] [-1.17901642e-01 9.93014181e-01 -4.69461383e-03 -9.49056083e+00] [-3.34616940e-02 7.52048541e-04 9.99439718e-01 -3.41373514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69587156 meters 0.02387561498811042 Centerline is valid? [True, True] Translation: X:84.18, Y:-9.49, Z:-3.42 [[ 9.92089689e-01 1.21004182e-01 3.34071393e-02 8.41837771e+01] [-1.20913424e-01 9.92651782e-01 -4.73118483e-03 -9.49115433e+00] [-3.37341495e-02 6.54388085e-04 9.99430627e-01 -3.41525825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72587156 meters 0.02161589852590801 Centerline is valid? [True, True] Translation: X:84.21, Y:-9.49, Z:-3.42 [[ 9.91729472e-01 1.23888320e-01 3.35311503e-02 8.42114039e+01] [-1.23798583e-01 9.92296011e-01 -4.74729065e-03 -9.49186022e+00] [-3.38609605e-02 5.56919165e-04 9.99426398e-01 -3.41700291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75587156 meters 0.019440347238286304 Centerline is valid? [True, True] Translation: X:84.24, Y:-9.49, Z:-3.42 [[ 9.91427148e-01 1.26332770e-01 3.33502838e-02 8.42407740e+01] [-1.26245455e-01 9.91987808e-01 -4.71949728e-03 -9.49219685e+00] [-3.36793021e-02 4.68715988e-04 9.99432581e-01 -3.41863595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78587156 meters 0.016221959219754577 Centerline is valid? [True, True] Translation: X:84.27, Y:-9.49, Z:-3.42 [[ 9.90922950e-01 1.30206561e-01 3.34358828e-02 8.42703559e+01] [-1.30121053e-01 9.91486832e-01 -4.73003061e-03 -9.48929442e+00] [-3.37671185e-02 3.36383600e-04 9.99429672e-01 -3.41904250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81587156 meters 0.015241153811798323 Centerline is valid? [True, True] Translation: X:84.30, Y:-9.49, Z:-3.42 [[ 9.90749316e-01 1.31453214e-01 3.37023001e-02 8.42988407e+01] [-1.31367114e-01 9.91322332e-01 -4.76609942e-03 -9.49123892e+00] [-3.40363618e-02 2.94635851e-04 9.99420552e-01 -3.41992669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84587156 meters 0.014879448108398969 Centerline is valid? [True, True] Translation: X:84.33, Y:-9.49, Z:-3.42 [[ 9.90646723e-01 1.32139629e-01 3.40321614e-02 8.43260684e+01] [-1.32052292e-01 9.91231075e-01 -4.81122118e-03 -9.49426817e+00] [-3.43694889e-02 2.72195587e-04 9.99409158e-01 -3.42067542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87587156000001 meters 0.025749036730091265 Centerline is valid? [True, True] Translation: X:84.35, Y:-9.50, Z:-3.42 [[ 9.90645761e-01 1.31968256e-01 3.47182224e-02 8.43539162e+01] [-1.31877331e-01 9.91253903e-01 -4.90607666e-03 -9.49847399e+00] [-3.50620199e-02 2.81637540e-04 9.99385099e-01 -3.42279131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90587156000001 meters 0.015269161989675569 Centerline is valid? [True, True] Translation: X:84.38, Y:-9.50, Z:-3.42 [[ 9.90608521e-01 1.32135256e-01 3.51430145e-02 8.43815659e+01] [-1.32042263e-01 9.91231657e-01 -4.96421922e-03 -9.50409936e+00] [-3.54908168e-02 2.77234697e-04 9.99369964e-01 -3.42319561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93587156000001 meters 0.014625196411208203 Centerline is valid? [True, True] Translation: X:84.41, Y:-9.51, Z:-3.42 [[ 9.90662580e-01 1.31687530e-01 3.52993956e-02 8.44090108e+01] [-1.31593532e-01 9.91291233e-01 -4.98326334e-03 -9.50756985e+00] [-3.56482151e-02 2.91560376e-04 9.99364358e-01 -3.42282912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96587156000001 meters 0.014825168849773106 Centerline is valid? [True, True] Translation: X:84.44, Y:-9.51, Z:-3.42 [[ 9.90703136e-01 1.31321063e-01 3.55256933e-02 8.44353226e+01] [-1.31225708e-01 9.91339844e-01 -5.01275260e-03 -9.51213132e+00] [-3.58763153e-02 3.04265467e-04 9.99356191e-01 -3.42397681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99587156000001 meters 0.015105057917832192 Centerline is valid? [True, True] Translation: X:84.46, Y:-9.52, Z:-3.42 [[ 9.90848339e-01 1.30174608e-01 3.56951065e-02 8.44633137e+01] [-1.30077707e-01 9.91491025e-01 -5.03363273e-03 -9.51637060e+00] [-3.60466289e-02 3.44429023e-04 9.99350050e-01 -3.42446542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02587156 meters 0.016118214662538394 Centerline is valid? [True, True] Translation: X:84.49, Y:-9.52, Z:-3.43 [[ 9.90951161e-01 1.29483610e-01 3.53523879e-02 8.44901386e+01] [-1.29388227e-01 9.91581496e-01 -4.98233778e-03 -9.52156514e+00] [-3.56999048e-02 3.63070614e-04 9.99362489e-01 -3.42710973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05587156 meters 0.016936433593366988 Centerline is valid? [True, True] Translation: X:84.52, Y:-9.53, Z:-3.43 [[ 9.91114788e-01 1.28325322e-01 3.49869714e-02 8.45187147e+01] [-1.28231258e-01 9.91732047e-01 -4.92862315e-03 -9.52647367e+00] [-3.53301679e-02 3.98407932e-04 9.99375615e-01 -3.42947979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08587156 meters 0.017787271772431036 Centerline is valid? [True, True] Translation: X:84.55, Y:-9.53, Z:-3.43 [[ 9.91271913e-01 1.27109972e-01 3.49721176e-02 8.45469157e+01] [-1.27015290e-01 9.91888533e-01 -4.92488147e-03 -9.53244918e+00] [-3.53144440e-02 4.39903005e-04 9.99376154e-01 -3.43127786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11587156 meters 0.020325323922017365 Centerline is valid? [True, True] Translation: X:84.57, Y:-9.54, Z:-3.43 [[ 9.91655395e-01 1.23976296e-01 3.53476249e-02 8.45746180e+01] [-1.23877640e-01 9.92285024e-01 -4.97606642e-03 -9.54279151e+00] [-3.56918331e-02 5.55762769e-04 9.99362689e-01 -3.43232884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14587156 meters 0.031166463162021023 Centerline is valid? [True, True] Translation: X:84.60, Y:-9.55, Z:-3.43 [[ 9.91865075e-01 1.22246087e-01 3.54903851e-02 8.46031116e+01] [-1.22145585e-01 9.92499628e-01 -4.99446479e-03 -9.54943940e+00] [-3.58347478e-02 6.18841334e-04 9.99357538e-01 -3.43497472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17587156 meters 0.022843116997565242 Centerline is valid? [True, True] Translation: X:84.63, Y:-9.56, Z:-3.43 [[ 9.91956000e-01 1.21310498e-01 3.61532422e-02 8.46298654e+01] [-1.21205646e-01 9.92614388e-01 -5.08607908e-03 -9.55638956e+00] [-3.65032232e-02 6.63189588e-04 9.99333315e-01 -3.43368537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20587156 meters 0.0264667983849671 Centerline is valid? [True, True] Translation: X:84.66, Y:-9.57, Z:-3.44 [[ 9.92246411e-01 1.18817752e-01 3.64609625e-02 8.46565333e+01] [-1.18709504e-01 9.92915790e-01 -5.12719710e-03 -9.56793550e+00] [-3.68118674e-02 7.59180137e-04 9.99321925e-01 -3.43560703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23587156 meters 0.02741686000941466 Centerline is valid? [True, True] Translation: X:84.68, Y:-9.58, Z:-3.44 [[ 9.92382433e-01 1.17696519e-01 3.63955587e-02 8.46848050e+01] [-1.17587988e-01 9.93049291e-01 -5.11575432e-03 -9.57505285e+00] [-3.67446902e-02 7.97104194e-04 9.99324368e-01 -3.43706126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26587156000001 meters 0.027777541078990716 Centerline is valid? [True, True] Translation: X:84.71, Y:-9.58, Z:-3.44 [[ 9.92515435e-01 1.16522493e-01 3.65461276e-02 8.47134813e+01] [-1.16412332e-01 9.93187696e-01 -5.13515536e-03 -9.58089948e+00] [-3.68955254e-02 8.42301005e-04 9.99318773e-01 -3.43771704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29587156000001 meters 0.028823095221749393 Centerline is valid? [True, True] Translation: X:84.74, Y:-9.59, Z:-3.44 [[ 9.92627626e-01 1.15630169e-01 3.63326305e-02 8.47419930e+01] [-1.15520745e-01 9.93291955e-01 -5.10380068e-03 -9.58850762e+00] [-3.66790629e-02 8.69001028e-04 9.99326719e-01 -3.43956438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32587156000001 meters 0.03221783726082863 Centerline is valid? [True, True] Translation: X:84.77, Y:-9.60, Z:-3.44 [[ 9.92917391e-01 1.13387711e-01 3.54722678e-02 8.47691762e+01] [-1.13282004e-01 9.93550384e-01 -4.98224513e-03 -9.60141532e+00] [-3.58084107e-02 9.28588244e-04 9.99358242e-01 -3.44343449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35587156000001 meters 0.031246446021198342 Centerline is valid? [True, True] Translation: X:84.80, Y:-9.61, Z:-3.44 [[ 9.93012811e-01 1.12602985e-01 3.53004986e-02 8.47987866e+01] [-1.12497852e-01 9.93639604e-01 -4.95679586e-03 -9.60660564e+00] [-3.56341235e-02 9.50931529e-04 9.99364451e-01 -3.44451198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38587156000001 meters 0.03319482997418448 Centerline is valid? [True, True] Translation: X:84.83, Y:-9.61, Z:-3.45 [[ 9.93046379e-01 1.12335143e-01 3.52094483e-02 8.48263411e+01] [-1.12230409e-01 9.93669915e-01 -4.94329670e-03 -9.61465723e+00] [-3.55418754e-02 9.57352092e-04 9.99367729e-01 -3.44693021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41587156 meters 0.03789954058233144 Centerline is valid? [True, True] Translation: X:84.86, Y:-9.62, Z:-3.45 [[ 9.93090705e-01 1.12089520e-01 3.47388907e-02 8.48557288e+01] [-1.11987463e-01 9.93697657e-01 -4.87592010e-03 -9.61961902e+00] [-3.50664938e-02 9.51910680e-04 9.99384528e-01 -3.45007932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44587156 meters 0.03789954058233144 Centerline is valid? [True, True] Translation: X:84.88, Y:-9.62, Z:-3.45 [[ 9.93093224e-01 1.12067170e-01 3.47390001e-02 8.48845957e+01] [-1.11965127e-01 9.93700178e-01 -4.87514049e-03 -9.62362659e+00] [-3.50664938e-02 9.51912414e-04 9.99384528e-01 -3.45139442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47587156 meters 0.03993362683700386 Centerline is valid? [True, True] Translation: X:84.91, Y:-9.63, Z:-3.45 [[ 9.93020000e-01 1.12758655e-01 3.45942862e-02 8.49144453e+01] [-1.12657907e-01 9.93621977e-01 -4.85404656e-03 -9.62682702e+00] [-3.49209788e-02 9.22845426e-04 9.99389651e-01 -3.45194330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50587156 meters 0.028772902135958286 Centerline is valid? [True, True] Translation: X:84.94, Y:-9.63, Z:-3.45 [[ 9.92507611e-01 1.16913175e-01 3.54957936e-02 8.49427844e+01] [-1.16809786e-01 9.93141820e-01 -4.97979099e-03 -9.63147619e+00] [-3.58345602e-02 7.96224408e-04 9.99357419e-01 -3.45119551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53587156 meters 0.02508942688253788 Centerline is valid? [True, True] Translation: X:84.97, Y:-9.63, Z:-3.45 [[ 9.92193175e-01 1.19521092e-01 3.56007272e-02 8.49721103e+01] [-1.19418812e-01 9.92831413e-01 -4.99326404e-03 -9.63240045e+00] [-3.59423207e-02 7.02885948e-04 9.99353619e-01 -3.45110979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56587156 meters 0.02271683213359429 Centerline is valid? [True, True] Translation: X:85.00, Y:-9.63, Z:-3.45 [[ 9.91794521e-01 1.22638715e-01 3.61022754e-02 8.49996489e+01] [-1.22535634e-01 9.92451202e-01 -5.06253759e-03 -9.63415792e+00] [-3.64506097e-02 5.97181827e-04 9.99335277e-01 -3.45243986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59587156 meters 0.019448917960871507 Centerline is valid? [True, True] Translation: X:85.03, Y:-9.63, Z:-3.45 [[ 9.91379373e-01 1.25940684e-01 3.61369941e-02 8.50291973e+01] [-1.25839670e-01 9.92037660e-01 -5.06538729e-03 -9.63386018e+00] [-3.64871975e-02 4.74253058e-04 9.99334008e-01 -3.45338428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62587156000001 meters 0.024622768774920856 Centerline is valid? [True, True] Translation: X:85.06, Y:-9.63, Z:-3.46 [[ 9.90691157e-01 1.31310766e-01 3.58958843e-02 8.50592200e+01] [-1.31214706e-01 9.91341217e-01 -5.02914316e-03 -9.62869869e+00] [-3.62454502e-02 2.72259764e-04 9.99342881e-01 -3.45646846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65587156000001 meters 0.012589288327906343 Centerline is valid? [True, True] Translation: X:85.09, Y:-9.63, Z:-3.46 [[ 9.90299898e-01 1.34125072e-01 3.62846699e-02 8.50888325e+01] [-1.34028867e-01 9.90964397e-01 -5.08196267e-03 -9.62794072e+00] [-3.66384347e-02 1.69473907e-04 9.99328573e-01 -3.45524756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68587156000001 meters 0.012020636396516854 Centerline is valid? [True, True] Translation: X:85.12, Y:-9.63, Z:-3.46 [[ 9.89986377e-01 1.36315920e-01 3.66734783e-02 8.51167412e+01] [-1.36219210e-01 9.90665414e-01 -5.13464831e-03 -9.62863779e+00] [-3.70310809e-02 8.75996335e-05 9.99314110e-01 -3.45729321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71587156000001 meters 0.011676196199705188 Centerline is valid? [True, True] Translation: X:85.14, Y:-9.63, Z:-3.46 [[ 9.89559351e-01 1.39484985e-01 3.62798829e-02 8.51448086e+01] [-1.39392523e-01 9.90224186e-01 -5.07805222e-03 -9.62759462e+00] [-3.66335295e-02 -3.21103626e-05 9.99328766e-01 -3.45813096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74587156000001 meters 0.018278605702418838 Centerline is valid? [True, True] Translation: X:85.17, Y:-9.63, Z:-3.46 [[ 9.89463705e-01 1.40305717e-01 3.57195059e-02 8.51736789e+01] [-1.40216723e-01 9.90108227e-01 -4.99687966e-03 -9.63043032e+00] [-3.60672674e-02 -6.42410119e-05 9.99349362e-01 -3.46100554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77587156000001 meters 0.021844570287526347 Centerline is valid? [True, True] Translation: X:85.20, Y:-9.63, Z:-3.46 [[ 9.89362144e-01 1.40963216e-01 3.59432945e-02 8.52007441e+01] [-1.40873590e-01 9.90014830e-01 -5.02675180e-03 -9.63308335e+00] [-3.62929817e-02 -9.01829858e-05 9.99341189e-01 -3.46312811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80587156 meters 0.012427854765235356 Centerline is valid? [True, True] Translation: X:85.23, Y:-9.64, Z:-3.46 [[ 9.89297326e-01 1.41361326e-01 3.61631866e-02 8.52271058e+01] [-1.41270968e-01 9.89958062e-01 -5.05467383e-03 -9.63611165e+00] [-3.65145735e-02 -1.08233078e-04 9.99333115e-01 -3.46356831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83587156 meters 0.012320433419936883 Centerline is valid? [True, True] Translation: X:85.25, Y:-9.64, Z:-3.47 [[ 9.89371207e-01 1.40805069e-01 3.63118137e-02 8.52537132e+01] [-1.40713750e-01 9.90037335e-01 -5.07115941e-03 -9.64058606e+00] [-3.66640962e-02 -9.23123718e-05 9.99327642e-01 -3.46508789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86587156 meters 0.011823488248815663 Centerline is valid? [True, True] Translation: X:85.28, Y:-9.65, Z:-3.47 [[ 9.89470791e-01 1.40072179e-01 3.64326597e-02 8.52808630e+01] [-1.39979865e-01 9.90141293e-01 -5.08503347e-03 -9.64587753e+00] [-3.67857525e-02 -6.83466981e-05 9.99323173e-01 -3.46535996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89587156 meters 0.011562302319006157 Centerline is valid? [True, True] Translation: X:85.31, Y:-9.65, Z:-3.47 [[ 9.89595849e-01 1.39189900e-01 3.64173986e-02 8.53082000e+01] [-1.39097161e-01 9.90265707e-01 -5.08029791e-03 -9.65133182e+00] [-3.67700271e-02 -3.81150345e-05 9.99323753e-01 -3.46682581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92587156 meters 0.011525379363822526 Centerline is valid? [True, True] Translation: X:85.33, Y:-9.66, Z:-3.47 [[ 9.89822288e-01 1.37586978e-01 3.63546664e-02 8.53347260e+01] [-1.37493570e-01 9.90489689e-01 -5.06901664e-03 -9.65673891e+00] [-3.67063529e-02 1.88927663e-05 9.99326095e-01 -3.46824323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95587156 meters 0.011491371125840217 Centerline is valid? [True, True] Translation: X:85.36, Y:-9.66, Z:-3.47 [[ 9.89929887e-01 1.36813897e-01 3.63424984e-02 8.53619866e+01] [-1.36720147e-01 9.90596767e-01 -5.06417218e-03 -9.66088050e+00] [-3.66936106e-02 4.44236704e-05 9.99326562e-01 -3.46928110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98587156 meters 0.011727314981278034 Centerline is valid? [True, True] Translation: X:85.39, Y:-9.67, Z:-3.47 [[ 9.89989209e-01 1.36351263e-01 3.64650337e-02 8.53887310e+01] [-1.36256659e-01 9.90660552e-01 -5.07871377e-03 -9.66534508e+00] [-3.68169594e-02 5.92681538e-05 9.99322024e-01 -3.47160241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01587156000001 meters 0.011571929924114406 Centerline is valid? [True, True] Translation: X:85.42, Y:-9.67, Z:-3.47 [[ 9.90075216e-01 1.35551415e-01 3.71063496e-02 8.54176479e+01] [-1.35453020e-01 9.90770310e-01 -5.16461424e-03 -9.66955300e+00] [-3.74639403e-02 8.71894474e-05 9.99297976e-01 -3.47081731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04587156000001 meters 0.025218839685991458 Centerline is valid? [True, True] Translation: X:85.45, Y:-9.67, Z:-3.47 [[ 9.90107662e-01 1.35285502e-01 3.72108822e-02 8.54450700e+01] [-1.35186427e-01 9.90806653e-01 -5.17747874e-03 -9.67284364e+00] [-3.75692275e-02 9.58551509e-05 9.99294023e-01 -3.47305332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07587156000001 meters 0.024331932694532432 Centerline is valid? [True, True] Translation: X:85.47, Y:-9.68, Z:-3.47 [[ 9.90136158e-01 1.35044606e-01 3.73275041e-02 8.54740049e+01] [-1.34944828e-01 9.90839515e-01 -5.19131285e-03 -9.67634902e+00] [-3.76866249e-02 1.02952947e-04 9.99289602e-01 -3.47445763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10587156000001 meters 0.011845028076008911 Centerline is valid? [True, True] Translation: X:85.50, Y:-9.68, Z:-3.48 [[ 9.90243431e-01 1.34221432e-01 3.74507055e-02 8.55012101e+01] [-1.34120469e-01 9.90951356e-01 -5.20675315e-03 -9.68189668e+00] [-3.78106852e-02 1.33046903e-04 9.99284912e-01 -3.47586844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13587156000001 meters 0.012153886963851977 Centerline is valid? [True, True] Translation: X:85.53, Y:-9.69, Z:-3.48 [[ 9.90323636e-01 1.33599737e-01 3.75527154e-02 8.55300448e+01] [-1.33497863e-01 9.91035361e-01 -5.21863909e-03 -9.68633054e+00] [-3.79132776e-02 1.54934370e-04 9.99281021e-01 -3.47761979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16587156 meters 0.0125244676343083 Centerline is valid? [True, True] Translation: X:85.56, Y:-9.69, Z:-3.48 [[ 9.90444881e-01 1.32830237e-01 3.70818792e-02 8.55589030e+01] [-1.32730427e-01 9.91138787e-01 -5.15152007e-03 -9.69041250e+00] [-3.74375664e-02 1.80403028e-04 9.99298952e-01 -3.47897619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19587156 meters 0.012953631095357436 Centerline is valid? [True, True] Translation: X:85.59, Y:-9.69, Z:-3.48 [[ 9.90563088e-01 1.31987386e-01 3.69337159e-02 8.55871095e+01] [-1.31887850e-01 9.91251374e-01 -5.12923423e-03 -9.69419184e+00] [-3.72875908e-02 2.09721706e-04 9.99304554e-01 -3.48059193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22587156 meters 0.01327526145160096 Centerline is valid? [True, True] Translation: X:85.61, Y:-9.70, Z:-3.48 [[ 9.90652448e-01 1.31349559e-01 3.68106044e-02 8.56149985e+01] [-1.31250305e-01 9.91336088e-01 -5.11051764e-03 -9.69813736e+00] [-3.71629448e-02 2.31343737e-04 9.99309192e-01 -3.48178650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25587156 meters 0.014448944731530015 Centerline is valid? [True, True] Translation: X:85.64, Y:-9.70, Z:-3.48 [[ 9.90861670e-01 1.29759090e-01 3.68202342e-02 8.56423826e+01] [-1.29658767e-01 9.91545508e-01 -5.10971540e-03 -9.70231785e+00] [-3.71719698e-02 2.88954976e-04 9.99308842e-01 -3.48334378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28587156 meters 0.0146696752720887 Centerline is valid? [True, True] Translation: X:85.67, Y:-9.71, Z:-3.48 [[ 9.90985828e-01 1.28743364e-01 3.70436981e-02 8.56706586e+01] [-1.28641192e-01 9.91677891e-01 -5.13850791e-03 -9.70567341e+00] [-3.73969652e-02 3.26843034e-04 9.99300435e-01 -3.48351116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31587156 meters 0.015460998188221909 Centerline is valid? [True, True] Translation: X:85.70, Y:-9.71, Z:-3.48 [[ 9.91127939e-01 1.27541166e-01 3.73986671e-02 8.56988749e+01] [-1.27436237e-01 9.91833207e-01 -5.18595971e-03 -9.71062321e+00] [-3.77546633e-02 3.74004139e-04 9.99286969e-01 -3.48462944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34587156 meters 0.018728087965799323 Centerline is valid? [True, True] Translation: X:85.73, Y:-9.72, Z:-3.49 [[ 9.91502180e-01 1.24410777e-01 3.80182361e-02 8.57258124e+01] [-1.24300108e-01 9.92230673e-01 -5.27011498e-03 -9.72087183e+00] [-3.83785191e-02 4.99659636e-04 9.99263148e-01 -3.48610015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37587156000001 meters 0.020369027181403685 Centerline is valid? [True, True] Translation: X:85.75, Y:-9.73, Z:-3.49 [[ 9.91761160e-01 1.22272008e-01 3.82015385e-02 8.57541774e+01] [-1.22158773e-01 9.92496457e-01 -5.29318702e-03 -9.72784050e+00] [-3.85621002e-02 5.82924214e-04 9.99256036e-01 -3.48722885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40587156000001 meters 0.02622625359837779 Centerline is valid? [True, True] Translation: X:85.78, Y:-9.73, Z:-3.49 [[ 9.92038448e-01 1.19930955e-01 3.84224484e-02 8.57829254e+01] [-1.19814726e-01 9.92782005e-01 -5.32186707e-03 -9.73498762e+00] [-3.87833720e-02 6.75921605e-04 9.99247413e-01 -3.48925923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43587156000001 meters 0.02387865695370912 Centerline is valid? [True, True] Translation: X:85.81, Y:-9.74, Z:-3.49 [[ 9.92297212e-01 1.17724063e-01 3.85653840e-02 8.58119275e+01] [-1.17605336e-01 9.93046052e-01 -5.34076331e-03 -9.74211929e+00] [-3.89259387e-02 7.64129599e-04 9.99241806e-01 -3.48962005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46587156000001 meters 0.027668291884181035 Centerline is valid? [True, True] Translation: X:85.84, Y:-9.75, Z:-3.49 [[ 9.92731653e-01 1.13723163e-01 3.93815697e-02 8.58413823e+01] [-1.13596251e-01 9.93512033e-01 -5.45272025e-03 -9.75346620e+00] [-3.97461640e-02 9.39489314e-04 9.99209367e-01 -3.49003956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49587156000001 meters 0.03206427027253098 Centerline is valid? [True, True] Translation: X:85.87, Y:-9.76, Z:-3.49 [[ 9.92896963e-01 1.12180585e-01 3.96375853e-02 8.58704226e+01] [-1.12050791e-01 9.93687326e-01 -5.48810940e-03 -9.76469534e+00] [-4.00030254e-02 1.00770437e-03 9.99199050e-01 -3.49190585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52587156000001 meters 0.033606876023291016 Centerline is valid? [True, True] Translation: X:85.90, Y:-9.77, Z:-3.49 [[ 9.93056562e-01 1.10873278e-01 3.93164201e-02 8.59007391e+01] [-1.10744540e-01 9.93833995e-01 -5.44403962e-03 -9.77225791e+00] [-3.96775934e-02 1.05216040e-03 9.99211980e-01 -3.49377302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55587156 meters 0.033151943472117355 Centerline is valid? [True, True] Translation: X:85.93, Y:-9.78, Z:-3.50 [[ 9.93150667e-01 1.10174395e-01 3.89018665e-02 8.59312255e+01] [-1.10047790e-01 9.93911696e-01 -5.38749080e-03 -9.77763673e+00] [-3.92585836e-02 1.06952563e-03 9.99228512e-01 -3.49563109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58587156 meters 0.03393550816112697 Centerline is valid? [True, True] Translation: X:85.96, Y:-9.79, Z:-3.50 [[ 9.93218140e-01 1.09820893e-01 3.81719454e-02 8.59600869e+01] [-1.09698700e-01 9.93950823e-01 -5.28732553e-03 -9.78672032e+00] [-3.85216953e-02 1.06405483e-03 9.99257198e-01 -3.49891693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61587156 meters 0.03609282903999659 Centerline is valid? [True, True] Translation: X:85.99, Y:-9.80, Z:-3.50 [[ 9.93176862e-01 1.10155213e-01 3.82825015e-02 8.59897687e+01] [-1.10032543e-01 9.93913838e-01 -5.30307287e-03 -9.79580987e+00] [-3.86336691e-02 1.05456829e-03 9.99252885e-01 -3.50106484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64587156 meters 0.03208292968517405 Centerline is valid? [True, True] Translation: X:86.02, Y:-9.80, Z:-3.50 [[ 9.93111575e-01 1.10733529e-01 3.83077574e-02 8.60211956e+01] [-1.10611113e-01 9.93849595e-01 -5.30692766e-03 -9.79688166e+00] [-3.86598040e-02 1.03310760e-03 9.99251896e-01 -3.50127712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67587156 meters 0.030547610390591496 Centerline is valid? [True, True] Translation: X:86.05, Y:-9.80, Z:-3.50 [[ 9.92972372e-01 1.11990388e-01 3.82625448e-02 8.60520600e+01] [-1.11869159e-01 9.93708803e-01 -5.30154199e-03 -9.80221437e+00] [-3.86155493e-02 9.83886008e-04 9.99253657e-01 -3.50228767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70587156 meters 0.031100841627393516 Centerline is valid? [True, True] Translation: X:86.08, Y:-9.81, Z:-3.50 [[ 9.92918168e-01 1.12538735e-01 3.80597634e-02 8.60821023e+01] [-1.12419157e-01 9.93646876e-01 -5.27431968e-03 -9.80947375e+00] [-3.84115302e-02 9.58321321e-04 9.99261545e-01 -3.50454326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73587156 meters 0.031599135885671314 Centerline is valid? [True, True] Translation: X:86.11, Y:-9.82, Z:-3.51 [[ 9.92845025e-01 1.13257687e-01 3.78345440e-02 8.61114488e+01] [-1.13140006e-01 9.93565216e-01 -5.24405104e-03 -9.81721053e+00] [-3.81850160e-02 9.25929455e-04 9.99270257e-01 -3.50692059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76587156000001 meters 0.030357837082920724 Centerline is valid? [True, True] Translation: X:86.14, Y:-9.82, Z:-3.51 [[ 9.92769326e-01 1.13991602e-01 3.76162314e-02 8.61431254e+01] [-1.13875790e-01 9.93481312e-01 -5.21412407e-03 -9.81817576e+00] [-3.79653893e-02 8.92844369e-04 9.99278656e-01 -3.50807303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79587156000001 meters 0.0321650462310132 Centerline is valid? [True, True] Translation: X:86.17, Y:-9.83, Z:-3.51 [[ 9.92612274e-01 1.15480402e-01 3.72176171e-02 8.61731304e+01] [-1.15368081e-01 9.93309415e-01 -5.15877494e-03 -9.82794863e+00] [-3.75643468e-02 8.26938282e-04 9.99293869e-01 -3.51077028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82587156000001 meters 0.025150239367338918 Centerline is valid? [True, True] Translation: X:86.20, Y:-9.83, Z:-3.51 [[ 9.92523266e-01 1.16156237e-01 3.74872568e-02 8.62045369e+01] [-1.16042507e-01 9.93230621e-01 -5.20290831e-03 -9.83343378e+00] [-3.78378416e-02 8.13892287e-04 9.99283561e-01 -3.51072545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85587156000001 meters 0.027834542461140237 Centerline is valid? [True, True] Translation: X:86.23, Y:-9.84, Z:-3.51 [[ 9.92425452e-01 1.17111925e-01 3.71014640e-02 8.62346505e+01] [-1.17001177e-01 9.93118424e-01 -5.14978063e-03 -9.84424752e+00] [-3.74492482e-02 7.69858418e-04 9.99298234e-01 -3.51424092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88587156000001 meters 0.02442356476799407 Centerline is valid? [True, True] Translation: X:86.27, Y:-9.85, Z:-3.52 [[ 9.92246329e-01 1.18663629e-01 3.69616870e-02 8.62655588e+01] [-1.18554533e-01 9.92934253e-01 -5.13727303e-03 -9.84641640e+00] [-3.73101326e-02 7.15464767e-04 9.99303478e-01 -3.51510502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91587156 meters 0.01969782120167084 Centerline is valid? [True, True] Translation: X:86.30, Y:-9.85, Z:-3.52 [[ 9.91736089e-01 1.22899130e-01 3.68148610e-02 8.62956539e+01] [-1.22793806e-01 9.92419013e-01 -5.11707040e-03 -9.84909961e+00] [-3.71646515e-02 5.54146501e-04 9.99309002e-01 -3.51665008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94587156 meters 0.03135134030014165 Centerline is valid? [True, True] Translation: X:86.32, Y:-9.85, Z:-3.52 [[ 9.91413148e-01 1.25543677e-01 3.65889977e-02 8.63245947e+01] [-1.25441448e-01 9.92087990e-01 -5.08550814e-03 -9.85191966e+00] [-3.69379585e-02 4.52062802e-04 9.99317458e-01 -3.51935115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97587156 meters 0.025071555729454107 Centerline is valid? [True, True] Translation: X:86.35, Y:-9.85, Z:-3.52 [[ 9.91012645e-01 1.28687562e-01 3.65164193e-02 8.63545689e+01] [-1.28587829e-01 9.91685131e-01 -5.07654319e-03 -9.85302359e+00] [-3.68660780e-02 3.35351412e-04 9.99320159e-01 -3.52068675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00587156 meters 0.011362498436679493 Centerline is valid? [True, True] Translation: X:86.38, Y:-9.85, Z:-3.52 [[ 9.90096297e-01 1.35357489e-01 3.72514924e-02 8.63842303e+01] [-1.35258435e-01 9.90796822e-01 -5.17816070e-03 -9.84982137e+00] [-3.76095631e-02 8.82991627e-05 9.99292506e-01 -3.52082268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03587156 meters 0.011276763971496425 Centerline is valid? [True, True] Translation: X:86.41, Y:-9.85, Z:-3.52 [[ 9.89598140e-01 1.38910027e-01 3.74102337e-02 8.64124125e+01] [-1.38812760e-01 9.90305005e-01 -5.19766970e-03 -9.84962670e+00] [-3.77695501e-02 -4.94135084e-05 9.99286475e-01 -3.52235929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06587156 meters 0.012563458274615991 Centerline is valid? [True, True] Translation: X:86.44, Y:-9.85, Z:-3.52 [[ 9.89050600e-01 1.42646439e-01 3.78273015e-02 8.64416271e+01] [-1.42549816e-01 9.89773689e-01 -5.25309948e-03 -9.84944218e+00] [-3.81898037e-02 -1.96693675e-04 9.99270484e-01 -3.52296435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09587156 meters 0.017864453958781914 Centerline is valid? [True, True] Translation: X:86.47, Y:-9.84, Z:-3.52 [[ 9.88144806e-01 1.48818092e-01 3.77229003e-02 8.64704367e+01] [-1.48726558e-01 9.88864493e-01 -5.23691633e-03 -9.84491747e+00] [-3.80821845e-02 -4.35565438e-04 9.99274516e-01 -3.52473274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12587156000001 meters 0.020120700774134692 Centerline is valid? [True, True] Translation: X:86.50, Y:-9.85, Z:-3.53 [[ 9.87787617e-01 1.51172355e-01 3.77166058e-02 8.64998497e+01] [-1.51082651e-01 9.88507279e-01 -5.23378184e-03 -9.84546062e+00] [-3.80743425e-02 -5.28459918e-04 9.99274770e-01 -3.52600608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15587156000001 meters 0.02248100955755389 Centerline is valid? [True, True] Translation: X:86.53, Y:-9.84, Z:-3.53 [[ 9.87494421e-01 1.53052769e-01 3.78102838e-02 8.65278744e+01] [-1.52964062e-01 9.88217833e-01 -5.24509010e-03 -9.84494111e+00] [-3.81675723e-02 -6.04117370e-04 9.99271170e-01 -3.52731985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18587156000001 meters 0.024569201328223177 Centerline is valid? [True, True] Translation: X:86.56, Y:-9.84, Z:-3.53 [[ 9.87227361e-01 1.54791998e-01 3.77037780e-02 8.65569082e+01] [-1.54705143e-01 9.87946854e-01 -5.22805150e-03 -9.84486378e+00] [-3.80585894e-02 -6.71692896e-04 9.99275284e-01 -3.52840014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21587156000001 meters 0.02857606605837965 Centerline is valid? [True, True] Translation: X:86.59, Y:-9.84, Z:-3.53 [[ 9.86779924e-01 1.57685441e-01 3.74257018e-02 8.65854671e+01] [-1.57602006e-01 9.87489086e-01 -5.18778222e-03 -9.84266277e+00] [-3.77755098e-02 -7.79166333e-04 9.99285947e-01 -3.53091435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24587156000001 meters 0.029878766026127213 Centerline is valid? [True, True] Translation: X:86.61, Y:-9.85, Z:-3.53 [[ 9.86612427e-01 1.58732759e-01 3.74143134e-02 8.66144922e+01] [-1.58650193e-01 9.87321243e-01 -5.18444614e-03 -9.84518983e+00] [-3.77628879e-02 -8.20749061e-04 9.99286391e-01 -3.53261593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27587156000001 meters 0.030854452691970444 Centerline is valid? [True, True] Translation: X:86.64, Y:-9.85, Z:-3.53 [[ 9.86498698e-01 1.59424867e-01 3.74703934e-02 8.66436765e+01] [-1.59342618e-01 9.87209699e-01 -5.19049699e-03 -9.84733422e+00] [-3.78186301e-02 -8.50212046e-04 9.99284258e-01 -3.53428847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30587156 meters 0.03184710232905405 Centerline is valid? [True, True] Translation: X:86.67, Y:-9.85, Z:-3.54 [[ 9.86400517e-01 1.60036166e-01 3.74492413e-02 8.66726275e+01] [-1.59954514e-01 9.87110764e-01 -5.18585924e-03 -9.84890014e+00] [-3.77964742e-02 -8.74840948e-04 9.99285075e-01 -3.53551891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33587156 meters 0.03184710232905405 Centerline is valid? [True, True] Translation: X:86.70, Y:-9.85, Z:-3.54 [[ 9.86411293e-01 1.59969681e-01 3.74494510e-02 8.66998503e+01] [-1.59888039e-01 9.87121541e-01 -5.18434397e-03 -9.85252662e+00] [-3.77964977e-02 -8.73823838e-04 9.99285075e-01 -3.53675837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36587156 meters 0.029103432185414658 Centerline is valid? [True, True] Translation: X:86.73, Y:-9.86, Z:-3.54 [[ 9.86365945e-01 1.60169292e-01 3.77891670e-02 8.67278707e+01] [-1.60086413e-01 9.87089156e-01 -5.22861024e-03 -9.85726134e+00] [-3.81387398e-02 -8.92209137e-04 9.99272055e-01 -3.53627107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39587156 meters 0.03230910353975043 Centerline is valid? [True, True] Translation: X:86.76, Y:-9.86, Z:-3.54 [[ 9.86450254e-01 1.59634962e-01 3.78493724e-02 8.67562035e+01] [-1.59551486e-01 9.87175726e-01 -5.23536486e-03 -9.85591537e+00] [-3.81997289e-02 -8.74496602e-04 9.99269741e-01 -3.53891219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42587156 meters 0.027721003533941992 Centerline is valid? [True, True] Translation: X:86.78, Y:-9.87, Z:-3.54 [[ 9.86580702e-01 1.58773563e-01 3.80719665e-02 8.67845613e+01] [-1.58688602e-01 9.87314658e-01 -5.26249936e-03 -9.86524776e+00] [-3.84245564e-02 -8.49706819e-04 9.99261143e-01 -3.53855055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45587156 meters 0.02829930791307637 Centerline is valid? [True, True] Translation: X:86.81, Y:-9.87, Z:-3.54 [[ 9.86962306e-01 1.56285442e-01 3.84742341e-02 8.68128178e+01] [-1.56196837e-01 9.87711638e-01 -5.31677008e-03 -9.86752498e+00] [-3.88323825e-02 -7.62102022e-04 9.99245448e-01 -3.54055175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48587156 meters 0.023397721471359715 Centerline is valid? [True, True] Translation: X:86.84, Y:-9.88, Z:-3.54 [[ 9.87170884e-01 1.54818713e-01 3.90488349e-02 8.68402738e+01] [-1.54726370e-01 9.87942636e-01 -5.39426955e-03 -9.87696080e+00] [-3.94131428e-02 -7.16818640e-04 9.99222743e-01 -3.53923389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51587156000001 meters 0.022592067978385 Centerline is valid? [True, True] Translation: X:86.87, Y:-9.88, Z:-3.54 [[ 9.87376691e-01 1.53399961e-01 3.94426408e-02 8.68682345e+01] [-1.53304689e-01 9.88163956e-01 -5.44681228e-03 -9.88043354e+00] [-3.98113368e-02 -6.68686280e-04 9.99206991e-01 -3.54062231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54587156000001 meters 0.022939966846311766 Centerline is valid? [True, True] Translation: X:86.90, Y:-9.89, Z:-3.54 [[ 9.87796506e-01 1.50890893e-01 3.86005440e-02 8.68959635e+01] [-1.50797821e-01 9.88550265e-01 -5.32821344e-03 -9.88766344e+00] [-3.89625569e-02 -5.57687298e-04 9.99240516e-01 -3.54307948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57587156000001 meters 0.019191188354785997 Centerline is valid? [True, True] Translation: X:86.92, Y:-9.89, Z:-3.55 [[ 9.88002925e-01 1.49677910e-01 3.80360754e-02 8.69232729e+01] [-1.49586712e-01 9.88734681e-01 -5.24848978e-03 -9.88937997e+00] [-3.83931699e-02 -5.04168202e-04 9.99262583e-01 -3.54628627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60587156000001 meters 0.018213291924375142 Centerline is valid? [True, True] Translation: X:86.95, Y:-9.89, Z:-3.55 [[ 9.88215368e-01 1.48394168e-01 3.75440735e-02 8.69511308e+01] [-1.48304481e-01 9.88928191e-01 -5.17816723e-03 -9.89435420e+00] [-3.78968025e-02 -4.50809884e-04 9.99281556e-01 -3.54895820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63587156000001 meters 0.016947094171622937 Centerline is valid? [True, True] Translation: X:86.98, Y:-9.90, Z:-3.55 [[ 9.88412769e-01 1.47194626e-01 3.70667010e-02 8.69799024e+01] [-1.47106425e-01 9.89107467e-01 -5.11063108e-03 -9.89958782e+00] [-3.74152081e-02 -4.01336863e-04 9.99299725e-01 -3.55053012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66587156 meters 0.014849285856492972 Centerline is valid? [True, True] Translation: X:87.01, Y:-9.91, Z:-3.55 [[ 9.88811914e-01 1.44540484e-01 3.68652551e-02 8.70086404e+01] [-1.44451463e-01 9.89498842e-01 -5.08104129e-03 -9.90535668e+00] [-3.72125434e-02 -3.01045883e-04 9.99307328e-01 -3.55254981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69587156 meters 0.01308093081013021 Centerline is valid? [True, True] Translation: X:87.04, Y:-9.91, Z:-3.55 [[ 9.89064588e-01 1.42756450e-01 3.70383163e-02 8.70370000e+01] [-1.42665385e-01 9.89757819e-01 -5.10369385e-03 -9.91121757e+00] [-3.73875484e-02 -2.36202796e-04 9.99300813e-01 -3.55233813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72587156 meters 0.012466714913698714 Centerline is valid? [True, True] Translation: X:87.06, Y:-9.92, Z:-3.55 [[ 9.89320283e-01 1.40956178e-01 3.71043710e-02 8.70648589e+01] [-1.40863590e-01 9.90015822e-01 -5.11098651e-03 -9.91593238e+00] [-3.74543394e-02 -1.70252265e-04 9.99298326e-01 -3.55426112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75587156 meters 0.010913849297533636 Centerline is valid? [True, True] Translation: X:87.09, Y:-9.93, Z:-3.55 [[ 9.89899585e-01 1.36699224e-01 3.75783543e-02 8.70924137e+01] [-1.36601257e-01 9.90612599e-01 -5.17442597e-03 -9.92563673e+00] [-3.79329312e-02 -1.10883024e-05 9.99280287e-01 -3.55471993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78587156 meters 0.011142566551692672 Centerline is valid? [True, True] Translation: X:87.12, Y:-9.93, Z:-3.56 [[ 9.90211924e-01 1.34353691e-01 3.78078326e-02 8.71198713e+01] [-1.34252878e-01 9.90933439e-01 -5.20431468e-03 -9.93305527e+00] [-3.81642645e-02 7.75641062e-05 9.99271476e-01 -3.55658806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81587156 meters 0.011451912060975162 Centerline is valid? [True, True] Translation: X:87.15, Y:-9.94, Z:-3.56 [[ 9.90459628e-01 1.32456140e-01 3.80144101e-02 8.71484699e+01] [-1.32352914e-01 9.91188856e-01 -5.23044705e-03 -9.93967334e+00] [-3.83722645e-02 1.49228698e-04 9.99263502e-01 -3.55687343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84587156 meters 0.012303606649543303 Centerline is valid? [True, True] Translation: X:87.18, Y:-9.95, Z:-3.56 [[ 9.90695470e-01 1.30601363e-01 3.82853743e-02 8.71756936e+01] [-1.30495343e-01 9.91434937e-01 -5.26595599e-03 -9.94573435e+00] [-3.86451987e-02 2.20895711e-04 9.99252971e-01 -3.55761286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87587156000001 meters 0.013000066235183497 Centerline is valid? [True, True] Translation: X:87.20, Y:-9.95, Z:-3.56 [[ 9.90877177e-01 1.29116678e-01 3.86173988e-02 8.72042764e+01] [-1.29007777e-01 9.91629369e-01 -5.30923351e-03 -9.95098745e+00] [-3.89796574e-02 2.78853558e-04 9.99239965e-01 -3.55791767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90587156000001 meters 0.013996483481697325 Centerline is valid? [True, True] Translation: X:87.23, Y:-9.96, Z:-3.56 [[ 9.91053939e-01 1.27789066e-01 3.84973333e-02 8.72327456e+01] [-1.27679914e-01 9.91801314e-01 -5.29080708e-03 -9.95527199e+00] [-3.88578131e-02 3.28138988e-04 9.99244696e-01 -3.55930820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93587156000001 meters 0.015408339057272286 Centerline is valid? [True, True] Translation: X:87.26, Y:-9.96, Z:-3.56 [[ 9.91097132e-01 1.27543531e-01 3.81984612e-02 8.72608969e+01] [-1.27435938e-01 9.91832918e-01 -5.24836922e-03 -9.96157682e+00] [-3.85558867e-02 3.33786943e-04 9.99256390e-01 -3.56302280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96587156000001 meters 0.014351310385517953 Centerline is valid? [True, True] Translation: X:87.29, Y:-9.96, Z:-3.56 [[ 9.91104706e-01 1.27430807e-01 3.83777431e-02 8.72895490e+01] [-1.27322170e-01 9.91847405e-01 -5.27162717e-03 -9.96347458e+00] [-3.87366326e-02 3.38396957e-04 9.99249398e-01 -3.56281936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99587156000001 meters 0.01474583613696273 Centerline is valid? [True, True] Translation: X:87.32, Y:-9.97, Z:-3.56 [[ 9.91116285e-01 1.27327880e-01 3.84203128e-02 8.73166307e+01] [-1.27218972e-01 9.91860622e-01 -5.27626028e-03 -9.96689740e+00] [-3.87794104e-02 3.41594808e-04 9.99247737e-01 -3.56421121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02587156000001 meters 0.031185191287434275 Centerline is valid? [True, True] Translation: X:87.35, Y:-9.97, Z:-3.57 [[ 9.91211805e-01 1.26661722e-01 3.81571286e-02 8.73460813e+01] [-1.26553903e-01 9.91945904e-01 -5.23766075e-03 -9.96956468e+00] [-3.85132186e-02 3.62697618e-04 9.99258025e-01 -3.56544386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05587156 meters 0.015349575426104245 Centerline is valid? [True, True] Translation: X:87.37, Y:-9.98, Z:-3.57 [[ 9.91257737e-01 1.26211991e-01 3.84529810e-02 8.73737778e+01] [-1.26102188e-01 9.92003219e-01 -5.27738720e-03 -9.97522334e+00] [-3.88115504e-02 3.82245852e-04 9.99246475e-01 -3.56633886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08587156 meters 0.015608732184124787 Centerline is valid? [True, True] Translation: X:87.40, Y:-9.98, Z:-3.57 [[ 9.91365376e-01 1.25237629e-01 3.88616409e-02 8.74032643e+01] [-1.25124791e-01 9.92126684e-01 -5.33194965e-03 -9.97997541e+00] [-3.92234317e-02 4.23355568e-04 9.99230375e-01 -3.56664422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11587156 meters 0.016191244482505085 Centerline is valid? [True, True] Translation: X:87.43, Y:-9.98, Z:-3.57 [[ 9.91452453e-01 1.24698153e-01 3.83719055e-02 8.74316242e+01] [-1.24587771e-01 9.92194627e-01 -5.26392411e-03 -9.98463015e+00] [-3.87288001e-02 4.38260320e-04 9.99249662e-01 -3.56924768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14587156 meters 0.016689491653834012 Centerline is valid? [True, True] Translation: X:87.46, Y:-9.99, Z:-3.57 [[ 9.91541577e-01 1.24152665e-01 3.78340648e-02 8.74611193e+01] [-1.24045014e-01 9.92263025e-01 -5.18872834e-03 -9.98953364e+00] [-3.81855381e-02 4.51712783e-04 9.99270564e-01 -3.57164883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17587156 meters 0.01654993261843382 Centerline is valid? [True, True] Translation: X:87.49, Y:-9.99, Z:-3.57 [[ 9.91585899e-01 1.23887782e-01 3.75396182e-02 8.74900519e+01] [-1.23781645e-01 9.92296129e-01 -5.14745916e-03 -9.99466485e+00] [-3.78881251e-02 4.57432238e-04 9.99281883e-01 -3.57324620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20587156 meters 0.018065687430139667 Centerline is valid? [True, True] Translation: X:87.52, Y:-10.00, Z:-3.58 [[ 9.91628820e-01 1.23539418e-01 3.75539134e-02 8.75175485e+01] [-1.23432981e-01 9.92339554e-01 -5.14859116e-03 -1.00024137e+01] [-3.79022877e-02 4.70099888e-04 9.99281340e-01 -3.57588098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23587156 meters 0.017666688762041305 Centerline is valid? [True, True] Translation: X:87.55, Y:-10.01, Z:-3.58 [[ 9.91707568e-01 1.23021873e-01 3.71714773e-02 8.75467703e+01] [-1.22917283e-01 9.92403842e-01 -5.09474543e-03 -1.00079158e+01] [-3.75158820e-02 4.83480595e-04 9.99295915e-01 -3.57672003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26587156000001 meters 0.025549586987203842 Centerline is valid? [True, True] Translation: X:87.57, Y:-10.01, Z:-3.58 [[ 9.91742307e-01 1.22739518e-01 3.71780488e-02 8.75745621e+01] [-1.22634723e-01 9.92438798e-01 -5.09484758e-03 -1.00132286e+01] [-3.75222772e-02 4.93456164e-04 9.99295670e-01 -3.57892753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29587156000001 meters 0.017320066727302047 Centerline is valid? [True, True] Translation: X:87.60, Y:-10.01, Z:-3.58 [[ 9.91521344e-01 1.24727583e-01 3.64479676e-02 8.76046186e+01] [-1.24332428e-01 9.92156460e-01 -1.29231253e-02 -1.00147312e+01] [-3.77739567e-02 8.28189026e-03 9.99251989e-01 -3.57617690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32587156000001 meters 0.022092597641363405 Centerline is valid? [True, True] Translation: X:87.63, Y:-10.03, Z:-3.58 [[ 9.91626102e-01 1.23095615e-01 3.90530801e-02 8.76331550e+01] [-1.23283822e-01 9.92368455e-01 2.43900097e-03 -1.00278741e+01] [-3.84548144e-02 -7.23318999e-03 9.99234161e-01 -3.57999670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35587156000001 meters 0.016391051751816325 Centerline is valid? [True, True] Translation: X:87.66, Y:-10.03, Z:-3.58 [[ 9.91495093e-01 1.24429851e-01 3.81404344e-02 8.76627067e+01] [-1.24320840e-01 9.92228310e-01 -5.22588884e-03 -1.00277403e+01] [-3.84942754e-02 4.39792285e-04 9.99258724e-01 -3.57970091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38587156000001 meters 0.015316540602468173 Centerline is valid? [True, True] Translation: X:87.69, Y:-10.03, Z:-3.58 [[ 9.91325585e-01 1.25682365e-01 3.84386158e-02 8.76930424e+01] [-1.25572604e-01 9.92070455e-01 -5.26621032e-03 -1.00319519e+01] [-3.87956849e-02 3.93691952e-04 9.99247086e-01 -3.58054778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41587156 meters 0.013073428504626944 Centerline is valid? [True, True] Translation: X:87.72, Y:-10.03, Z:-3.58 [[ 9.90897456e-01 1.28981800e-01 3.85477273e-02 8.77215380e+01] [-1.28873905e-01 9.91646925e-01 -5.28127963e-03 -1.00342484e+01] [-3.89069242e-02 2.65410408e-04 9.99242804e-01 -3.58177586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44587156 meters 0.011803422922601262 Centerline is valid? [True, True] Translation: X:87.75, Y:-10.04, Z:-3.58 [[ 9.90630298e-01 1.31200858e-01 3.79202821e-02 8.77504807e+01] [-1.31098094e-01 9.91355791e-01 -5.19475575e-03 -1.00356455e+01] [-3.82740477e-02 1.74805741e-04 9.99267265e-01 -3.58383607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47587156 meters 0.011130197030494794 Centerline is valid? [True, True] Translation: X:87.78, Y:-10.04, Z:-3.59 [[ 9.90380553e-01 1.33181659e-01 3.75367171e-02 8.77796681e+01] [-1.33082452e-01 9.91091639e-01 -5.14046586e-03 -1.00375164e+01] [-3.78869423e-02 9.55390515e-05 9.99282027e-01 -3.58658895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50587156 meters 0.010909820436441323 Centerline is valid? [True, True] Translation: X:87.81, Y:-10.04, Z:-3.59 [[ 9.90118170e-01 1.35230527e-01 3.71310475e-02 8.78079691e+01] [-1.35134958e-01 9.90814162e-01 -5.08318143e-03 -1.00397058e+01] [-3.74773690e-02 1.52477331e-05 9.99297477e-01 -3.58903305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53587156 meters 0.016169048208483007 Centerline is valid? [True, True] Translation: X:87.84, Y:-10.04, Z:-3.59 [[ 9.89641696e-01 1.38691658e-01 3.70666665e-02 8.78359931e+01] [-1.38598906e-01 9.90335605e-01 -5.07276085e-03 -1.00389370e+01] [-3.74119892e-02 -1.17183769e-04 9.99299920e-01 -3.59111157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56587156 meters 0.01239803248285382 Centerline is valid? [True, True] Translation: X:87.86, Y:-10.04, Z:-3.59 [[ 9.89426380e-01 1.40237916e-01 3.69968324e-02 8.78648423e+01] [-1.40146687e-01 9.90117819e-01 -5.06070309e-03 -1.00411149e+01] [-3.73409254e-02 -1.77790354e-04 9.99302569e-01 -3.59163015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59587156 meters 0.013245155846056582 Centerline is valid? [True, True] Translation: X:87.89, Y:-10.04, Z:-3.59 [[ 9.89228698e-01 1.41543593e-01 3.73094309e-02 8.78936512e+01] [-1.41451810e-01 9.89931997e-01 -5.10170796e-03 -1.00438476e+01] [-3.76559135e-02 -2.30730600e-04 9.99290738e-01 -3.59250922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62587156000001 meters 0.014809999373489128 Centerline is valid? [True, True] Translation: X:87.92, Y:-10.05, Z:-3.59 [[ 9.88990791e-01 1.43147868e-01 3.74953836e-02 8.79216015e+01] [-1.43056382e-01 9.89701269e-01 -5.12547063e-03 -1.00470870e+01] [-3.78429289e-02 -2.94910686e-04 9.99283656e-01 -3.59426033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65587156000001 meters 0.020753168071526825 Centerline is valid? [True, True] Translation: X:87.95, Y:-10.05, Z:-3.60 [[ 9.88914793e-01 1.43763273e-01 3.71436832e-02 8.79499358e+01] [-1.43674013e-01 9.89612056e-01 -5.07518560e-03 -1.00506479e+01] [-3.74874619e-02 -3.17655898e-04 9.99297048e-01 -3.59634594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68587156000001 meters 0.02410263527962601 Centerline is valid? [True, True] Translation: X:87.98, Y:-10.05, Z:-3.60 [[ 9.88820835e-01 1.44464667e-01 3.69231097e-02 8.79784381e+01] [-1.44377016e-01 9.89509900e-01 -5.04336830e-03 -1.00544652e+01] [-3.72643711e-02 -3.43860735e-04 9.99305383e-01 -3.59837812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71587156000001 meters 0.016307022385098412 Centerline is valid? [True, True] Translation: X:88.01, Y:-10.06, Z:-3.60 [[ 9.88565912e-01 1.46250075e-01 3.67199343e-02 8.80066419e+01] [-1.46164678e-01 9.89247566e-01 -5.01396809e-03 -1.00593276e+01] [-3.70583988e-02 -4.10519447e-04 9.99313017e-01 -3.59732236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74587156000001 meters 0.019191815256603732 Centerline is valid? [True, True] Translation: X:88.03, Y:-10.06, Z:-3.60 [[ 9.88390994e-01 1.47401927e-01 3.68227521e-02 8.80348159e+01] [-1.47316914e-01 9.89076571e-01 -5.02627868e-03 -1.00586543e+01] [-3.71614046e-02 -4.56685636e-04 9.99309172e-01 -3.60000964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77587156000001 meters 0.019097864404045494 Centerline is valid? [True, True] Translation: X:88.06, Y:-10.06, Z:-3.60 [[ 9.88164630e-01 1.48950263e-01 3.66671882e-02 8.80633158e+01] [-1.48867119e-01 9.88844555e-01 -5.00270269e-03 -1.00623076e+01] [-3.70033033e-02 -5.15044820e-04 9.99315011e-01 -3.59966148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80587156 meters 0.019468424557524667 Centerline is valid? [True, True] Translation: X:88.09, Y:-10.07, Z:-3.60 [[ 9.87916768e-01 1.50657329e-01 3.63707205e-02 8.80918497e+01] [-1.50576744e-01 9.88585878e-01 -4.96052015e-03 -1.00658380e+01] [-3.67029194e-02 -5.76003628e-04 9.99326055e-01 -3.60029458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83587156 meters 0.025009552839443384 Centerline is valid? [True, True] Translation: X:88.12, Y:-10.06, Z:-3.60 [[ 9.87302796e-01 1.54672868e-01 3.61869088e-02 8.81214285e+01] [-1.54595860e-01 9.87965475e-01 -4.93352076e-03 -1.00624511e+01] [-3.65144983e-02 -7.23467432e-04 9.99332861e-01 -3.60334522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86587156 meters 0.027892965476597274 Centerline is valid? [True, True] Translation: X:88.15, Y:-10.06, Z:-3.61 [[ 9.87022287e-01 1.56498486e-01 3.59892781e-02 8.81490413e+01] [-1.56423567e-01 9.87677884e-01 -4.90552813e-03 -1.00616742e+01] [-3.63135218e-02 -7.87705661e-04 9.99340136e-01 -3.60538229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89587156 meters 0.028282635360014904 Centerline is valid? [True, True] Translation: X:88.18, Y:-10.06, Z:-3.61 [[ 9.86572197e-01 1.59313205e-01 3.59805867e-02 8.81783666e+01] [-1.59240294e-01 9.87227686e-01 -4.90153488e-03 -1.00623605e+01] [-3.63019106e-02 -8.93841157e-04 9.99340469e-01 -3.60598040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92587156 meters 0.03181242544647024 Centerline is valid? [True, True] Translation: X:88.21, Y:-10.06, Z:-3.61 [[ 9.86458362e-01 1.60091108e-01 3.56473892e-02 8.82067811e+01] [-1.60020108e-01 9.87101818e-01 -4.85448135e-03 -1.00604369e+01] [-3.59647620e-02 -9.15555364e-04 9.99352639e-01 -3.60892695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95587156 meters 0.03267975241738996 Centerline is valid? [True, True] Translation: X:88.23, Y:-10.06, Z:-3.61 [[ 9.86478806e-01 1.60070904e-01 3.51691713e-02 8.82348848e+01] [-1.60001862e-01 9.87105104e-01 -4.78715615e-03 -1.00622297e+01] [-3.54819530e-02 -9.04704831e-04 9.99369908e-01 -3.61141585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98587156 meters 0.030401837207141343 Centerline is valid? [True, True] Translation: X:88.26, Y:-10.07, Z:-3.61 [[ 9.86754113e-01 1.58487594e-01 3.46121914e-02 8.82627547e+01] [-1.58419824e-01 9.87360614e-01 -4.70917668e-03 -1.00676004e+01] [-3.49210607e-02 -8.36457822e-04 9.99389724e-01 -3.61361788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01587156000001 meters 0.033091165022577064 Centerline is valid? [True, True] Translation: X:88.29, Y:-10.07, Z:-3.62 [[ 9.86989950e-01 1.56991875e-01 3.47043261e-02 8.82911828e+01] [-1.56922879e-01 9.87599580e-01 -4.72003179e-03 -1.00672014e+01] [-3.50149846e-02 -7.87278831e-04 9.99386477e-01 -3.61713394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04587156000001 meters 0.03410158715992613 Centerline is valid? [True, True] Translation: X:88.32, Y:-10.08, Z:-3.62 [[ 9.87325384e-01 1.54893754e-01 3.45906084e-02 8.83189885e+01] [-1.54823984e-01 9.87930877e-01 -4.70280341e-03 -1.00800723e+01] [-3.49015650e-02 -7.12258610e-04 9.99390501e-01 -3.61642415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07587156000001 meters 0.02389177828977394 Centerline is valid? [True, True] Translation: X:88.35, Y:-10.09, Z:-3.62 [[ 9.87584676e-01 1.53273660e-01 3.44048262e-02 8.83471562e+01] [-1.53203694e-01 9.88183566e-01 -4.67640877e-03 -1.00859765e+01] [-3.47150541e-02 -6.52596817e-04 9.99397038e-01 -3.61707075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10587156000001 meters 0.020471150797577192 Centerline is valid? [True, True] Translation: X:88.37, Y:-10.09, Z:-3.62 [[ 9.88208659e-01 1.49087281e-01 3.48802192e-02 8.83743327e+01] [-1.49012818e-01 9.88823907e-01 -4.73939358e-03 -1.00941584e+01] [-3.51969780e-02 -5.14089982e-04 9.99380262e-01 -3.61791346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13587156000001 meters 0.018693698946899977 Centerline is valid? [True, True] Translation: X:88.40, Y:-10.10, Z:-3.62 [[ 9.88501341e-01 1.46995091e-01 3.54618337e-02 8.84017937e+01] [-1.46916857e-01 9.89137120e-01 -4.81618557e-03 -1.00998327e+01] [-3.57845717e-02 -4.49135264e-04 9.99359426e-01 -3.61816461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16587156 meters 0.014926591447521545 Centerline is valid? [True, True] Translation: X:88.43, Y:-10.11, Z:-3.62 [[ 9.89114928e-01 1.42732120e-01 3.57659269e-02 8.84300781e+01] [-1.42649833e-01 9.89761311e-01 -4.85521825e-03 -1.01071249e+01] [-3.60927263e-02 -2.99634645e-04 9.99348400e-01 -3.61928128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19587156 meters 0.01327573660752424 Centerline is valid? [True, True] Translation: X:88.46, Y:-10.11, Z:-3.62 [[ 9.89424472e-01 1.40588638e-01 3.56938213e-02 8.84585950e+01] [-1.40505348e-01 9.90068071e-01 -4.84374283e-03 -1.01131596e+01] [-3.60202880e-02 -2.22655094e-04 9.99351034e-01 -3.62016107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22587156 meters 0.011831026199291371 Centerline is valid? [True, True] Translation: X:88.49, Y:-10.12, Z:-3.62 [[ 9.89758075e-01 1.38204187e-01 3.57569009e-02 8.84863824e+01] [-1.38119108e-01 9.90403748e-01 -4.85059177e-03 -1.01197277e+01] [-3.60841408e-02 -1.37798908e-04 9.99348746e-01 -3.62044174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25587156 meters 0.011831026199291371 Centerline is valid? [True, True] Translation: X:88.51, Y:-10.12, Z:-3.62 [[ 9.89764716e-01 1.38156555e-01 3.57571350e-02 8.85144324e+01] [-1.38071508e-01 9.90410393e-01 -4.84886556e-03 -1.01234449e+01] [-3.60841407e-02 -1.37805495e-04 9.99348746e-01 -3.62171722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28587156 meters 0.01594319955536544 Centerline is valid? [True, True] Translation: X:88.54, Y:-10.13, Z:-3.62 [[ 9.90132745e-01 1.35426733e-01 3.60103668e-02 8.85413123e+01] [-1.35338732e-01 9.90787363e-01 -4.88152866e-03 -1.01303350e+01] [-3.63397058e-02 -4.02360162e-05 9.99339494e-01 -3.62436423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31587156 meters 0.026879437448228544 Centerline is valid? [True, True] Translation: X:88.57, Y:-10.14, Z:-3.63 [[ 9.90537866e-01 1.32527297e-01 3.56546046e-02 8.85696635e+01] [-1.32439229e-01 9.91179354e-01 -4.83104490e-03 -1.01385481e+01] [-3.59803533e-02 6.32645684e-05 9.99352495e-01 -3.62638354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34587156 meters 0.014170453180502019 Centerline is valid? [True, True] Translation: X:88.60, Y:-10.15, Z:-3.63 [[ 9.91318744e-01 1.26733154e-01 3.50122142e-02 8.85964435e+01] [-1.26644681e-01 9.91936811e-01 -4.74218118e-03 -1.01509633e+01] [-3.53308957e-02 2.66902377e-04 9.99375633e-01 -3.62869163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37587156000001 meters 0.0167870951366857 Centerline is valid? [True, True] Translation: X:88.62, Y:-10.16, Z:-3.63 [[ 9.91719728e-01 1.23678724e-01 3.45767784e-02 8.86243733e+01] [-1.23590642e-01 9.92322244e-01 -4.68149190e-03 -1.01603236e+01] [-3.48903073e-02 3.69361632e-04 9.99391080e-01 -3.63103618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40587156000001 meters 0.01863738010528883 Centerline is valid? [True, True] Translation: X:88.65, Y:-10.17, Z:-3.63 [[ 9.92107800e-01 1.20634732e-01 3.41961356e-02 8.86537347e+01] [-1.20546717e-01 9.92696851e-01 -4.63150451e-03 -1.01683582e+01] [-3.45051165e-02 4.72719850e-04 9.99404409e-01 -3.63197442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43587156000001 meters 0.02384580847263386 Centerline is valid? [True, True] Translation: X:88.68, Y:-10.18, Z:-3.63 [[ 9.92723665e-01 1.15423191e-01 3.43105131e-02 8.86820616e+01] [-1.15331474e-01 9.93316192e-01 -4.64699573e-03 -1.01828352e+01] [-3.46175592e-02 6.56100581e-04 9.99400417e-01 -3.63325220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46587156000001 meters 0.04254365361003911 Centerline is valid? [True, True] Translation: X:88.71, Y:-10.19, Z:-3.63 [[ 9.92930553e-01 1.13454102e-01 3.48867228e-02 8.87140450e+01] [-1.13358122e-01 9.93542966e-01 -4.72335742e-03 -1.01890782e+01] [-3.51973423e-02 7.35272524e-04 9.99380111e-01 -3.63411646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49587156000001 meters 0.026154285906758126 Centerline is valid? [True, True] Translation: X:88.74, Y:-10.20, Z:-3.63 [[ 9.93169041e-01 1.11523909e-01 3.43172545e-02 8.87442436e+01] [-1.11429655e-01 9.93761431e-01 -4.65292564e-03 -1.01992867e+01] [-3.46220764e-02 7.97181880e-04 9.99400158e-01 -3.63445364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52587156000001 meters 0.029351971160125227 Centerline is valid? [True, True] Translation: X:88.77, Y:-10.21, Z:-3.64 [[ 9.93196169e-01 1.11241103e-01 3.44497602e-02 8.87749259e+01] [-1.11145868e-01 9.93793116e-01 -4.67324875e-03 -1.02061159e+01] [-3.47557918e-02 8.12504261e-04 9.99395505e-01 -3.63637992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55587156 meters 0.03211333227999206 Centerline is valid? [True, True] Translation: X:88.81, Y:-10.21, Z:-3.64 [[ 9.93119415e-01 1.11782522e-01 3.49069541e-02 8.88050461e+01] [-1.11684877e-01 9.93732364e-01 -4.74089922e-03 -1.02125596e+01] [-3.52181197e-02 8.09700199e-04 9.99379322e-01 -3.63753790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58587156 meters 0.03505003645588942 Centerline is valid? [True, True] Translation: X:88.84, Y:-10.22, Z:-3.64 [[ 9.92865668e-01 1.14096322e-01 3.46380638e-02 8.88357756e+01] [-1.14001398e-01 9.93469426e-01 -4.70965468e-03 -1.02188954e+01] [-3.49492116e-02 7.27266729e-04 9.99388825e-01 -3.63986913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61587156 meters 0.023922165057972913 Centerline is valid? [True, True] Translation: X:88.87, Y:-10.22, Z:-3.64 [[ 9.92674846e-01 1.15808221e-01 3.44253679e-02 8.88683324e+01] [-1.15715257e-01 9.93271367e-01 -4.68738608e-03 -1.02217443e+01] [-3.47365700e-02 6.69509975e-04 9.99396279e-01 -3.63989355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64587156 meters 0.022312570036713893 Centerline is valid? [True, True] Translation: X:88.90, Y:-10.22, Z:-3.64 [[ 9.92463206e-01 1.17663364e-01 3.42362058e-02 8.89005640e+01] [-1.17572490e-01 9.93053357e-01 -4.66254274e-03 -1.02248327e+01] [-3.45469896e-02 6.02166153e-04 9.99402893e-01 -3.64138374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67587156 meters 0.020028541002965507 Centerline is valid? [True, True] Translation: X:88.93, Y:-10.23, Z:-3.64 [[ 9.92069717e-01 1.20949876e-01 3.41877708e-02 8.89308886e+01] [-1.20860956e-01 9.92658493e-01 -4.66329040e-03 -1.02275957e+01] [-3.45008054e-02 4.94342524e-04 9.99404548e-01 -3.64390528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70587156 meters 0.030627181072112798 Centerline is valid? [True, True] Translation: X:88.96, Y:-10.23, Z:-3.65 [[ 9.91897384e-01 1.22446680e-01 3.38583907e-02 8.89621134e+01] [-1.22360328e-01 9.92474996e-01 -4.61863428e-03 -1.02308293e+01] [-3.41691426e-02 4.38287486e-04 9.99415968e-01 -3.64698012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73587156 meters 0.017320927493280704 Centerline is valid? [True, True] Translation: X:88.99, Y:-10.23, Z:-3.65 [[ 9.91731572e-01 1.23948405e-01 3.32457874e-02 8.89925718e+01] [-1.23865959e-01 9.92288591e-01 -4.53610313e-03 -1.02344657e+01] [-3.35516583e-02 3.80575349e-04 9.99436912e-01 -3.64803493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76587156000001 meters 0.01656112326543303 Centerline is valid? [True, True] Translation: X:89.02, Y:-10.24, Z:-3.65 [[ 9.91598227e-01 1.25153558e-01 3.27038832e-02 8.90225475e+01] [-1.25074433e-01 9.92137327e-01 -4.46216494e-03 -1.02383176e+01] [-3.30051991e-02 3.34255180e-04 9.99455124e-01 -3.65028258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79587156000001 meters 0.0161588047719056 Centerline is valid? [True, True] Translation: X:89.05, Y:-10.24, Z:-3.65 [[ 9.91504184e-01 1.25914299e-01 3.26349758e-02 8.90512123e+01] [-1.25835915e-01 9.92041075e-01 -4.45290448e-03 -1.02427126e+01] [-3.29359208e-02 3.08421393e-04 9.99457418e-01 -3.65164104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82587156000001 meters 0.014934728255631751 Centerline is valid? [True, True] Translation: X:89.08, Y:-10.25, Z:-3.65 [[ 9.91325679e-01 1.27183681e-01 3.31316905e-02 8.90814025e+01] [-1.27103618e-01 9.91879145e-01 -4.52014428e-03 -1.02468666e+01] [-3.34375215e-02 2.69777365e-04 9.99440773e-01 -3.65258935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85587156000001 meters 0.016909545700879776 Centerline is valid? [True, True] Translation: X:89.11, Y:-10.25, Z:-3.65 [[ 9.91283528e-01 1.27443846e-01 3.33921189e-02 8.91108926e+01] [-1.27362662e-01 9.91845753e-01 -4.55580687e-03 -1.02513688e+01] [-3.37004409e-02 2.63187137e-04 9.99431944e-01 -3.65425681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88587156000001 meters 0.01607291291611336 Centerline is valid? [True, True] Translation: X:89.14, Y:-10.26, Z:-3.65 [[ 9.91127035e-01 1.28477402e-01 3.40698863e-02 8.91415099e+01] [-1.28393517e-01 9.91712410e-01 -4.64773960e-03 -1.02556794e+01] [-3.43846585e-02 2.32147856e-04 9.99408646e-01 -3.65427123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91587156 meters 0.013645135015996904 Centerline is valid? [True, True] Translation: X:89.17, Y:-10.26, Z:-3.65 [[ 9.91016304e-01 1.29149911e-01 3.47416917e-02 8.91708217e+01] [-1.29063094e-01 9.91625058e-01 -4.73950236e-03 -1.02599748e+01] [-3.50628384e-02 2.13053905e-04 9.99385087e-01 -3.65454362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94587156 meters 0.02873603435778642 Centerline is valid? [True, True] Translation: X:89.20, Y:-10.26, Z:-3.66 [[ 9.90894823e-01 1.29997868e-01 3.50428987e-02 8.92011697e+01] [-1.29910086e-01 9.91514256e-01 -4.78006185e-03 -1.02631796e+01] [-3.53669315e-02 1.84112546e-04 9.99374377e-01 -3.65552930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97587156 meters 0.012287306363818007 Centerline is valid? [True, True] Translation: X:89.23, Y:-10.27, Z:-3.66 [[ 9.90752917e-01 1.31153616e-01 3.47474741e-02 8.92309710e+01] [-1.31068011e-01 9.91362047e-01 -4.74000348e-03 -1.02666621e+01] [-3.50689957e-02 1.41889963e-04 9.99384884e-01 -3.65564693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00587156 meters 0.011881055662305325 Centerline is valid? [True, True] Translation: X:89.26, Y:-10.27, Z:-3.66 [[ 9.90504245e-01 1.33167835e-01 3.41711734e-02 8.92601747e+01] [-1.33086273e-01 9.91093499e-01 -4.66057796e-03 -1.02693914e+01] [-3.44874669e-02 6.86081247e-05 9.99405128e-01 -3.65859287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03587156 meters 0.012242395630182158 Centerline is valid? [True, True] Translation: X:89.29, Y:-10.27, Z:-3.66 [[ 9.90447818e-01 1.33773574e-01 3.34327959e-02 8.92884069e+01] [-1.33695870e-01 9.91011922e-01 -4.55911233e-03 -1.02724342e+01] [-3.37421881e-02 4.57361284e-05 9.99430569e-01 -3.66143218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06587156 meters 0.024584077850228904 Centerline is valid? [True, True] Translation: X:89.32, Y:-10.28, Z:-3.66 [[ 9.90380000e-01 1.34283024e-01 3.33994867e-02 8.93178031e+01] [-1.34205797e-01 9.90943020e-01 -4.55362543e-03 -1.02754386e+01] [-3.37084628e-02 2.74148286e-05 9.99431708e-01 -3.66319923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09587156 meters 0.011944785116342513 Centerline is valid? [True, True] Translation: X:89.35, Y:-10.28, Z:-3.66 [[ 9.90306267e-01 1.34804210e-01 3.34861484e-02 8.93468416e+01] [-1.34726906e-01 9.90872255e-01 -4.56463495e-03 -1.02792971e+01] [-3.37958273e-02 8.90142967e-06 9.99428758e-01 -3.66332815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12587156000001 meters 0.011829948772710555 Centerline is valid? [True, True] Translation: X:89.38, Y:-10.28, Z:-3.66 [[ 9.90217835e-01 1.35315904e-01 3.40330124e-02 8.93760041e+01] [-1.35236385e-01 9.90802506e-01 -4.63833212e-03 -1.02848785e+01] [-3.43476341e-02 -9.54237066e-06 9.99409946e-01 -3.66314449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15587156000001 meters 0.011740399543473093 Centerline is valid? [True, True] Translation: X:89.40, Y:-10.29, Z:-3.66 [[ 9.90184554e-01 1.35390643e-01 3.46975916e-02 8.94045415e+01] [-1.35308059e-01 9.90792296e-01 -4.72815988e-03 -1.02895679e+01] [-3.50182551e-02 -1.31129061e-05 9.99386673e-01 -3.66429692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18587156000001 meters 0.011850979012048648 Centerline is valid? [True, True] Translation: X:89.43, Y:-10.29, Z:-3.67 [[ 9.90130484e-01 1.35633029e-01 3.52889006e-02 8.94327937e+01] [-1.35547806e-01 9.90759144e-01 -4.80742771e-03 -1.02934587e+01] [-3.56148469e-02 -2.33523356e-05 9.99365590e-01 -3.66595213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21587156000001 meters 0.01148020284493201 Centerline is valid? [True, True] Translation: X:89.46, Y:-10.30, Z:-3.66 [[ 9.89943063e-01 1.36739469e-01 3.62636240e-02 8.94621212e+01] [-1.36650266e-01 9.90607043e-01 -4.93876959e-03 -1.02964552e+01] [-3.65983261e-02 -6.63331781e-05 9.99330055e-01 -3.66361778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24587156000001 meters 0.011644643134624095 Centerline is valid? [True, True] Translation: X:89.49, Y:-10.30, Z:-3.66 [[ 9.89836803e-01 1.37505693e-01 3.62669059e-02 8.94914880e+01] [-1.37417020e-01 9.90500972e-01 -4.93834592e-03 -1.02994939e+01] [-3.66014562e-02 -9.55336019e-05 9.99329938e-01 -3.66465868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27587156000001 meters 0.012080798691994592 Centerline is valid? [True, True] Translation: X:89.52, Y:-10.30, Z:-3.67 [[ 9.89758552e-01 1.38189067e-01 3.58021018e-02 8.95208650e+01] [-1.38103135e-01 9.90405860e-01 -4.87408246e-03 -1.03027356e+01] [-3.61321563e-02 -1.20217690e-04 9.99347013e-01 -3.66766471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30587156 meters 0.01327857300095965 Centerline is valid? [True, True] Translation: X:89.55, Y:-10.30, Z:-3.67 [[ 9.89625271e-01 1.39299040e-01 3.51795474e-02 8.95495496e+01] [-1.39216780e-01 9.90250348e-01 -4.78912999e-03 -1.03044952e+01] [-3.55036803e-02 -1.58139258e-04 9.99369533e-01 -3.67195067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33587156 meters 0.013257601938337134 Centerline is valid? [True, True] Translation: X:89.58, Y:-10.31, Z:-3.67 [[ 9.89559786e-01 1.39803480e-01 3.50202353e-02 8.95780746e+01] [-1.39722319e-01 9.90179254e-01 -4.76631427e-03 -1.03080585e+01] [-3.53426578e-02 -1.76555559e-04 9.99375238e-01 -3.67244611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36587156 meters 0.013398681368604129 Centerline is valid? [True, True] Translation: X:89.61, Y:-10.31, Z:-3.67 [[ 9.89483292e-01 1.40384185e-01 3.48582174e-02 8.96078303e+01] [-1.40304200e-01 9.90097087e-01 -4.74239563e-03 -1.03111965e+01] [-3.51787769e-02 -1.98233065e-04 9.99381016e-01 -3.67356659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39587156 meters 0.013936571497354664 Centerline is valid? [True, True] Translation: X:89.64, Y:-10.31, Z:-3.68 [[ 9.89429153e-01 1.40934746e-01 3.41664716e-02 8.96368599e+01] [-1.40858251e-01 9.90018864e-01 -4.64774006e-03 -1.03125659e+01] [-3.44804795e-02 -2.14019922e-04 9.99405349e-01 -3.67560575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42587156 meters 0.014088985291455207 Centerline is valid? [True, True] Translation: X:89.67, Y:-10.32, Z:-3.68 [[ 9.89378524e-01 1.41282850e-01 3.41949141e-02 8.96654244e+01] [-1.41206492e-01 9.89969244e-01 -4.64996724e-03 -1.03155331e+01] [-3.45088739e-02 -2.27966153e-04 9.99404365e-01 -3.67659484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45587156 meters 0.014864198043455927 Centerline is valid? [True, True] Translation: X:89.69, Y:-10.32, Z:-3.68 [[ 9.89388543e-01 1.41298615e-01 3.38380402e-02 8.96931233e+01] [-1.41223902e-01 9.89966994e-01 -4.60001131e-03 -1.03177350e+01] [-3.41485182e-02 -2.27541573e-04 9.99416743e-01 -3.68016037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48587156 meters 0.013930774612830463 Centerline is valid? [True, True] Translation: X:89.72, Y:-10.32, Z:-3.68 [[ 9.89420954e-01 1.41047353e-01 3.39384662e-02 8.97212954e+01] [-1.40972130e-01 9.90002826e-01 -4.61125311e-03 -1.03222512e+01] [-3.42495825e-02 -2.21907407e-04 9.99413286e-01 -3.67963008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51587156000001 meters 0.013637462587181619 Centerline is valid? [True, True] Translation: X:89.75, Y:-10.33, Z:-3.68 [[ 9.89441188e-01 1.40790968e-01 3.44098683e-02 8.97494436e+01] [-1.40713544e-01 9.90039320e-01 -4.67360619e-03 -1.03257291e+01] [-3.47251241e-02 -2.17676052e-04 9.99396877e-01 -3.67980549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54587156000001 meters 0.02552717791501805 Centerline is valid? [True, True] Translation: X:89.78, Y:-10.33, Z:-3.68 [[ 9.89459303e-01 1.40549631e-01 3.48724695e-02 8.97784349e+01] [-1.40470021e-01 9.90073611e-01 -4.73471258e-03 -1.03289697e+01] [-3.51917739e-02 -2.13731118e-04 9.99380555e-01 -3.68154369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57587156000001 meters 0.013565280440080912 Centerline is valid? [True, True] Translation: X:89.81, Y:-10.33, Z:-3.68 [[ 9.89537133e-01 1.40079097e-01 3.45558674e-02 8.98061545e+01] [-1.40000694e-01 9.90140297e-01 -4.69017716e-03 -1.03316187e+01] [-3.48721526e-02 -1.96740976e-04 9.99391762e-01 -3.68312838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60587156000001 meters 0.01321065628071105 Centerline is valid? [True, True] Translation: X:89.83, Y:-10.34, Z:-3.69 [[ 9.89662045e-01 1.39251848e-01 3.43214055e-02 8.98346093e+01] [-1.39174084e-01 9.90256984e-01 -4.65616421e-03 -1.03361018e+01] [-3.46353909e-02 -1.68621178e-04 9.99400001e-01 -3.68515204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63587156000001 meters 0.027720538707013156 Centerline is valid? [True, True] Translation: X:89.86, Y:-10.34, Z:-3.69 [[ 9.89821112e-01 1.38198707e-01 3.39894589e-02 8.98630968e+01] [-1.38121875e-01 9.90404513e-01 -4.60954361e-03 -1.03410262e+01] [-3.43003465e-02 -1.32064193e-04 9.99411561e-01 -3.68794264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66587156 meters 0.031491837861086704 Centerline is valid? [True, True] Translation: X:89.89, Y:-10.35, Z:-3.69 [[ 9.90193270e-01 1.35561973e-01 3.37674364e-02 8.98911569e+01] [-1.35484664e-01 9.90768868e-01 -4.57780940e-03 -1.03475917e+01] [-3.40763017e-02 -4.20537077e-05 9.99419233e-01 -3.68953963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69587156 meters 0.024553384346073962 Centerline is valid? [True, True] Translation: X:89.92, Y:-10.35, Z:-3.69 [[ 9.90415283e-01 1.33858348e-01 3.40515768e-02 8.99197201e+01] [-1.33778783e-01 9.91000475e-01 -4.61464225e-03 -1.03533825e+01] [-3.43628372e-02 1.50337239e-05 9.99409423e-01 -3.69011475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72587156 meters 0.021566967437014365 Centerline is valid? [True, True] Translation: X:89.95, Y:-10.36, Z:-3.69 [[ 9.90636673e-01 1.32119450e-01 3.44010726e-02 8.99482004e+01] [-1.32037266e-01 9.91233800e-01 -4.65993656e-03 -1.03596748e+01] [-3.47151742e-02 7.40804728e-05 9.99397244e-01 -3.69159506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75587156 meters 0.013072159431604384 Centerline is valid? [True, True] Translation: X:89.98, Y:-10.37, Z:-3.69 [[ 9.91058920e-01 1.28912757e-01 3.44052147e-02 8.99776839e+01] [-1.28828639e-01 9.91655921e-01 -4.65996138e-03 -1.03690790e+01] [-3.47188634e-02 1.85919318e-04 9.99397101e-01 -3.69136829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78587156 meters 0.013856381289937523 Centerline is valid? [True, True] Translation: X:90.01, Y:-10.38, Z:-3.69 [[ 9.91226846e-01 1.27558662e-01 3.46139887e-02 9.00076589e+01] [-1.27472694e-01 9.91831000e-01 -4.68823845e-03 -1.03758710e+01] [-3.49292524e-02 2.34769423e-04 9.99389760e-01 -3.69290748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81587156 meters 0.014751836377365284 Centerline is valid? [True, True] Translation: X:90.04, Y:-10.38, Z:-3.69 [[ 9.91398898e-01 1.26227451e-01 3.45666932e-02 9.00371858e+01] [-1.26140910e-01 9.92001286e-01 -4.68183259e-03 -1.03821026e+01] [-3.48811799e-02 2.81289542e-04 9.99391427e-01 -3.69384930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84587156 meters 0.015268485850603074 Centerline is valid? [True, True] Translation: X:90.07, Y:-10.39, Z:-3.69 [[ 9.91598364e-01 1.24746057e-01 3.42214320e-02 9.00677931e+01] [-1.24660363e-01 9.92188648e-01 -4.63481440e-03 -1.03890667e+01] [-3.45322912e-02 3.29818228e-04 9.99403528e-01 -3.69438030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87587156000001 meters 0.01581127935473762 Centerline is valid? [True, True] Translation: X:90.10, Y:-10.40, Z:-3.70 [[ 9.91616774e-01 1.24489523e-01 3.46198128e-02 9.00979924e+01] [-1.24401681e-01 9.92220863e-01 -4.68829253e-03 -1.03951832e+01] [-3.49341439e-02 3.42226595e-04 9.99389558e-01 -3.69596684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90587156000001 meters 0.01574921988432298 Centerline is valid? [True, True] Translation: X:90.13, Y:-10.40, Z:-3.69 [[ 9.91620864e-01 1.24154147e-01 3.56904692e-02 9.01292140e+01] [-1.24060362e-01 9.92262874e-01 -4.83903471e-03 -1.04020371e+01] [-3.60151138e-02 3.70715257e-04 9.99351177e-01 -3.69471393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93587156000001 meters 0.029392614143789502 Centerline is valid? [True, True] Translation: X:90.16, Y:-10.41, Z:-3.70 [[ 9.91594977e-01 1.24220239e-01 3.61764221e-02 9.01606269e+01] [-1.24123697e-01 9.92254598e-01 -4.91117535e-03 -1.04092258e+01] [-3.65062886e-02 3.79545536e-04 9.99333351e-01 -3.69736764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96587156000001 meters 0.016626521125317133 Centerline is valid? [True, True] Translation: X:90.19, Y:-10.42, Z:-3.70 [[ 9.91586092e-01 1.24226845e-01 3.63966066e-02 9.01922694e+01] [-1.24128876e-01 9.92253768e-01 -4.94794541e-03 -1.04154511e+01] [-3.67293377e-02 3.88443996e-04 9.99325175e-01 -3.69689633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99587156000001 meters 0.029340416363466796 Centerline is valid? [True, True] Translation: X:90.22, Y:-10.42, Z:-3.70 [[ 9.91524935e-01 1.24540224e-01 3.69869791e-02 9.02239179e+01] [-1.24439035e-01 9.92214483e-01 -5.03442765e-03 -1.04205417e+01] [-3.73260051e-02 3.89136561e-04 9.99303066e-01 -3.69848864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02587156000001 meters 0.015259194910668735 Centerline is valid? [True, True] Translation: X:90.26, Y:-10.43, Z:-3.70 [[ 9.91409746e-01 1.25453118e-01 3.69896120e-02 9.02556293e+01] [-1.25352318e-01 9.92099483e-01 -5.04097859e-03 -1.04266004e+01] [-3.73297814e-02 3.60941704e-04 9.99302936e-01 -3.69789216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05587156 meters 0.014739997199332541 Centerline is valid? [True, True] Translation: X:90.29, Y:-10.43, Z:-3.70 [[ 9.91284914e-01 1.26581557e-01 3.64873760e-02 9.02878404e+01] [-1.26484022e-01 9.91956152e-01 -4.97846956e-03 -1.04312042e+01] [-3.68240595e-02 3.20011710e-04 9.99321713e-01 -3.70019750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08587156 meters 0.014045787997667898 Centerline is valid? [True, True] Translation: X:90.32, Y:-10.44, Z:-3.70 [[ 9.91123078e-01 1.27956111e-01 3.60870780e-02 9.03200528e+01] [-1.27861354e-01 9.91779794e-01 -4.93102365e-03 -1.04353172e+01] [-3.64213894e-02 2.73108682e-04 9.99336484e-01 -3.70277479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11587156 meters 0.026554905760115103 Centerline is valid? [True, True] Translation: X:90.35, Y:-10.44, Z:-3.71 [[ 9.90920794e-01 1.29714458e-01 3.53573067e-02 9.03512402e+01] [-1.29624402e-01 9.91551368e-01 -4.83727614e-03 -1.04386573e+01] [-3.56860504e-02 2.10187789e-04 9.99363028e-01 -3.70702969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14587156 meters 0.012023828733351408 Centerline is valid? [True, True] Translation: X:90.38, Y:-10.44, Z:-3.71 [[ 9.90477535e-01 1.33234364e-01 3.46822145e-02 9.03816701e+01] [-1.33149634e-01 9.91084556e-01 -4.75168417e-03 -1.04406182e+01] [-3.50060947e-02 8.85122500e-05 9.99387095e-01 -3.70844947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17587156 meters 0.012023828733351408 Centerline is valid? [True, True] Translation: X:90.41, Y:-10.44, Z:-3.71 [[ 9.90477535e-01 1.33234388e-01 3.46821428e-02 9.04113639e+01] [-1.33149639e-01 9.91084552e-01 -4.75220756e-03 -1.04446866e+01] [-3.50060934e-02 8.90400258e-05 9.99387095e-01 -3.70980013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20587156 meters 0.011593310852753941 Centerline is valid? [True, True] Translation: X:90.44, Y:-10.45, Z:-3.71 [[ 9.90205822e-01 1.35210929e-01 3.47913035e-02 9.04414607e+01] [-1.35126865e-01 9.90816837e-01 -4.76716496e-03 -1.04462409e+01] [-3.51163821e-02 1.92347075e-05 9.99383229e-01 -3.71039069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23587156 meters 0.023828716338723487 Centerline is valid? [True, True] Translation: X:90.47, Y:-10.44, Z:-3.71 [[ 9.89614554e-01 1.39531809e-01 3.45529947e-02 9.04718469e+01] [-1.39451521e-01 9.90217580e-01 -4.73463274e-03 -1.04427922e+01] [-3.48756146e-02 -1.33006191e-04 9.99391652e-01 -3.71408321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26587156000001 meters 0.013743214700477025 Centerline is valid? [True, True] Translation: X:90.50, Y:-10.44, Z:-3.71 [[ 9.89365198e-01 1.41396369e-01 3.41111603e-02 9.05014963e+01] [-1.41319239e-01 9.89953043e-01 -4.67380854e-03 -1.04444617e+01] [-3.44293065e-02 -1.96459699e-04 9.99407116e-01 -3.71484453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29587156000001 meters 0.023508696675418612 Centerline is valid? [True, True] Translation: X:90.53, Y:-10.45, Z:-3.72 [[ 9.89099764e-01 1.43352130e-01 3.36425939e-02 9.05308033e+01] [-1.43278262e-01 9.89671712e-01 -4.60882208e-03 -1.04455206e+01] [-3.39558080e-02 -2.61667558e-04 9.99423301e-01 -3.71765708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32587156000001 meters 0.017709272358340983 Centerline is valid? [True, True] Translation: X:90.56, Y:-10.44, Z:-3.72 [[ 9.88688604e-01 1.46230670e-01 3.33382018e-02 9.05594365e+01] [-1.46159781e-01 9.89250455e-01 -4.56673454e-03 -1.04437529e+01] [-3.36476280e-02 -3.57625890e-04 9.99433694e-01 -3.71921456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35587156000001 meters 0.01735874755309322 Centerline is valid? [True, True] Translation: X:90.59, Y:-10.45, Z:-3.72 [[ 9.88503931e-01 1.47444769e-01 3.34666647e-02 9.05877354e+01] [-1.47374099e-01 9.89070209e-01 -4.58223151e-03 -1.04475345e+01] [-3.37765071e-02 -4.02565706e-04 9.99429330e-01 -3.71827767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38587156000001 meters 0.019090038398163686 Centerline is valid? [True, True] Translation: X:90.62, Y:-10.45, Z:-3.72 [[ 9.88367148e-01 1.48234681e-01 3.40126439e-02 9.06150435e+01] [-1.48162209e-01 9.88952116e-01 -4.65537383e-03 -1.04491409e+01] [-3.43269640e-02 -4.38169915e-04 9.99410560e-01 -3.72047683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41587156 meters 0.021337524203122793 Centerline is valid? [True, True] Translation: X:90.64, Y:-10.45, Z:-3.72 [[ 9.88282718e-01 1.48747041e-01 3.42284397e-02 9.06435423e+01] [-1.48674033e-01 9.88875172e-01 -4.68261252e-03 -1.04527120e+01] [-3.45441790e-02 -4.61135136e-04 9.99403065e-01 -3.72201414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44587156 meters 0.018691033655466892 Centerline is valid? [True, True] Translation: X:90.67, Y:-10.46, Z:-3.72 [[ 9.88221922e-01 1.49043971e-01 3.46890021e-02 9.06724569e+01] [-1.48969226e-01 9.88830453e-01 -4.74393499e-03 -1.04572414e+01] [-3.50085966e-02 -4.79533233e-04 9.99386896e-01 -3.72062897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47587156 meters 0.01956477895200393 Centerline is valid? [True, True] Translation: X:90.70, Y:-10.46, Z:-3.72 [[ 9.88227730e-01 1.48893333e-01 3.51671616e-02 9.07007574e+01] [-1.48816482e-01 9.88853145e-01 -4.80752436e-03 -1.04591507e+01] [-3.54909667e-02 -4.82524375e-04 9.99369881e-01 -3.72207138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50587156 meters 0.018534328854373734 Centerline is valid? [True, True] Translation: X:90.73, Y:-10.46, Z:-3.72 [[ 9.88295269e-01 1.48330106e-01 3.56460374e-02 9.07289669e+01] [-1.48250845e-01 9.88937793e-01 -4.87118115e-03 -1.04636946e+01] [-3.59742563e-02 -4.70389885e-04 9.99352606e-01 -3.72207587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53587156 meters 0.017456226189471086 Centerline is valid? [True, True] Translation: X:90.76, Y:-10.47, Z:-3.72 [[ 9.88632351e-01 1.46011010e-01 3.58728109e-02 9.07563529e+01] [-1.45929272e-01 9.89282888e-01 -4.90049871e-03 -1.04685200e+01] [-3.62038848e-02 -3.90101624e-04 9.99344348e-01 -3.72416996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56587156 meters 0.016163463866328887 Centerline is valid? [True, True] Translation: X:90.78, Y:-10.47, Z:-3.73 [[ 9.88855583e-01 1.44568472e-01 3.55611121e-02 9.07848267e+01] [-1.44487296e-01 9.89494742e-01 -4.85566249e-03 -1.04746877e+01] [-3.58895091e-02 -3.36579973e-04 9.99355707e-01 -3.72630479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59587156 meters 0.014222817050018781 Centerline is valid? [True, True] Translation: X:90.81, Y:-10.48, Z:-3.73 [[ 9.89101935e-01 1.42974020e-01 3.51538182e-02 9.08131628e+01] [-1.42893744e-01 9.89726403e-01 -4.79843531e-03 -1.04822981e+01] [-3.54787136e-02 -2.77119048e-04 9.99370394e-01 -3.72719045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62587156000001 meters 0.023890450639394503 Centerline is valid? [True, True] Translation: X:90.84, Y:-10.49, Z:-3.73 [[ 9.89477936e-01 1.40362429e-01 3.50970602e-02 9.08415193e+01] [-1.40280836e-01 9.90100174e-01 -4.78882390e-03 -1.04883221e+01] [-3.54217764e-02 -1.85009358e-04 9.99372435e-01 -3.73167569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65587156000001 meters 0.01223836496625119 Centerline is valid? [True, True] Translation: X:90.87, Y:-10.50, Z:-3.73 [[ 9.89672085e-01 1.38940594e-01 3.52799474e-02 9.08702340e+01] [-1.38857296e-01 9.90300708e-01 -4.81233877e-03 -1.04953504e+01] [-3.56063861e-02 -1.36240759e-04 9.99365882e-01 -3.73018037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68587156000001 meters 0.011854785712619609 Centerline is valid? [True, True] Translation: X:90.90, Y:-10.50, Z:-3.73 [[ 9.89949608e-01 1.36963961e-01 3.52228217e-02 9.08988738e+01] [-1.36879716e-01 9.90576029e-01 -4.80357123e-03 -1.05026089e+01] [-3.55487990e-02 -6.59963843e-05 9.99367940e-01 -3.73260901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71587156000001 meters 0.011762194129023249 Centerline is valid? [True, True] Translation: X:90.93, Y:-10.51, Z:-3.73 [[ 9.90500135e-01 1.32903402e-01 3.53010975e-02 9.09280751e+01] [-1.32816222e-01 9.91128992e-01 -4.81370285e-03 -1.05142998e+01] [-3.56276987e-02 7.94149088e-05 9.99365129e-01 -3.73261134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74587156000001 meters 0.023491616235491803 Centerline is valid? [True, True] Translation: X:90.96, Y:-10.52, Z:-3.73 [[ 9.90714774e-01 1.31121774e-01 3.59348956e-02 9.09587796e+01] [-1.31030312e-01 9.91366259e-01 -4.89877444e-03 -1.05220428e+01] [-3.62669790e-02 1.44727631e-04 9.99342126e-01 -3.73482809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77587156000001 meters 0.018419616243083504 Centerline is valid? [True, True] Translation: X:90.99, Y:-10.53, Z:-3.74 [[ 9.91189944e-01 1.27309521e-01 3.65346578e-02 9.09899243e+01] [-1.27212178e-01 9.91862994e-01 -4.98627116e-03 -1.05345648e+01] [-3.68721749e-02 2.94688442e-04 9.99319947e-01 -3.73505136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80587156 meters 0.016135621993770454 Centerline is valid? [True, True] Translation: X:91.02, Y:-10.54, Z:-3.74 [[ 9.91408852e-01 1.25520935e-01 3.67829061e-02 9.10203472e+01] [-1.25420799e-01 9.92090902e-01 -5.02643896e-03 -1.05439511e+01] [-3.71229098e-02 3.69914608e-04 9.99310639e-01 -3.73518784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83587156 meters 0.016867001824681503 Centerline is valid? [True, True] Translation: X:91.05, Y:-10.55, Z:-3.74 [[ 9.91543721e-01 1.24405219e-01 3.69376505e-02 9.10519446e+01] [-1.24303256e-01 9.92231407e-01 -5.05318224e-03 -1.05520079e+01] [-3.72793392e-02 4.18980904e-04 9.99304796e-01 -3.73606752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86587156 meters 0.02042889824923736 Centerline is valid? [True, True] Translation: X:91.08, Y:-10.56, Z:-3.74 [[ 9.91629593e-01 1.23739521e-01 3.68684218e-02 9.10830588e+01] [-1.23637252e-01 9.92314632e-01 -5.04983176e-03 -1.05583084e+01] [-3.72099382e-02 4.49252260e-04 9.99307369e-01 -3.73786942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89587156 meters 0.017623001775893703 Centerline is valid? [True, True] Translation: X:91.11, Y:-10.57, Z:-3.74 [[ 9.91715621e-01 1.23155523e-01 3.65081442e-02 9.11141377e+01] [-1.23054586e-01 9.92387270e-01 -5.00760666e-03 -1.05676584e+01] [-3.68469320e-02 4.73627181e-04 9.99320809e-01 -3.73867263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92587156 meters 0.01864995206707116 Centerline is valid? [True, True] Translation: X:91.15, Y:-10.58, Z:-3.74 [[ 9.91629952e-01 1.23910834e-01 3.62786931e-02 9.11457204e+01] [-1.23811623e-01 9.92293257e-01 -4.97731820e-03 -1.05750861e+01] [-3.66158462e-02 4.43933920e-04 9.99329316e-01 -3.74192171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95587156 meters 0.0168724450681054 Centerline is valid? [True, True] Translation: X:91.18, Y:-10.58, Z:-3.74 [[ 9.91519308e-01 1.24900284e-01 3.59079505e-02 9.11782416e+01] [-1.24803500e-01 9.92169215e-01 -4.93308380e-03 -1.05781847e+01] [-3.62429067e-02 4.09809953e-04 9.99342926e-01 -3.74253832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98587156 meters 0.01567139933641755 Centerline is valid? [True, True] Translation: X:91.21, Y:-10.58, Z:-3.75 [[ 9.91175911e-01 1.27713348e-01 3.54910367e-02 9.12086346e+01] [-1.27620364e-01 9.91811073e-01 -4.88241949e-03 -1.05836226e+01] [-3.58239533e-02 3.09957579e-04 9.99358068e-01 -3.74618160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01587156000001 meters 0.01348654038811102 Centerline is valid? [True, True] Translation: X:91.24, Y:-10.59, Z:-3.75 [[ 9.90942565e-01 1.29546737e-01 3.53620803e-02 9.12407155e+01] [-1.29455498e-01 9.91573287e-01 -4.86737478e-03 -1.05869217e+01] [-3.56946467e-02 2.45473137e-04 9.99362713e-01 -3.74630154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04587156000001 meters 0.01172843326544691 Centerline is valid? [True, True] Translation: X:91.27, Y:-10.59, Z:-3.75 [[ 9.90412164e-01 1.33529057e-01 3.54081420e-02 9.12726933e+01] [-1.33439903e-01 9.91044893e-01 -4.87985368e-03 -1.05907730e+01] [-3.57426605e-02 1.08207407e-04 9.99361021e-01 -3.74779316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07587156000001 meters 0.011401694807971303 Centerline is valid? [True, True] Translation: X:91.30, Y:-10.59, Z:-3.75 [[ 9.90116706e-01 1.35719205e-01 3.53441020e-02 9.13036359e+01] [-1.35631527e-01 9.90747342e-01 -4.87778810e-03 -1.05930709e+01] [-3.56790847e-02 3.58049661e-05 9.99363298e-01 -3.74919881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10587156000001 meters 0.011535698873898895 Centerline is valid? [True, True] Translation: X:91.34, Y:-10.59, Z:-3.75 [[ 9.89764902e-01 1.38283574e-01 3.52574978e-02 9.13352198e+01] [-1.38197851e-01 9.90392675e-01 -4.86864330e-03 -1.05948369e+01] [-3.55920210e-02 -5.36981564e-05 9.99366402e-01 -3.75126831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13587156000001 meters 0.01366196695829837 Centerline is valid? [True, True] Translation: X:91.36, Y:-10.59, Z:-3.75 [[ 9.89015259e-01 1.43386606e-01 3.59040343e-02 9.13649533e+01] [-1.43300803e-01 9.89666725e-01 -4.96522825e-03 -1.05934130e+01] [-3.62449753e-02 -2.34390449e-04 9.99342908e-01 -3.75178478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16587156 meters 0.015971421337802022 Centerline is valid? [True, True] Translation: X:91.39, Y:-10.59, Z:-3.75 [[ 9.88624874e-01 1.46086354e-01 3.57719881e-02 9.13947407e+01] [-1.46002962e-01 9.89271786e-01 -4.94654087e-03 -1.05937499e+01] [-3.61108407e-02 -3.32542888e-04 9.99347736e-01 -3.75323380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19587156 meters 0.017724874112514926 Centerline is valid? [True, True] Translation: X:91.43, Y:-10.59, Z:-3.75 [[ 9.88224251e-01 1.48857089e-01 3.54174577e-02 9.14253016e+01] [-1.48777140e-01 9.88858626e-01 -4.89699449e-03 -1.05944639e+01] [-3.57518109e-02 -4.29979358e-04 9.99360607e-01 -3.75419519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22587156 meters 0.023982940339436303 Centerline is valid? [True, True] Translation: X:91.45, Y:-10.59, Z:-3.76 [[ 9.87481985e-01 1.53940784e-01 3.43738922e-02 9.14548004e+01] [-1.53868540e-01 9.88079896e-01 -4.75307877e-03 -1.05884562e+01] [-3.46958445e-02 -5.95480955e-04 9.99397741e-01 -3.75861684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25587156 meters 0.032116683291991174 Centerline is valid? [True, True] Translation: X:91.48, Y:-10.59, Z:-3.76 [[ 9.87157852e-01 1.56132123e-01 3.37954989e-02 9.14839690e+01] [-1.56063619e-01 9.87735957e-01 -4.67176421e-03 -1.05912316e+01] [-3.41104420e-02 -6.62479149e-04 9.99417850e-01 -3.76124895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28587156 meters 0.026586872044357907 Centerline is valid? [True, True] Translation: X:91.51, Y:-10.59, Z:-3.76 [[ 9.86968530e-01 1.57406433e-01 3.34116184e-02 9.15122233e+01] [-1.57340220e-01 9.87533658e-01 -4.61830718e-03 -1.05932099e+01] [-3.37220490e-02 -6.98867520e-04 9.99431006e-01 -3.76177396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31587156 meters 0.027125437719574725 Centerline is valid? [True, True] Translation: X:91.54, Y:-10.59, Z:-3.76 [[ 9.86720013e-01 1.58994105e-01 3.32338871e-02 9.15406561e+01] [-1.58929561e-01 9.87279246e-01 -4.59174615e-03 -1.05944123e+01] [-3.35411875e-02 -7.51079252e-04 9.99437054e-01 -3.76263415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34587156 meters 0.02897971683744089 Centerline is valid? [True, True] Translation: X:91.57, Y:-10.59, Z:-3.77 [[ 9.86690530e-01 1.59187221e-01 3.31847506e-02 9.15681760e+01] [-1.59123046e-01 9.87248121e-01 -4.58288110e-03 -1.05949278e+01] [-3.34911188e-02 -7.58573229e-04 9.99438727e-01 -3.76533336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37587156000001 meters 0.02758748571468723 Centerline is valid? [True, True] Translation: X:91.60, Y:-10.60, Z:-3.77 [[ 9.86620736e-01 1.59461885e-01 3.39327379e-02 9.15955198e+01] [-1.59564947e-01 9.87187376e-01 3.33778336e-04 -1.06034599e+01] [-3.34447455e-02 -5.74378816e-03 9.99424063e-01 -3.76722781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40587156000001 meters 0.02802507846520997 Centerline is valid? [True, True] Translation: X:91.63, Y:-10.60, Z:-3.77 [[ 9.86826771e-01 1.58183644e-01 3.39242957e-02 9.16252649e+01] [-1.57943446e-01 9.87400868e-01 -9.66407037e-03 -1.05979302e+01] [-3.50255769e-02 4.17864319e-03 9.99377680e-01 -3.76555746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43587156000001 meters 0.02726704248260477 Centerline is valid? [True, True] Translation: X:91.65, Y:-10.61, Z:-3.77 [[ 9.86966769e-01 1.57084660e-01 3.49428984e-02 9.16533636e+01] [-1.57012372e-01 9.87584871e-01 -4.82045917e-03 -1.06050558e+01] [-3.52662980e-02 -7.28834343e-04 9.99377685e-01 -3.76655482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46587156000001 meters 0.0255482632266671 Centerline is valid? [True, True] Translation: X:91.68, Y:-10.61, Z:-3.77 [[ 9.87138653e-01 1.55890108e-01 3.54337981e-02 9.16819966e+01] [-1.55815066e-01 9.87774158e-01 -4.88646391e-03 -1.06106592e+01] [-3.57623414e-02 -6.97502167e-04 9.99360079e-01 -3.76664030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49587156000001 meters 0.021935820364448994 Centerline is valid? [True, True] Translation: X:91.71, Y:-10.62, Z:-3.77 [[ 9.87541016e-01 1.53268737e-01 3.56572133e-02 9.17107941e+01] [-1.53191108e-01 9.88184357e-01 -4.91532318e-03 -1.06189287e+01] [-3.59892657e-02 -6.08284744e-04 9.99351991e-01 -3.76696218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52587156000001 meters 0.022001166135778256 Centerline is valid? [True, True] Translation: X:91.74, Y:-10.62, Z:-3.77 [[ 9.87809934e-01 1.51543833e-01 3.55808999e-02 9.17392560e+01] [-1.51465450e-01 9.88450388e-01 -4.90389402e-03 -1.06229711e+01] [-3.59131093e-02 -5.45161772e-04 9.99354768e-01 -3.77025915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55587156 meters 0.018716368564829916 Centerline is valid? [True, True] Translation: X:91.77, Y:-10.63, Z:-3.77 [[ 9.88115061e-01 1.49575018e-01 3.54392512e-02 9.17679586e+01] [-1.49496017e-01 9.88750267e-01 -4.88364833e-03 -1.06314008e+01] [-3.57710409e-02 -4.72420430e-04 9.99359900e-01 -3.77040322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58587156 meters 0.0173396386471098 Centerline is valid? [True, True] Translation: X:91.80, Y:-10.64, Z:-3.77 [[ 9.88455970e-01 1.47324106e-01 3.53610518e-02 9.17960339e+01] [-1.47244041e-01 9.89088194e-01 -4.87211318e-03 -1.06373901e+01] [-3.56929786e-02 -3.90834804e-04 9.99362726e-01 -3.77264719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61587156 meters 0.013389774973124555 Centerline is valid? [True, True] Translation: X:91.83, Y:-10.65, Z:-3.77 [[ 9.89189656e-01 1.42425823e-01 3.49100225e-02 9.18254221e+01] [-1.42344797e-01 9.89805455e-01 -4.80822583e-03 -1.06502382e+01] [-3.52389462e-02 -2.13012820e-04 9.99378893e-01 -3.77452274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64587156 meters 0.012099355630767687 Centerline is valid? [True, True] Translation: X:91.86, Y:-10.66, Z:-3.78 [[ 9.89534669e-01 1.40004088e-01 3.49284107e-02 9.18556737e+01] [-1.39921457e-01 9.90150918e-01 -4.81106536e-03 -1.06590938e+01] [-3.52579667e-02 -1.26518150e-04 9.99378237e-01 -3.77571604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67587156 meters 0.011646263533140504 Centerline is valid? [True, True] Translation: X:91.89, Y:-10.68, Z:-3.78 [[ 9.90127362e-01 1.35549418e-01 3.56954063e-02 9.18855500e+01] [-1.35661271e-01 9.90755016e-01 7.19148566e-04 -1.06762676e+01] [-3.52679227e-02 -5.55453286e-03 9.99362457e-01 -3.77675551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70587156 meters 0.0124615105685222 Centerline is valid? [True, True] Translation: X:91.92, Y:-10.68, Z:-3.78 [[ 9.90507638e-01 1.33171121e-01 3.40598229e-02 9.19179152e+01] [-1.32893853e-01 9.91076869e-01 -1.02889957e-02 -1.06790747e+01] [-3.51260997e-02 5.66498779e-03 9.99366832e-01 -3.77925105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73587156 meters 0.021436499027727297 Centerline is valid? [True, True] Translation: X:91.95, Y:-10.69, Z:-3.78 [[ 9.90768245e-01 1.31138696e-01 3.43646098e-02 9.19490431e+01] [-1.31053108e-01 9.91364012e-01 -4.74109473e-03 -1.06915865e+01] [-3.46895784e-02 1.93737179e-04 9.99398117e-01 -3.78229068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76587156000001 meters 0.014744982197555816 Centerline is valid? [True, True] Translation: X:91.98, Y:-10.70, Z:-3.78 [[ 9.91096492e-01 1.28752919e-01 3.39179840e-02 9.19796367e+01] [-1.28667957e-01 9.91676665e-01 -4.68496152e-03 -1.07028017e+01] [-3.42388757e-02 2.79091220e-04 9.99413639e-01 -3.78246774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79587156000001 meters 0.015268586597260006 Centerline is valid? [True, True] Translation: X:92.01, Y:-10.71, Z:-3.78 [[ 9.91122828e-01 1.28544829e-01 3.39377037e-02 9.20110630e+01] [-1.28459450e-01 9.91703656e-01 -4.69339869e-03 -1.07099142e+01] [-3.42594570e-02 2.92115812e-04 9.99412930e-01 -3.78422790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82587156000001 meters 0.027424537718751897 Centerline is valid? [True, True] Translation: X:92.04, Y:-10.71, Z:-3.79 [[ 9.91016369e-01 1.29285125e-01 3.42332215e-02 9.20423402e+01] [-1.29198471e-01 9.91607423e-01 -4.74070704e-03 -1.07149997e+01] [-3.45588194e-02 2.75238398e-04 9.99402628e-01 -3.78600815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85587156000001 meters 0.021002842632249007 Centerline is valid? [True, True] Translation: X:92.07, Y:-10.72, Z:-3.79 [[ 9.90704303e-01 1.31357725e-01 3.53572081e-02 9.20730091e+01] [-1.31266377e-01 9.91335010e-01 -4.90274272e-03 -1.07198617e+01] [-3.56948513e-02 2.15955698e-04 9.99362712e-01 -3.78523975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88587156000001 meters 0.012448265351974677 Centerline is valid? [True, True] Translation: X:92.10, Y:-10.72, Z:-3.79 [[ 9.90458568e-01 1.33100249e-01 3.57232147e-02 9.21043655e+01] [-1.33007926e-01 9.91102567e-01 -4.95920196e-03 -1.07238003e+01] [-3.60654408e-02 1.60413368e-04 9.99349417e-01 -3.78558437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91587156000001 meters 0.028570418516843075 Centerline is valid? [True, True] Translation: X:92.14, Y:-10.73, Z:-3.79 [[ 9.90148732e-01 1.35353320e-01 3.58464457e-02 9.21362897e+01] [-1.35261635e-01 9.90797392e-01 -4.98181229e-03 -1.07264500e+01] [-3.61908697e-02 8.40862739e-05 9.99344892e-01 -3.78747265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94587156 meters 0.011536559336704524 Centerline is valid? [True, True] Translation: X:92.17, Y:-10.73, Z:-3.79 [[ 9.89438003e-01 1.40345840e-01 3.62695808e-02 9.21698609e+01] [-1.40255110e-01 9.90102538e-01 -5.04655571e-03 -1.07263284e+01] [-3.66188672e-02 -9.37400415e-05 9.99329300e-01 -3.78704546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97587156 meters 0.026176703771752734 Centerline is valid? [True, True] Translation: X:92.20, Y:-10.73, Z:-3.79 [[ 9.88972336e-01 1.43478968e-01 3.67083620e-02 9.22029579e+01] [-1.43387927e-01 9.89653345e-01 -5.11458290e-03 -1.07279881e+01] [-3.70623884e-02 -2.05354926e-04 9.99312933e-01 -3.78741398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00587156 meters 0.014700541718748704 Centerline is valid? [True, True] Translation: X:92.23, Y:-10.73, Z:-3.79 [[ 9.88497430e-01 1.46589993e-01 3.72049075e-02 9.22348008e+01] [-1.46498377e-01 9.89197287e-01 -5.19162073e-03 -1.07274145e+01] [-3.75640332e-02 -3.18554819e-04 9.99294172e-01 -3.78801484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03587156 meters 0.020455521305964047 Centerline is valid? [True, True] Translation: X:92.27, Y:-10.72, Z:-3.79 [[ 9.87548917e-01 1.52692485e-01 3.78436448e-02 9.22659364e+01] [-1.52601887e-01 9.88273595e-01 -5.28816169e-03 -1.07222042e+01] [-3.82073374e-02 -5.52693253e-04 9.99269680e-01 -3.78850313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06587156 meters 0.023756915054447197 Centerline is valid? [True, True] Translation: X:92.30, Y:-10.72, Z:-3.79 [[ 9.87101574e-01 1.55607022e-01 3.76422384e-02 9.22957458e+01] [-1.55519519e-01 9.87818817e-01 -5.25957413e-03 -1.07215752e+01] [-3.80021381e-02 -6.62368906e-04 9.99277438e-01 -3.79036813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09587156 meters 0.023756915054447197 Centerline is valid? [True, True] Translation: X:92.32, Y:-10.73, Z:-3.79 [[ 9.87105161e-01 1.55584254e-01 3.76422884e-02 9.23246105e+01] [-1.55496748e-01 9.87822404e-01 -5.25921603e-03 -1.07255618e+01] [-3.80021470e-02 -6.61854156e-04 9.99277438e-01 -3.79168177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12587156000001 meters 0.026350413836725105 Centerline is valid? [True, True] Translation: X:92.35, Y:-10.73, Z:-3.79 [[ 9.86677990e-01 1.58290900e-01 3.75570883e-02 9.23541902e+01] [-1.58205780e-01 9.87392225e-01 -5.24650001e-03 -1.07251474e+01] [-3.79140502e-02 -7.65142365e-04 9.99280711e-01 -3.79268849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15587156000001 meters 0.031209655837748936 Centerline is valid? [True, True] Translation: X:92.38, Y:-10.72, Z:-3.80 [[ 9.86004804e-01 1.62612689e-01 3.67646668e-02 9.23843910e+01] [-1.62534167e-01 9.86689556e-01 -5.13462802e-03 -1.07205413e+01] [-3.71102684e-02 -9.12746588e-04 9.99310760e-01 -3.79541576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18587156000001 meters 0.03358213812731659 Centerline is valid? [True, True] Translation: X:92.41, Y:-10.72, Z:-3.80 [[ 9.85702466e-01 1.64503248e-01 3.64599775e-02 9.24139839e+01] [-1.64427364e-01 9.86376057e-01 -5.09069885e-03 -1.07203598e+01] [-3.68006854e-02 -9.77103574e-04 9.99322148e-01 -3.79736822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21587156000001 meters 0.037035961903238414 Centerline is valid? [True, True] Translation: X:92.44, Y:-10.72, Z:-3.80 [[ 9.85186214e-01 1.67590385e-01 3.63536239e-02 9.24438439e+01] [-1.67517070e-01 9.85856113e-01 -5.07508481e-03 -1.07169323e+01] [-3.66899778e-02 -1.08994897e-03 9.99326102e-01 -3.79878031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24587156000001 meters 0.03587617147963709 Centerline is valid? [True, True] Translation: X:92.47, Y:-10.72, Z:-3.80 [[ 9.85001261e-01 1.68759995e-01 3.59524595e-02 9.24718741e+01] [-1.68689102e-01 9.85656535e-01 -5.01813823e-03 -1.07203759e+01] [-3.62836377e-02 -1.12191562e-03 9.99340902e-01 -3.79980102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27587156000001 meters 0.03782959401167929 Centerline is valid? [True, True] Translation: X:92.50, Y:-10.72, Z:-3.80 [[ 9.84859713e-01 1.69649506e-01 3.56425431e-02 9.24995245e+01] [-1.69580503e-01 9.85503794e-01 -4.97232305e-03 -1.07195332e+01] [-3.59694136e-02 -1.14723975e-03 9.99352233e-01 -3.80216776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30587156 meters 0.04209643829737769 Centerline is valid? [True, True] Translation: X:92.53, Y:-10.72, Z:-3.80 [[ 9.84703788e-01 1.70462465e-01 3.60693617e-02 9.25285173e+01] [-1.70392449e-01 9.85363447e-01 -5.02896509e-03 -1.07208863e+01] [-3.63986803e-02 -1.19390591e-03 9.99336635e-01 -3.80419684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33587156 meters 0.04282884001536705 Centerline is valid? [True, True] Translation: X:92.56, Y:-10.72, Z:-3.81 [[ 9.84726012e-01 1.70383512e-01 3.58348885e-02 9.25561466e+01] [-1.70314404e-01 9.85377113e-01 -4.99484366e-03 -1.07166683e+01] [-3.61619180e-02 -1.18464520e-03 9.99345242e-01 -3.80649657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36587156 meters 0.03807462789017142 Centerline is valid? [True, True] Translation: X:92.58, Y:-10.72, Z:-3.81 [[ 9.84798730e-01 1.70059348e-01 3.53734169e-02 9.25841520e+01] [-1.69991918e-01 9.85433138e-01 -4.92721894e-03 -1.07239527e+01] [-3.56960568e-02 -1.16087601e-03 9.99362018e-01 -3.80664960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39587156 meters 0.038702076086422635 Centerline is valid? [True, True] Translation: X:92.61, Y:-10.72, Z:-3.81 [[ 9.84936061e-01 1.69214041e-01 3.56028767e-02 9.26127890e+01] [-1.69145237e-01 9.85578668e-01 -4.95763705e-03 -1.07219062e+01] [-3.59283375e-02 -1.13910151e-03 9.99353720e-01 -3.80780816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42587156 meters 0.03598483237367122 Centerline is valid? [True, True] Translation: X:92.64, Y:-10.73, Z:-3.81 [[ 9.85050480e-01 1.68503957e-01 3.58045898e-02 9.26412126e+01] [-1.68434002e-01 9.85700338e-01 -4.98296645e-03 -1.07267613e+01] [-3.61322458e-02 -1.12223686e-03 9.99346387e-01 -3.80842643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45587156 meters 0.03704452923502932 Centerline is valid? [True, True] Translation: X:92.67, Y:-10.73, Z:-3.81 [[ 9.85191398e-01 1.67703975e-01 3.56831279e-02 9.26688647e+01] [-1.67634029e-01 9.85836795e-01 -4.96441872e-03 -1.07265724e+01] [-3.60102932e-02 -1.09080388e-03 9.99350824e-01 -3.81017787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48587156 meters 0.03584608729492166 Centerline is valid? [True, True] Translation: X:92.70, Y:-10.73, Z:-3.81 [[ 9.85357259e-01 1.66673038e-01 3.59328688e-02 9.26978118e+01] [-1.66601509e-01 9.86011648e-01 -4.99683287e-03 -1.07292313e+01] [-3.62630645e-02 -1.06280461e-03 9.99341714e-01 -3.81122047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51587156000001 meters 0.03546112724128219 Centerline is valid? [True, True] Translation: X:92.73, Y:-10.73, Z:-3.81 [[ 9.85757005e-01 1.64241523e-01 3.61642073e-02 9.27265176e+01] [-1.64167498e-01 9.86419667e-01 -5.02725298e-03 -1.07287367e+01] [-3.64987690e-02 -9.81337589e-04 9.99333216e-01 -3.81297924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54587156000001 meters 0.03135916694016806 Centerline is valid? [True, True] Translation: X:92.76, Y:-10.74, Z:-3.81 [[ 9.86016694e-01 1.62705421e-01 3.60281289e-02 9.27552201e+01] [-1.62630994e-01 9.86674260e-01 -5.00653067e-03 -1.07355601e+01] [-3.63626171e-02 -9.22767572e-04 9.99338235e-01 -3.81365819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57587156000001 meters 0.030072829927528872 Centerline is valid? [True, True] Translation: X:92.78, Y:-10.74, Z:-3.82 [[ 9.86294716e-01 1.61054995e-01 3.58332561e-02 9.27829466e+01] [-1.60980321e-01 9.86945060e-01 -4.97837113e-03 -1.07387824e+01] [-3.61672466e-02 -8.58307950e-04 9.99345383e-01 -3.81554987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60587156000001 meters 0.027580354206707285 Centerline is valid? [True, True] Translation: X:92.81, Y:-10.74, Z:-3.82 [[ 9.86738772e-01 1.58251053e-01 3.60998658e-02 9.28103898e+01] [-1.58173468e-01 9.87398613e-01 -5.01320874e-03 -1.07410162e+01] [-3.64383030e-02 -7.63313546e-04 9.99335613e-01 -3.81601247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63587156000001 meters 0.027149791621160786 Centerline is valid? [True, True] Translation: X:92.84, Y:-10.74, Z:-3.82 [[ 9.86940744e-01 1.56909818e-01 3.64318067e-02 9.28387224e+01] [-1.56829971e-01 9.87612670e-01 -5.05700776e-03 -1.07423269e+01] [-3.67740081e-02 -7.22632193e-04 9.99323346e-01 -3.81735850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66587156000001 meters 0.022720501705715882 Centerline is valid? [True, True] Translation: X:92.87, Y:-10.75, Z:-3.82 [[ 9.87422725e-01 1.53739452e-01 3.68855383e-02 9.28672378e+01] [-1.53655458e-01 9.88111231e-01 -5.11820745e-03 -1.07466961e+01] [-3.72338851e-02 -6.13829929e-04 9.99306390e-01 -3.81737771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69587156 meters 0.024346866109155166 Centerline is valid? [True, True] Translation: X:92.90, Y:-10.75, Z:-3.82 [[ 9.87720123e-01 1.51813094e-01 3.69018089e-02 9.28954035e+01] [-1.51727747e-01 9.88409070e-01 -5.11873093e-03 -1.07522469e+01] [-3.72511730e-02 -5.43154787e-04 9.99305787e-01 -3.81898334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72587156 meters 0.018682564579091763 Centerline is valid? [True, True] Translation: X:92.92, Y:-10.76, Z:-3.82 [[ 9.88043710e-01 1.49704886e-01 3.68520472e-02 9.29225745e+01] [-1.49618366e-01 9.88730616e-01 -5.11014180e-03 -1.07559373e+01] [-3.72017605e-02 -4.64699602e-04 9.99307667e-01 -3.82030057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75587156 meters 0.015590558713080299 Centerline is valid? [True, True] Translation: X:92.95, Y:-10.76, Z:-3.82 [[ 9.88362034e-01 1.47595543e-01 3.68245173e-02 9.29511025e+01] [-1.47507773e-01 9.89047727e-01 -5.10403685e-03 -1.07616090e+01] [-3.71745382e-02 -3.87266284e-04 9.99308713e-01 -3.82020692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78587156 meters 0.01265057526070192 Centerline is valid? [True, True] Translation: X:92.98, Y:-10.77, Z:-3.82 [[ 9.89011975e-01 1.43155914e-01 3.69011891e-02 9.29785929e+01] [-1.43064751e-01 9.89700124e-01 -5.11292374e-03 -1.07653887e+01] [-3.72530566e-02 -2.22516636e-04 9.99305839e-01 -3.82181042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81587156 meters 0.011481542063163359 Centerline is valid? [True, True] Translation: X:93.01, Y:-10.77, Z:-3.82 [[ 9.89338212e-01 1.40838560e-01 3.70729323e-02 9.30067517e+01] [-1.40745012e-01 9.90032566e-01 -5.13428264e-03 -1.07705944e+01] [-3.74265153e-02 -1.38288288e-04 9.99299373e-01 -3.82305283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84587156 meters 0.010734822809110462 Centerline is valid? [True, True] Translation: X:93.03, Y:-10.78, Z:-3.82 [[ 9.89928671e-01 1.36623685e-01 3.70836175e-02 9.30344155e+01] [-1.36527175e-01 9.90623020e-01 -5.13440981e-03 -1.07763031e+01] [-3.74373671e-02 1.97779354e-05 9.99298976e-01 -3.82424084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87587156000001 meters 0.010990114224055774 Centerline is valid? [True, True] Translation: X:93.06, Y:-10.78, Z:-3.83 [[ 9.90164939e-01 1.34944175e-01 3.69251000e-02 9.30632255e+01] [-1.34847367e-01 9.90853199e-01 -5.11122164e-03 -1.07798731e+01] [-3.72770830e-02 8.16999508e-05 9.99304965e-01 -3.82628123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90587156000001 meters 0.011398663227943452 Centerline is valid? [True, True] Translation: X:93.09, Y:-10.78, Z:-3.83 [[ 9.90360633e-01 1.33603187e-01 3.65513958e-02 9.30925663e+01] [-1.33507488e-01 9.91034899e-01 -5.05757598e-03 -1.07841849e+01] [-3.68994171e-02 1.28939127e-04 9.99318976e-01 -3.82772745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93587156000001 meters 0.011778554101792092 Centerline is valid? [True, True] Translation: X:93.12, Y:-10.79, Z:-3.83 [[ 9.90496415e-01 1.32607167e-01 3.64992025e-02 9.31215105e+01] [-1.32511100e-01 9.91168660e-01 -5.04938305e-03 -1.07884981e+01] [-3.68464500e-02 1.64846346e-04 9.99320925e-01 -3.82951800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96587156000001 meters 0.014671832487598985 Centerline is valid? [True, True] Translation: X:93.15, Y:-10.79, Z:-3.83 [[ 9.90573406e-01 1.31991124e-01 3.66424673e-02 9.31502790e+01] [-1.31893896e-01 9.91250880e-01 -5.06876396e-03 -1.07923125e+01] [-3.69909099e-02 1.88064998e-04 9.99315584e-01 -3.83079948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99587156000001 meters 0.012345923519835569 Centerline is valid? [True, True] Translation: X:93.18, Y:-10.79, Z:-3.83 [[ 9.90649939e-01 1.31440198e-01 3.65536878e-02 9.31806177e+01] [-1.31343078e-01 9.91324080e-01 -5.05615162e-03 -1.07928417e+01] [-3.69011325e-02 2.07802422e-04 9.99318900e-01 -3.83171642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02587156000001 meters 0.012775800298851479 Centerline is valid? [True, True] Translation: X:93.21, Y:-10.80, Z:-3.83 [[ 9.90705035e-01 1.31136183e-01 3.61501642e-02 9.32102788e+01] [-1.31041029e-01 9.91364340e-01 -4.99937716e-03 -1.07958113e+01] [-3.64935830e-02 2.15753413e-04 9.99333864e-01 -3.83400246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05587156 meters 0.024994398972655395 Centerline is valid? [True, True] Translation: X:93.24, Y:-10.80, Z:-3.84 [[ 9.90816340e-01 1.30390300e-01 3.57959511e-02 9.32400259e+01] [-1.30296527e-01 9.91462713e-01 -4.95007189e-03 -1.07983045e+01] [-3.61357921e-02 2.40524002e-04 9.99346860e-01 -3.83611136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08587156 meters 0.013554148921465973 Centerline is valid? [True, True] Translation: X:93.27, Y:-10.80, Z:-3.84 [[ 9.90870387e-01 1.29904325e-01 3.60658183e-02 9.32684861e+01] [-1.29808835e-01 9.91526499e-01 -4.98673225e-03 -1.08014079e+01] [-3.64080127e-02 2.59543463e-04 9.99336975e-01 -3.83667831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11587156 meters 0.014304625765111696 Centerline is valid? [True, True] Translation: X:93.30, Y:-10.81, Z:-3.84 [[ 9.90960071e-01 1.29138034e-01 3.63525360e-02 9.32969407e+01] [-1.29040569e-01 9.91626586e-01 -5.02456776e-03 -1.08052512e+01] [-3.66970040e-02 2.88194073e-04 9.99326397e-01 -3.83810763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14587156 meters 0.01484539914843824 Centerline is valid? [True, True] Translation: X:93.33, Y:-10.81, Z:-3.84 [[ 9.91023015e-01 1.28552775e-01 3.67092195e-02 9.33250398e+01] [-1.28453034e-01 9.91702620e-01 -5.07257628e-03 -1.08094604e+01] [-3.70567229e-02 3.11629208e-04 9.99313115e-01 -3.83882028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17587156 meters 0.015214947439412268 Centerline is valid? [True, True] Translation: X:93.35, Y:-10.81, Z:-3.84 [[ 9.91094665e-01 1.27770820e-01 3.74964224e-02 9.33546417e+01] [-1.27666248e-01 9.91803659e-01 -5.17994572e-03 -1.08136421e+01] [-3.78509348e-02 3.46789027e-04 9.99283336e-01 -3.83772713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20587156 meters 0.01561347103212858 Centerline is valid? [True, True] Translation: X:93.38, Y:-10.82, Z:-3.84 [[ 9.91128087e-01 1.27390865e-01 3.79035934e-02 9.33840166e+01] [-1.27283768e-01 9.91852527e-01 -5.23523252e-03 -1.08179106e+01] [-3.82616957e-02 3.64273812e-04 9.99267687e-01 -3.83891817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23587156 meters 0.015820278394069028 Centerline is valid? [True, True] Translation: X:93.41, Y:-10.82, Z:-3.84 [[ 9.91136118e-01 1.27276603e-01 3.80770631e-02 9.34137042e+01] [-1.27168455e-01 9.91867193e-01 -5.25875512e-03 -1.08215999e+01] [-3.84367062e-02 3.69940842e-04 9.99260968e-01 -3.83971976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26587156000001 meters 0.01595788888596646 Centerline is valid? [True, True] Translation: X:93.44, Y:-10.83, Z:-3.84 [[ 9.91127784e-01 1.27215433e-01 3.84961052e-02 9.34431139e+01] [-1.27104859e-01 9.91875039e-01 -5.31625499e-03 -1.08256371e+01] [-3.88596355e-02 3.76046016e-04 9.99244608e-01 -3.84072261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29587156000001 meters 0.014863532066526875 Centerline is valid? [True, True] Translation: X:93.47, Y:-10.83, Z:-3.84 [[ 9.91166454e-01 1.27228029e-01 3.74444694e-02 9.34729432e+01] [-1.27123456e-01 9.91873427e-01 -5.17022221e-03 -1.08281380e+01] [-3.77979713e-02 3.64480474e-04 9.99285335e-01 -3.84274318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32587156000001 meters 0.015088974800821409 Centerline is valid? [True, True] Translation: X:93.50, Y:-10.83, Z:-3.85 [[ 9.91171075e-01 1.27365372e-01 3.68505428e-02 9.35008458e+01] [-1.27264217e-01 9.91855805e-01 -5.08736251e-03 -1.08322866e+01] [-3.71983786e-02 3.52691074e-04 9.99307839e-01 -3.84528048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35587156000001 meters 0.014853695918783664 Centerline is valid? [True, True] Translation: X:93.53, Y:-10.84, Z:-3.85 [[ 9.91170790e-01 1.27456451e-01 3.65419946e-02 9.35306789e+01] [-1.27357081e-01 9.91844108e-01 -5.04381332e-03 -1.08358280e+01] [-3.68868286e-02 3.45398661e-04 9.99319390e-01 -3.84744277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38587156000001 meters 0.015250255152565399 Centerline is valid? [True, True] Translation: X:93.56, Y:-10.84, Z:-3.85 [[ 9.91242501e-01 1.27029118e-01 3.60819648e-02 9.35606920e+01] [-1.26931991e-01 9.91898925e-01 -4.97926563e-03 -1.08416297e+01] [-3.64221738e-02 3.55704098e-04 9.99336429e-01 -3.84958676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41587156000001 meters 0.016025889940059636 Centerline is valid? [True, True] Translation: X:93.59, Y:-10.85, Z:-3.85 [[ 9.91301418e-01 1.26500592e-01 3.63194074e-02 9.35891437e+01] [-1.26401819e-01 9.91966460e-01 -5.01224638e-03 -1.08478276e+01] [-3.66616861e-02 3.77807788e-04 9.99327663e-01 -3.85108625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44587156 meters 0.016624678050632717 Centerline is valid? [True, True] Translation: X:93.62, Y:-10.85, Z:-3.85 [[ 9.91389316e-01 1.25826181e-01 3.62628714e-02 9.36186571e+01] [-1.25727307e-01 9.92052222e-01 -5.00329475e-03 -1.08539565e+01] [-3.66042076e-02 4.00979800e-04 9.99329761e-01 -3.85175891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47587156 meters 0.019865935246209516 Centerline is valid? [True, True] Translation: X:93.65, Y:-10.87, Z:-3.86 [[ 9.91570161e-01 1.24472131e-01 3.59903320e-02 9.36467992e+01] [-1.24373848e-01 9.92223003e-01 -4.96563486e-03 -1.08650309e+01] [-3.63285185e-02 4.47519272e-04 9.99339801e-01 -3.85545247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50587156 meters 0.018811979992251746 Centerline is valid? [True, True] Translation: X:93.68, Y:-10.87, Z:-3.86 [[ 9.91664962e-01 1.23828307e-01 3.55970915e-02 9.36766872e+01] [-1.23731736e-01 9.92303549e-01 -4.91166979e-03 -1.08686333e+01] [-3.59313240e-02 4.66240922e-04 9.99354153e-01 -3.85548021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53587156 meters 0.019150743937900158 Centerline is valid? [True, True] Translation: X:93.71, Y:-10.87, Z:-3.86 [[ 9.91696826e-01 1.23611113e-01 3.54640464e-02 9.37055290e+01] [-1.23515120e-01 9.92330625e-01 -4.89341806e-03 -1.08742456e+01] [-3.57969402e-02 4.72441213e-04 9.99358972e-01 -3.85716453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56587156 meters 0.033658389580198476 Centerline is valid? [True, True] Translation: X:93.74, Y:-10.88, Z:-3.86 [[ 9.91731585e-01 1.23362033e-01 3.53591877e-02 9.37353430e+01] [-1.23266467e-01 9.92361617e-01 -4.87843508e-03 -1.08788020e+01] [-3.56909143e-02 4.79496020e-04 9.99362761e-01 -3.85875736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59587156 meters 0.018338420034473404 Centerline is valid? [True, True] Translation: X:93.77, Y:-10.89, Z:-3.86 [[ 9.91705529e-01 1.23466315e-01 3.57241332e-02 9.37662657e+01] [-1.23368841e-01 9.92348648e-01 -4.92857430e-03 -1.08861449e+01] [-3.60593082e-02 4.80449468e-04 9.99349536e-01 -3.85915629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62587156000001 meters 0.017433901100989545 Centerline is valid? [True, True] Translation: X:93.80, Y:-10.89, Z:-3.86 [[ 9.91667095e-01 1.23787459e-01 3.56796388e-02 9.37973597e+01] [-1.23690406e-01 9.92308644e-01 -4.92327836e-03 -1.08909264e+01] [-3.60146541e-02 4.69024165e-04 9.99351152e-01 -3.85930142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65587156000001 meters 0.026201611880897913 Centerline is valid? [True, True] Translation: X:93.83, Y:-10.90, Z:-3.86 [[ 9.91606404e-01 1.24111046e-01 3.62379423e-02 9.38280464e+01] [-1.24011113e-01 9.92268226e-01 -5.00121755e-03 -1.08958082e+01] [-3.65784650e-02 4.65331799e-04 9.99330676e-01 -3.86081873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68587156000001 meters 0.017132601003667224 Centerline is valid? [True, True] Translation: X:93.86, Y:-10.90, Z:-3.86 [[ 9.91496848e-01 1.24882454e-01 3.65837736e-02 9.38575875e+01] [-1.24781107e-01 9.92171446e-01 -5.04954803e-03 -1.09028431e+01] [-3.69279755e-02 4.41647204e-04 9.99317832e-01 -3.86123944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71587156000001 meters 0.01641704904614162 Centerline is valid? [True, True] Translation: X:93.89, Y:-10.91, Z:-3.86 [[ 9.91454910e-01 1.25258921e-01 3.64330183e-02 9.38881858e+01] [-1.25158566e-01 9.92123994e-01 -5.03132129e-03 -1.09073862e+01] [-3.67762895e-02 4.28423867e-04 9.99323432e-01 -3.86209042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74587156000001 meters 0.02299703192443102 Centerline is valid? [True, True] Translation: X:93.92, Y:-10.91, Z:-3.86 [[ 9.91413680e-01 1.25604552e-01 3.63649825e-02 9.39178410e+01] [-1.25504768e-01 9.92080301e-01 -5.02290447e-03 -1.09126347e+01] [-3.67078825e-02 4.15797518e-04 9.99325952e-01 -3.86473696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77587156000001 meters 0.016197272632433358 Centerline is valid? [True, True] Translation: X:93.95, Y:-10.92, Z:-3.87 [[ 9.91310977e-01 1.26476803e-01 3.61409119e-02 9.39474448e+01] [-1.26378824e-01 9.91969492e-01 -4.99197464e-03 -1.09190746e+01] [-3.64820510e-02 3.81153307e-04 9.99334236e-01 -3.86648332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80587156 meters 0.015616183334330782 Centerline is valid? [True, True] Translation: X:93.98, Y:-10.92, Z:-3.87 [[ 9.91325034e-01 1.26475526e-01 3.57577746e-02 9.39781303e+01] [-1.26379524e-01 9.91969655e-01 -4.94150606e-03 -1.09239764e+01] [-3.60956069e-02 3.79588111e-04 9.99348269e-01 -3.86758425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83587156 meters 0.030264876684391026 Centerline is valid? [True, True] Translation: X:94.01, Y:-10.93, Z:-3.87 [[ 9.91354394e-01 1.26360980e-01 3.53464100e-02 9.40080776e+01] [-1.26267069e-01 9.91984253e-01 -4.88561558e-03 -1.09312641e+01] [-3.56804333e-02 3.80288894e-04 9.99363178e-01 -3.87089147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86587156 meters 0.016122793953857614 Centerline is valid? [True, True] Translation: X:94.04, Y:-10.94, Z:-3.87 [[ 9.91476249e-01 1.25489132e-01 3.50332173e-02 9.40392959e+01] [-1.25396374e-01 9.92094911e-01 -4.84118842e-03 -1.09422481e+01] [-3.53637931e-02 4.06884925e-04 9.99374423e-01 -3.87126971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89587156 meters 0.01736907219701913 Centerline is valid? [True, True] Translation: X:94.07, Y:-10.95, Z:-3.87 [[ 9.91492234e-01 1.25369982e-01 3.50073868e-02 9.40701182e+01] [-1.25277076e-01 9.92109971e-01 -4.84359894e-03 -1.09512053e+01] [-3.53384194e-02 4.16767685e-04 9.99375316e-01 -3.87393269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92587156 meters 0.026518134667196137 Centerline is valid? [True, True] Translation: X:94.10, Y:-10.96, Z:-3.88 [[ 9.91478297e-01 1.25508478e-01 3.49057096e-02 9.41016357e+01] [-1.25415961e-01 9.92092459e-01 -4.83618678e-03 -1.09581477e+01] [-3.52366737e-02 4.17241103e-04 9.99378908e-01 -3.87632220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95587156 meters 0.016454606745941142 Centerline is valid? [True, True] Translation: X:94.13, Y:-10.97, Z:-3.88 [[ 9.91389212e-01 1.26263160e-01 3.47137568e-02 9.41339232e+01] [-1.26171929e-01 9.91996703e-01 -4.81506138e-03 -1.09669359e+01] [-3.50438972e-02 3.93698255e-04 9.99385696e-01 -3.87654621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98587156 meters 0.016454606745941142 Centerline is valid? [True, True] Translation: X:94.17, Y:-10.97, Z:-3.88 [[ 9.91364889e-01 1.26454251e-01 3.47128256e-02 9.41660926e+01] [-1.26362903e-01 9.91972362e-01 -4.82176407e-03 -1.09715803e+01] [-3.50438961e-02 3.93714201e-04 9.99385696e-01 -3.87801084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01587156000001 meters 0.016668265785291635 Centerline is valid? [True, True] Translation: X:94.20, Y:-10.98, Z:-3.88 [[ 9.91256245e-01 1.27354983e-01 3.45219566e-02 9.41969553e+01] [-1.27264913e-01 9.91857133e-01 -4.80298888e-03 -1.09783961e+01] [-3.48525335e-02 3.67558916e-04 9.99392398e-01 -3.88039560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04587156000001 meters 0.026913160206151955 Centerline is valid? [True, True] Translation: X:94.23, Y:-10.98, Z:-3.88 [[ 9.91091288e-01 1.28753147e-01 3.40688530e-02 9.42291585e+01] [-1.28666167e-01 9.91676624e-01 -4.74243200e-03 -1.09829288e+01] [-3.43958881e-02 3.16674326e-04 9.99408236e-01 -3.88355744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07587156000001 meters 0.018736314394222967 Centerline is valid? [True, True] Translation: X:94.26, Y:-10.99, Z:-3.89 [[ 9.90924894e-01 1.30171436e-01 3.35149478e-02 9.42594034e+01] [-1.30087859e-01 9.91491465e-01 -4.67163914e-03 -1.09877464e+01] [-3.38378987e-02 2.69355706e-04 9.99427298e-01 -3.88613101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10587156000001 meters 0.015360438156069812 Centerline is valid? [True, True] Translation: X:94.29, Y:-10.99, Z:-3.89 [[ 9.90500499e-01 1.33440434e-01 3.32025861e-02 9.42902839e+01] [-1.33360113e-01 9.91056822e-01 -4.63198771e-03 -1.09914607e+01] [-3.35237439e-02 1.60085501e-04 9.99437909e-01 -3.88754297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13587156000001 meters 0.012135563710335407 Centerline is valid? [True, True] Translation: X:94.32, Y:-10.99, Z:-3.89 [[ 9.90211146e-01 1.35520016e-01 3.34097681e-02 9.43205951e+01] [-1.35439836e-01 9.90774605e-01 -4.66196595e-03 -1.09942496e+01] [-3.37333395e-02 9.13171365e-05 9.99430865e-01 -3.88748856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16587156000001 meters 0.025818749806196677 Centerline is valid? [True, True] Translation: X:94.35, Y:-11.00, Z:-3.89 [[ 9.89850238e-01 1.37969348e-01 3.40729438e-02 9.43514247e+01] [-1.37887407e-01 9.90436499e-01 -4.75437342e-03 -1.09964062e+01] [-3.44030450e-02 7.88777845e-06 9.99408040e-01 -3.88768301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19587156 meters 0.012718365450317803 Centerline is valid? [True, True] Translation: X:94.38, Y:-11.00, Z:-3.89 [[ 9.89168551e-01 1.42612269e-01 3.47464810e-02 9.43806357e+01] [-1.42529885e-01 9.89778620e-01 -4.84929253e-03 -1.09950591e+01] [-3.50828926e-02 -1.55644255e-04 9.99384394e-01 -3.88802186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22587156 meters 0.014078025273875222 Centerline is valid? [True, True] Translation: X:94.41, Y:-11.00, Z:-3.89 [[ 9.88828585e-01 1.44927746e-01 3.48421900e-02 9.44103432e+01] [-1.44846393e-01 9.89442212e-01 -4.86120608e-03 -1.09959585e+01] [-3.51788572e-02 -2.39866024e-04 9.99381004e-01 -3.88889894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25587156 meters 0.02086565678903789 Centerline is valid? [True, True] Translation: X:94.44, Y:-11.00, Z:-3.89 [[ 9.88519832e-01 1.47067509e-01 3.46365407e-02 9.44401959e+01] [-1.46988455e-01 9.89126407e-01 -4.83169940e-03 -1.09971876e+01] [-3.49705030e-02 -3.14940934e-04 9.99388295e-01 -3.89133372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28587156 meters 0.02466918533697681 Centerline is valid? [True, True] Translation: X:94.47, Y:-10.99, Z:-3.89 [[ 9.87905783e-01 1.51268959e-01 3.40568007e-02 9.44691011e+01] [-1.51195057e-01 9.88492536e-01 -4.74989312e-03 -1.09940477e+01] [-3.43834047e-02 -4.56773044e-04 9.99408612e-01 -3.89462647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31587156 meters 0.02032758542006133 Centerline is valid? [True, True] Translation: X:94.50, Y:-11.00, Z:-3.89 [[ 9.87657582e-01 1.52938692e-01 3.37973120e-02 9.44978660e+01] [-1.52866887e-01 9.88235547e-01 -4.71372408e-03 -1.09969957e+01] [-3.41206159e-02 -5.10944571e-04 9.99417592e-01 -3.89418223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34587156 meters 0.023755321971091602 Centerline is valid? [True, True] Translation: X:94.53, Y:-11.00, Z:-3.90 [[ 9.87415716e-01 1.54486640e-01 3.38242853e-02 9.45257574e+01] [-1.54415681e-01 9.87994715e-01 -4.71594124e-03 -1.09953376e+01] [-3.41467650e-02 -5.66405569e-04 9.99416669e-01 -3.89723245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37587156000001 meters 0.02396899780719269 Centerline is valid? [True, True] Translation: X:94.55, Y:-11.00, Z:-3.90 [[ 9.87271741e-01 1.55436344e-01 3.36756793e-02 9.45542495e+01] [-1.55366635e-01 9.87845729e-01 -4.69301590e-03 -1.09981689e+01] [-3.39958412e-02 -5.98794997e-04 9.99421795e-01 -3.89830277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40587156000001 meters 0.024039479813166488 Centerline is valid? [True, True] Translation: X:94.58, Y:-11.00, Z:-3.90 [[ 9.87217553e-01 1.55798249e-01 3.35917913e-02 9.45827164e+01] [-1.55729150e-01 9.87788708e-01 -4.67971905e-03 -1.10010309e+01] [-3.39106841e-02 -6.11320320e-04 9.99424680e-01 -3.89896166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43587156000001 meters 0.026518368145451294 Centerline is valid? [True, True] Translation: X:94.61, Y:-11.00, Z:-3.90 [[ 9.87169343e-01 1.56041412e-01 3.38786998e-02 9.46112952e+01] [-1.55971322e-01 9.87750315e-01 -4.71819968e-03 -1.09993751e+01] [-3.41999310e-02 -6.26443528e-04 9.99414815e-01 -3.90184059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46587156000001 meters 0.024439181801166276 Centerline is valid? [True, True] Translation: X:94.64, Y:-11.01, Z:-3.90 [[ 9.87178598e-01 1.56064223e-01 3.35018537e-02 9.46394573e+01] [-1.55995777e-01 9.87746714e-01 -4.66336077e-03 -1.10051648e+01] [-3.38191297e-02 -6.22577753e-04 9.99427776e-01 -3.90146830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49587156000001 meters 0.022973694030695706 Centerline is valid? [True, True] Translation: X:94.67, Y:-11.01, Z:-3.90 [[ 9.87194952e-01 1.55885985e-01 3.38479827e-02 9.46684133e+01] [-1.55816073e-01 9.87774858e-01 -4.70975417e-03 -1.10100162e+01] [-3.41683710e-02 -6.24614200e-04 9.99415896e-01 -3.90164723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52587156000001 meters 0.02559491613345829 Centerline is valid? [True, True] Translation: X:94.70, Y:-11.01, Z:-3.90 [[ 9.87167461e-01 1.55765477e-01 3.51783987e-02 9.46964514e+01] [-1.55689923e-01 9.87793855e-01 -4.89374756e-03 -1.10072313e+01] [-3.55112830e-02 -6.45973847e-04 9.99369067e-01 -3.90242269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55587156 meters 0.02222092149827655 Centerline is valid? [True, True] Translation: X:94.72, Y:-11.01, Z:-3.90 [[ 9.87225244e-01 1.55304599e-01 3.55921153e-02 9.47245101e+01] [-1.55227049e-01 9.87866425e-01 -4.94877744e-03 -1.10137601e+01] [-3.59288236e-02 -6.39301030e-04 9.99354147e-01 -3.90110248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58587156 meters 0.023079660283996817 Centerline is valid? [True, True] Translation: X:94.75, Y:-11.02, Z:-3.90 [[ 9.87312694e-01 1.54687926e-01 3.58509289e-02 9.47523525e+01] [-1.54608900e-01 9.87963186e-01 -4.98304812e-03 -1.10150777e+01] [-3.61902154e-02 -6.23046024e-04 9.99344725e-01 -3.90310038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61587156 meters 0.023727367924196337 Centerline is valid? [True, True] Translation: X:94.78, Y:-11.02, Z:-3.91 [[ 9.87480076e-01 1.53519203e-01 3.62622844e-02 9.47797397e+01] [-1.53437649e-01 9.88145489e-01 -5.03790694e-03 -1.10162917e+01] [-3.66058282e-02 -5.89166951e-04 9.99329608e-01 -3.90556147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64587156 meters 0.019582836123068343 Centerline is valid? [True, True] Translation: X:94.81, Y:-11.02, Z:-3.91 [[ 9.87897995e-01 1.50880767e-01 3.59519833e-02 9.48082545e+01] [-1.50798939e-01 9.88551847e-01 -4.99255401e-03 -1.10232679e+01] [-3.62936799e-02 -4.89386820e-04 9.99341048e-01 -3.90610925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67587156 meters 0.01840068328313448 Centerline is valid? [True, True] Translation: X:94.84, Y:-11.03, Z:-3.91 [[ 9.88144983e-01 1.49441809e-01 3.51658564e-02 9.48363946e+01] [-1.49362667e-01 9.88770429e-01 -4.88175204e-03 -1.10278560e+01] [-3.55004968e-02 -4.28587325e-04 9.99369567e-01 -3.90901040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70587156 meters 0.02586291020916741 Centerline is valid? [True, True] Translation: X:94.87, Y:-11.03, Z:-3.91 [[ 9.88424385e-01 1.47720739e-01 3.45805957e-02 9.48651395e+01] [-1.47643205e-01 9.89029045e-01 -4.79915308e-03 -1.10329142e+01] [-3.49101480e-02 -3.61990044e-04 9.99390389e-01 -3.91226438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73587156 meters 0.01465326014665147 Centerline is valid? [True, True] Translation: X:94.89, Y:-11.04, Z:-3.91 [[ 9.88942157e-01 1.44393847e-01 3.38205237e-02 9.48939319e+01] [-1.44317831e-01 9.89520267e-01 -4.69096916e-03 -1.10377966e+01] [-3.41434407e-02 -2.41807476e-04 9.99416913e-01 -3.91405022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76587156000001 meters 0.013937498521411483 Centerline is valid? [True, True] Translation: X:94.92, Y:-11.04, Z:-3.92 [[ 9.89191960e-01 1.42846673e-01 3.30771060e-02 9.49212932e+01] [-1.42773144e-01 9.89744812e-01 -4.58646842e-03 -1.10413854e+01] [-3.33930558e-02 -1.85624750e-04 9.99442279e-01 -3.91635124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79587156000001 meters 0.019104459686756177 Centerline is valid? [True, True] Translation: X:94.95, Y:-11.05, Z:-3.92 [[ 9.89373456e-01 1.41630646e-01 3.28774114e-02 9.49493660e+01] [-1.41557400e-01 9.89919562e-01 -4.55672041e-03 -1.10465045e+01] [-3.31913640e-02 -1.45742647e-04 9.99449004e-01 -3.91775932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82587156000001 meters 0.029607733120779363 Centerline is valid? [True, True] Translation: X:94.98, Y:-11.05, Z:-3.92 [[ 9.89618741e-01 1.39754894e-01 3.35159276e-02 9.49777448e+01] [-1.39677756e-01 9.90186125e-01 -4.64354616e-03 -1.10525095e+01] [-3.38359648e-02 -8.60892401e-05 9.99427396e-01 -3.91790925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85587156000001 meters 0.012011970388911736 Centerline is valid? [True, True] Translation: X:95.01, Y:-11.06, Z:-3.92 [[ 9.89742304e-01 1.38833497e-01 3.36961745e-02 9.50053964e+01] [-1.38755044e-01 9.90315736e-01 -4.66699960e-03 -1.10564164e+01] [-3.40177877e-02 -5.63872485e-05 9.99421226e-01 -3.91875269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88587156000001 meters 0.011817045179571658 Centerline is valid? [True, True] Translation: X:95.03, Y:-11.06, Z:-3.92 [[ 9.89828251e-01 1.38219989e-01 3.36937558e-02 9.50338590e+01] [-1.38141265e-01 9.90401552e-01 -4.66449373e-03 -1.10596055e+01] [-3.40150743e-02 -3.74503969e-05 9.99421319e-01 -3.91925069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91587156000001 meters 0.011513811042456384 Centerline is valid? [True, True] Translation: X:95.06, Y:-11.06, Z:-3.92 [[ 9.89894998e-01 1.37630929e-01 3.41411778e-02 9.50625592e+01] [-1.37549807e-01 9.90483582e-01 -4.72479978e-03 -1.10626340e+01] [-3.44665547e-02 -1.90567383e-05 9.99405852e-01 -3.91927604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94587156 meters 0.011518115272544843 Centerline is valid? [True, True] Translation: X:95.09, Y:-11.07, Z:-3.92 [[ 9.90002741e-01 1.36724042e-01 3.46570230e-02 9.50904706e+01] [-1.36639948e-01 9.90609174e-01 -4.79462314e-03 -1.10653866e+01] [-3.49871052e-02 1.11562387e-05 9.99387764e-01 -3.92038355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97587156 meters 0.011486852933314128 Centerline is valid? [True, True] Translation: X:95.12, Y:-11.07, Z:-3.92 [[ 9.90101075e-01 1.36060624e-01 3.44581894e-02 9.51186391e+01] [-1.35977174e-01 9.90700512e-01 -4.76474428e-03 -1.10695107e+01] [-3.47860400e-02 3.20512298e-05 9.99394782e-01 -3.92167981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00587156 meters 0.01147569812640369 Centerline is valid? [True, True] Translation: X:95.15, Y:-11.07, Z:-3.92 [[ 9.90148160e-01 1.35704093e-01 3.45111733e-02 9.51473141e+01] [-1.35620227e-01 9.90749412e-01 -4.77041174e-03 -1.10735718e+01] [-3.48392891e-02 4.30012630e-05 9.99392927e-01 -3.92297845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03587156 meters 0.02138572020018264 Centerline is valid? [True, True] Translation: X:95.18, Y:-11.08, Z:-3.93 [[ 9.90277696e-01 1.34854515e-01 3.41224995e-02 9.51757323e+01] [-1.34772084e-01 9.90865407e-01 -4.71493832e-03 -1.10773461e+01] [-3.44466351e-02 7.03379049e-05 9.99406536e-01 -3.92692843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06587156 meters 0.011859708644122257 Centerline is valid? [True, True] Translation: X:95.20, Y:-11.08, Z:-3.93 [[ 9.90335897e-01 1.34490831e-01 3.38677984e-02 9.52044448e+01] [-1.34409450e-01 9.90914835e-01 -4.67867657e-03 -1.10810979e+01] [-3.41893430e-02 8.13092189e-05 9.99415370e-01 -3.92680601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09587156 meters 0.012376340595400924 Centerline is valid? [True, True] Translation: X:95.23, Y:-11.08, Z:-3.93 [[ 9.90407558e-01 1.34119747e-01 3.32379601e-02 9.52316220e+01] [-1.34041210e-01 9.90965128e-01 -4.59009148e-03 -1.10846469e+01] [-3.35532813e-02 9.08049247e-05 9.99436926e-01 -3.93023787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12587156000001 meters 0.012254917212477685 Centerline is valid? [True, True] Translation: X:95.26, Y:-11.09, Z:-3.93 [[ 9.90407919e-01 1.34205251e-01 3.28801555e-02 9.52601024e+01] [-1.34128494e-01 9.90953553e-01 -4.53912627e-03 -1.10873487e+01] [-3.31918815e-02 8.54208608e-05 9.99448994e-01 -3.93147596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15587156000001 meters 0.012634161600964151 Centerline is valid? [True, True] Translation: X:95.29, Y:-11.09, Z:-3.94 [[ 9.90403695e-01 1.34375335e-01 3.23077456e-02 9.52881225e+01] [-1.34301364e-01 9.90930504e-01 -4.45874123e-03 -1.10892160e+01] [-3.26138755e-02 7.69794896e-05 9.99468023e-01 -3.93535314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18587156000001 meters 0.018726681489237527 Centerline is valid? [True, True] Translation: X:95.32, Y:-11.09, Z:-3.94 [[ 9.90374127e-01 1.34721412e-01 3.17683651e-02 9.53162700e+01] [-1.34650127e-01 9.90883513e-01 -4.38246690e-03 -1.10920886e+01] [-3.20691613e-02 6.26674366e-05 9.99485650e-01 -3.93693939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21587156000001 meters 0.022268422473542347 Centerline is valid? [True, True] Translation: X:95.35, Y:-11.09, Z:-3.94 [[ 9.90332279e-01 1.35054415e-01 3.16588464e-02 9.53453958e+01] [-1.34983856e-01 9.90838182e-01 -4.36534122e-03 -1.10949168e+01] [-3.19583524e-02 4.97051566e-05 9.99489200e-01 -3.93832993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24587156000001 meters 0.02164450713544362 Centerline is valid? [True, True] Translation: X:95.37, Y:-11.10, Z:-3.94 [[ 9.90190741e-01 1.35925467e-01 3.23506454e-02 9.53741666e+01] [-1.35852306e-01 9.90719066e-01 -4.45913627e-03 -1.10951314e+01] [-3.26565113e-02 2.04856819e-05 9.99466634e-01 -3.93800803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27587156000001 meters 0.012007502391399114 Centerline is valid? [True, True] Translation: X:95.40, Y:-11.10, Z:-3.94 [[ 9.90130739e-01 1.36164398e-01 3.31719319e-02 9.54022865e+01] [-1.36087660e-01 9.90686255e-01 -4.57082011e-03 -1.10978857e+01] [-3.34853600e-02 1.14189108e-05 9.99439208e-01 -3.93830866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30587156 meters 0.011581273247612742 Centerline is valid? [True, True] Translation: X:95.43, Y:-11.10, Z:-3.94 [[ 9.90079725e-01 1.36386627e-01 3.37761080e-02 9.54310194e+01] [-1.36307271e-01 9.90655686e-01 -4.65186934e-03 -1.11006212e+01] [-3.40949462e-02 1.79241350e-06 9.99418598e-01 -3.93707920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33587156 meters 0.011255672233333323 Centerline is valid? [True, True] Translation: X:95.46, Y:-11.10, Z:-3.94 [[ 9.90046746e-01 1.36493679e-01 3.43062195e-02 9.54595811e+01] [-1.36411935e-01 9.90640942e-01 -4.72319163e-03 -1.11035566e+01] [-3.46298314e-02 -3.59727241e-06 9.99400208e-01 -3.93647855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36587156 meters 0.011614924853445981 Centerline is valid? [True, True] Translation: X:95.49, Y:-11.10, Z:-3.94 [[ 9.89947315e-01 1.37041794e-01 3.49837258e-02 9.54877452e+01] [-1.36957189e-01 9.90565266e-01 -4.81480177e-03 -1.11049954e+01] [-3.53134928e-02 -2.48726788e-05 9.99376284e-01 -3.93863549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39587156 meters 0.011266789632876082 Centerline is valid? [True, True] Translation: X:95.52, Y:-11.11, Z:-3.94 [[ 9.89961692e-01 1.36969103e-01 3.48613455e-02 9.55159483e+01] [-1.36885124e-01 9.90575320e-01 -4.79568806e-03 -1.11089335e+01] [-3.51896496e-02 -2.44521521e-05 9.99380652e-01 -3.93847230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42587156 meters 0.01148262380566661 Centerline is valid? [True, True] Translation: X:95.54, Y:-11.11, Z:-3.94 [[ 9.89980109e-01 1.36854552e-01 3.47881392e-02 9.55434542e+01] [-1.36770911e-01 9.90591152e-01 -4.78402165e-03 -1.11121471e+01] [-3.51155380e-02 -2.19192166e-05 9.99383259e-01 -3.94136591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45587156 meters 0.011216758862096497 Centerline is valid? [True, True] Translation: X:95.57, Y:-11.12, Z:-3.94 [[ 9.90038663e-01 1.36406570e-01 3.48811460e-02 9.55717501e+01] [-1.36322283e-01 9.90652940e-01 -4.79453361e-03 -1.11154139e+01] [-3.52091158e-02 -8.30380454e-06 9.99379967e-01 -3.94087914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48587156 meters 0.01122983713838248 Centerline is valid? [True, True] Translation: X:95.60, Y:-11.12, Z:-3.94 [[ 9.90171777e-01 1.35397636e-01 3.50333127e-02 9.55990831e+01] [-1.35312037e-01 9.90791340e-01 -4.81383810e-03 -1.11196069e+01] [-3.53624852e-02 2.60977079e-05 9.99374551e-01 -3.94254827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51587156000001 meters 0.01141934430728235 Centerline is valid? [True, True] Translation: X:95.63, Y:-11.12, Z:-3.94 [[ 9.90269011e-01 1.34706598e-01 3.49488109e-02 9.56264448e+01] [-1.34621057e-01 9.90885528e-01 -4.80009124e-03 -1.11244448e+01] [-3.52768749e-02 4.85357469e-05 9.99377576e-01 -3.94456152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54587156000001 meters 0.0270096711807436 Centerline is valid? [True, True] Translation: X:95.66, Y:-11.13, Z:-3.95 [[ 9.90381350e-01 1.33939773e-01 3.47119443e-02 9.56550970e+01] [-1.33854994e-01 9.90989471e-01 -4.76536005e-03 -1.11288531e+01] [-3.50374426e-02 7.31566076e-05 9.99385998e-01 -3.94676564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57587156000001 meters 0.012430398473988262 Centerline is valid? [True, True] Translation: X:95.68, Y:-11.14, Z:-3.95 [[ 9.90696173e-01 1.31631491e-01 3.45578344e-02 9.56828039e+01] [-1.31546120e-01 9.91298707e-01 -4.74244897e-03 -1.11362149e+01] [-3.48813922e-02 1.52376996e-04 9.99391447e-01 -3.94825051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60587156000001 meters 0.013549401104493068 Centerline is valid? [True, True] Translation: X:95.71, Y:-11.14, Z:-3.95 [[ 9.90867178e-01 1.30381646e-01 3.43927709e-02 9.57107862e+01] [-1.30296379e-01 9.91463861e-01 -4.71857629e-03 -1.11427191e+01] [-3.47144052e-02 1.94228856e-04 9.99397255e-01 -3.95139138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63587156000001 meters 0.014058951767358323 Centerline is valid? [True, True] Translation: X:95.74, Y:-11.15, Z:-3.95 [[ 9.91060697e-01 1.28885524e-01 3.44560083e-02 9.57402998e+01] [-1.28799085e-01 9.91659448e-01 -4.72591650e-03 -1.11485398e+01] [-3.47777284e-02 2.45767757e-04 9.99395042e-01 -3.95177839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66587156000001 meters 0.01477798287812665 Centerline is valid? [True, True] Translation: X:95.77, Y:-11.15, Z:-3.95 [[ 9.91247648e-01 1.27457874e-01 3.43888143e-02 9.57699126e+01] [-1.27370950e-01 9.91843941e-01 -4.71565729e-03 -1.11544684e+01] [-3.47093847e-02 2.94248263e-04 9.99397404e-01 -3.95302769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69587156 meters 0.0174659841060253 Centerline is valid? [True, True] Translation: X:95.80, Y:-11.17, Z:-3.96 [[ 9.91657540e-01 1.24296822e-01 3.41412273e-02 9.57986992e+01] [-1.24209273e-01 9.92244999e-01 -4.68166829e-03 -1.11651930e+01] [-3.44583786e-02 4.01954632e-04 9.99406053e-01 -3.95535830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72587156 meters 0.019179941392793127 Centerline is valid? [True, True] Translation: X:95.83, Y:-11.17, Z:-3.96 [[ 9.91899365e-01 1.22401491e-01 3.39635916e-02 9.58294294e+01] [-1.22313743e-01 9.92480558e-01 -4.65721901e-03 -1.11735382e+01] [-3.42782549e-02 4.65278566e-04 9.99412220e-01 -3.95700612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75587156 meters 0.020253629056369744 Centerline is valid? [True, True] Translation: X:95.86, Y:-11.18, Z:-3.96 [[ 9.92122638e-01 1.20552652e-01 3.40548057e-02 9.58597770e+01] [-1.20463316e-01 9.92706792e-01 -4.67052923e-03 -1.11812958e+01] [-3.43694816e-02 5.31382964e-04 9.99409054e-01 -3.95762889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78587156 meters 0.023360333666167965 Centerline is valid? [True, True] Translation: X:95.89, Y:-11.19, Z:-3.96 [[ 9.92354612e-01 1.18574283e-01 3.42412546e-02 9.58899137e+01] [-1.18482782e-01 9.92945001e-01 -4.69626311e-03 -1.11914442e+01] [-3.45565386e-02 6.03359246e-04 9.99402562e-01 -3.95967550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81587156 meters 0.02706079294751453 Centerline is valid? [True, True] Translation: X:95.92, Y:-11.21, Z:-3.96 [[ 9.92795062e-01 1.14735861e-01 3.45491861e-02 9.59204189e+01] [-1.14640260e-01 9.93395754e-01 -4.74200962e-03 -1.12058298e+01] [-3.48650933e-02 7.47116053e-04 9.99391749e-01 -3.96011670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84587156 meters 0.028531548281384315 Centerline is valid? [True, True] Translation: X:95.95, Y:-11.21, Z:-3.96 [[ 9.92956595e-01 1.13274647e-01 3.47282961e-02 9.59512069e+01] [-1.13177138e-01 9.93563390e-01 -4.76717623e-03 -1.12148672e+01] [-3.50447638e-02 8.03149916e-04 9.99385421e-01 -3.96083002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87587156000001 meters 0.03229274809280486 Centerline is valid? [True, True] Translation: X:95.98, Y:-11.23, Z:-3.96 [[ 9.93064070e-01 1.12304216e-01 3.48068419e-02 9.59806920e+01] [-1.12205460e-01 9.93673512e-01 -4.78394334e-03 -1.12253655e+01] [-3.51238939e-02 8.45244539e-04 9.99382608e-01 -3.96288379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90587156000001 meters 0.03229274809280486 Centerline is valid? [True, True] Translation: X:96.01, Y:-11.23, Z:-3.96 [[ 9.93044135e-01 1.12480431e-01 3.48065922e-02 9.60128709e+01] [-1.12381719e-01 9.93653584e-01 -4.78576021e-03 -1.12299825e+01] [-3.51239995e-02 8.40846436e-04 9.99382608e-01 -3.96434906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93587156000001 meters 0.02804751980748318 Centerline is valid? [True, True] Translation: X:96.04, Y:-11.24, Z:-3.96 [[ 9.93220289e-01 1.11019781e-01 3.44683249e-02 9.60444553e+01] [-1.10921884e-01 9.93817798e-01 -4.74548602e-03 -1.12352814e+01] [-3.47820776e-02 8.90021456e-04 9.99394524e-01 -3.96301895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96587156000001 meters 0.035226028344862784 Centerline is valid? [True, True] Translation: X:96.08, Y:-11.25, Z:-3.97 [[ 9.93202188e-01 1.11230790e-01 3.43092485e-02 9.60750227e+01] [-1.11133697e-01 9.93794208e-01 -4.73000505e-03 -1.12455231e+01] [-3.46224547e-02 8.84937718e-04 9.99400071e-01 -3.96656166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99587156000001 meters 0.03625308933739702 Centerline is valid? [True, True] Translation: X:96.11, Y:-11.25, Z:-3.97 [[ 9.93159774e-01 1.11670587e-01 3.41078187e-02 9.61075035e+01] [-1.11574775e-01 9.93744900e-01 -4.70561790e-03 -1.12510389e+01] [-3.44199500e-02 8.67858215e-04 9.99407081e-01 -3.96673820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02587156000001 meters 0.03221887446467701 Centerline is valid? [True, True] Translation: X:96.14, Y:-11.26, Z:-3.97 [[ 9.93071153e-01 1.12330600e-01 3.45184177e-02 9.61369830e+01] [-1.12232589e-01 9.93670514e-01 -4.77017640e-03 -1.12641424e+01] [-3.48357707e-02 8.63033187e-04 9.99392678e-01 -3.97044248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05587156 meters 0.030248878331866014 Centerline is valid? [True, True] Translation: X:96.17, Y:-11.27, Z:-3.97 [[ 9.92821137e-01 1.14659212e-01 3.40507768e-02 9.61677327e+01] [-1.14565116e-01 9.93404584e-01 -4.70821280e-03 -1.12723166e+01] [-3.43660377e-02 7.73381989e-04 9.99409014e-01 -3.97303609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08587156 meters 0.028841823708805125 Centerline is valid? [True, True] Translation: X:96.20, Y:-11.28, Z:-3.98 [[ 9.92644958e-01 1.16358788e-01 3.34158602e-02 9.61997226e+01] [-1.16268958e-01 9.93206994e-01 -4.62558187e-03 -1.12775158e+01] [-3.37270931e-02 7.06333293e-04 9.99430830e-01 -3.97593134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11587156 meters 0.02660480205090983 Centerline is valid? [True, True] Translation: X:96.23, Y:-11.28, Z:-3.98 [[ 9.92405790e-01 1.18513903e-01 3.29424115e-02 9.62320104e+01] [-1.18427579e-01 9.92952193e-01 -4.56630212e-03 -1.12817630e+01] [-3.32514100e-02 6.30334630e-04 9.99446820e-01 -3.97856427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14587156 meters 0.020149559386856246 Centerline is valid? [True, True] Translation: X:96.26, Y:-11.28, Z:-3.98 [[ 9.91767033e-01 1.23875517e-01 3.24501038e-02 9.62636264e+01] [-1.23794561e-01 9.92297666e-01 -4.49986434e-03 -1.12816551e+01] [-3.27575852e-02 4.45670744e-04 9.99463227e-01 -3.97970675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17587156 meters 0.017181007192520328 Centerline is valid? [True, True] Translation: X:96.30, Y:-11.28, Z:-3.98 [[ 9.91323970e-01 1.27445225e-01 3.21636723e-02 9.62963432e+01] [-1.27367529e-01 9.91845557e-01 -4.46142374e-03 -1.12832051e+01] [-3.24699826e-02 3.26108816e-04 9.99472658e-01 -3.98162876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20587156 meters 0.013725899332442698 Centerline is valid? [True, True] Translation: X:96.33, Y:-11.28, Z:-3.98 [[ 9.90836761e-01 1.31152252e-01 3.22738114e-02 9.63286181e+01] [-1.31075925e-01 9.91362216e-01 -4.47863387e-03 -1.12831041e+01] [-3.25824202e-02 2.07275401e-04 9.99469031e-01 -3.98058042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23587156 meters 0.012624427344718924 Centerline is valid? [True, True] Translation: X:96.36, Y:-11.28, Z:-3.98 [[ 9.90344604e-01 1.34831650e-01 3.22178865e-02 9.63585262e+01] [-1.34757286e-01 9.90868517e-01 -4.47845339e-03 -1.12843207e+01] [-3.25275266e-02 9.36172092e-05 9.99470836e-01 -3.98339108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26587156000001 meters 0.013017018272218333 Centerline is valid? [True, True] Translation: X:96.39, Y:-11.28, Z:-3.98 [[ 9.89352524e-01 1.41821120e-01 3.26856842e-02 9.63900632e+01] [-1.41748371e-01 9.89892293e-01 -4.54403766e-03 -1.12812365e+01] [-3.29997474e-02 -1.37487356e-04 9.99455351e-01 -3.98402807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29587156000001 meters 0.014525051341070452 Centerline is valid? [True, True] Translation: X:96.42, Y:-11.28, Z:-3.98 [[ 9.88939920e-01 1.44670792e-01 3.26832852e-02 9.64194908e+01] [-1.44599599e-01 9.89479817e-01 -4.54399198e-03 -1.12820936e+01] [-3.29968339e-02 -2.32254866e-04 9.99455429e-01 -3.98468265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32587156000001 meters 0.0164304121870087 Centerline is valid? [True, True] Translation: X:96.45, Y:-11.28, Z:-3.99 [[ 9.88539050e-01 1.47327880e-01 3.29399852e-02 9.64495680e+01] [-1.47257065e-01 9.89087656e-01 -4.57887774e-03 -1.12831498e+01] [-3.32551291e-02 -3.24246099e-04 9.99446843e-01 -3.98600037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35587156000001 meters 0.0194492799993502 Centerline is valid? [True, True] Translation: X:96.48, Y:-11.28, Z:-3.99 [[ 9.87865078e-01 1.51691416e-01 3.33511843e-02 9.64798007e+01] [-1.51621333e-01 9.88427785e-01 -4.63522510e-03 -1.12829620e+01] [-3.36683611e-02 -4.77773998e-04 9.99432946e-01 -3.98556013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38587156000001 meters 0.022200376178258655 Centerline is valid? [True, True] Translation: X:96.51, Y:-11.28, Z:-3.99 [[ 9.87594676e-01 1.53336500e-01 3.38330177e-02 9.65078382e+01] [-1.53265357e-01 9.88173883e-01 -4.70173535e-03 -1.12831760e+01] [-3.41538521e-02 -5.42020737e-04 9.99416440e-01 -3.98727275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41587156000001 meters 0.023389823046882453 Centerline is valid? [True, True] Translation: X:96.54, Y:-11.29, Z:-3.99 [[ 9.87366673e-01 1.54701505e-01 3.42709408e-02 9.65365984e+01] [-1.54629409e-01 9.87961075e-01 -4.76028647e-03 -1.12851700e+01] [-3.45947790e-02 -5.99147117e-04 9.99401242e-01 -3.98759870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44587156 meters 0.02453340446493895 Centerline is valid? [True, True] Translation: X:96.57, Y:-11.29, Z:-3.99 [[ 9.87188149e-01 1.55787951e-01 3.44916441e-02 9.65651777e+01] [-1.55715646e-01 9.87790312e-01 -4.78925823e-03 -1.12874963e+01] [-3.48166206e-02 -6.42989661e-04 9.99393511e-01 -3.98882599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47587156 meters 0.026009728399128844 Centerline is valid? [True, True] Translation: X:96.59, Y:-11.29, Z:-3.99 [[ 9.87068795e-01 1.56642033e-01 3.40362634e-02 9.65931833e+01] [-1.56572183e-01 9.87655218e-01 -4.72453634e-03 -1.12892665e+01] [-3.43561541e-02 -6.65689673e-04 9.99409431e-01 -3.99147227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50587156 meters 0.025938999109788512 Centerline is valid? [True, True] Translation: X:96.62, Y:-11.29, Z:-3.99 [[ 9.87058176e-01 1.56694126e-01 3.41043781e-02 9.66220961e+01] [-1.56624102e-01 9.87646951e-01 -4.73182093e-03 -1.12934329e+01] [-3.44245336e-02 -6.70985048e-04 9.99407075e-01 -3.99233829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53587156 meters 0.02517050281463158 Centerline is valid? [True, True] Translation: X:96.65, Y:-11.30, Z:-3.99 [[ 9.87134473e-01 1.56196745e-01 3.41775995e-02 9.66509428e+01] [-1.56126178e-01 9.87725744e-01 -4.74034220e-03 -1.12983912e+01] [-3.44985210e-02 -6.56662793e-04 9.99404533e-01 -3.99327714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56587156 meters 0.025073816275193332 Centerline is valid? [True, True] Translation: X:96.68, Y:-11.30, Z:-3.99 [[ 9.87261108e-01 1.55383997e-01 3.42245217e-02 9.66794609e+01] [-1.55312805e-01 9.87853944e-01 -4.74520660e-03 -1.13042194e+01] [-3.45461579e-02 -6.30748532e-04 9.99402904e-01 -3.99438975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59587156 meters 0.022490958266240993 Centerline is valid? [True, True] Translation: X:96.71, Y:-11.31, Z:-4.00 [[ 9.87691737e-01 1.52531863e-01 3.46274842e-02 9.67069157e+01] [-1.52457288e-01 9.88298407e-01 -4.79946646e-03 -1.13086744e+01] [-3.49543590e-02 -5.38818955e-04 9.99388764e-01 -3.99635282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62587156000001 meters 0.018916529936495566 Centerline is valid? [True, True] Translation: X:96.74, Y:-11.32, Z:-4.00 [[ 9.88010961e-01 1.50469586e-01 3.45433615e-02 9.67354403e+01] [-1.50394199e-01 9.88614528e-01 -4.78533117e-03 -1.13172287e+01] [-3.48701158e-02 -4.67161527e-04 9.99391743e-01 -3.99590292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65587156000001 meters 0.017328467565762194 Centerline is valid? [True, True] Translation: X:96.76, Y:-11.32, Z:-4.00 [[ 9.88432269e-01 1.47639294e-01 3.47028689e-02 9.67635077e+01] [-1.47561491e-01 9.89041204e-01 -4.80669227e-03 -1.13235216e+01] [-3.50322238e-02 -3.69717309e-04 9.99386115e-01 -3.99826055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68587156000001 meters 0.01232306180904324 Centerline is valid? [True, True] Translation: X:96.79, Y:-11.34, Z:-4.00 [[ 9.89399494e-01 1.41027340e-01 3.46400240e-02 9.67927336e+01] [-1.40945824e-01 9.90005692e-01 -4.79628194e-03 -1.13387479e+01] [-3.49702278e-02 -1.36927784e-04 9.99388345e-01 -3.99867120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71587156000001 meters 0.011530307088743395 Centerline is valid? [True, True] Translation: X:96.82, Y:-11.35, Z:-4.00 [[ 9.89912726e-01 1.37445537e-01 3.43732474e-02 9.68233026e+01] [-1.37363108e-01 9.90509326e-01 -4.75942814e-03 -1.13495602e+01] [-3.47011843e-02 -1.01976205e-05 9.99397732e-01 -4.00060619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74587156000001 meters 0.012125337741064335 Centerline is valid? [True, True] Translation: X:96.85, Y:-11.36, Z:-4.00 [[ 9.90354832e-01 1.34183192e-01 3.45279131e-02 9.68545183e+01] [-1.34098041e-01 9.90956538e-01 -4.78071869e-03 -1.13605460e+01] [-3.48571533e-02 1.04482342e-04 9.99392299e-01 -4.00246908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77587156000001 meters 0.013294272067870266 Centerline is valid? [True, True] Translation: X:96.89, Y:-11.37, Z:-4.00 [[ 9.90770346e-01 1.31011171e-01 3.47878549e-02 9.68859066e+01] [-1.30922650e-01 9.91380867e-01 -4.82033250e-03 -1.13703347e+01] [-3.51195311e-02 2.21324345e-04 9.99383094e-01 -4.00200016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80587156 meters 0.01791071634953401 Centerline is valid? [True, True] Translation: X:96.92, Y:-11.38, Z:-4.00 [[ 9.91407367e-01 1.26068498e-01 3.49022552e-02 9.69151589e+01] [-1.25976113e-01 9.92021457e-01 -4.84235150e-03 -1.13840770e+01] [-3.52342541e-02 4.03892516e-04 9.99378999e-01 -4.00413009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83587156 meters 0.01863932654687016 Centerline is valid? [True, True] Translation: X:96.95, Y:-11.39, Z:-4.00 [[ 9.91637614e-01 1.24316745e-01 3.46437373e-02 9.69470134e+01] [-1.24224469e-01 9.92242474e-01 -4.81180395e-03 -1.13908202e+01] [-3.49731754e-02 4.67965910e-04 9.99388142e-01 -4.00487535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86587156 meters 0.02094229721809005 Centerline is valid? [True, True] Translation: X:96.98, Y:-11.40, Z:-4.01 [[ 9.91824110e-01 1.22878524e-01 3.44355058e-02 9.69771264e+01] [-1.22786281e-01 9.92421582e-01 -4.78882015e-03 -1.13996245e+01] [-3.47629823e-02 5.21459582e-04 9.99395449e-01 -4.00723886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89587156 meters 0.024433647393723033 Centerline is valid? [True, True] Translation: X:97.01, Y:-11.41, Z:-4.01 [[ 9.92101553e-01 1.20759659e-01 3.39354403e-02 9.70066001e+01] [-1.20668631e-01 9.92681597e-01 -4.72528493e-03 -1.14099220e+01] [-3.42577109e-02 5.93019383e-04 9.99412856e-01 -4.00957071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92587156 meters 0.02239525760370682 Centerline is valid? [True, True] Translation: X:97.04, Y:-11.41, Z:-4.01 [[ 9.92174591e-01 1.20250438e-01 3.36067383e-02 9.70389844e+01] [-1.20160815e-01 9.92743403e-01 -4.68124705e-03 -1.14124252e+01] [-3.39257898e-02 6.06401298e-04 9.99424171e-01 -4.00949771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95587156 meters 0.027584003184696927 Centerline is valid? [True, True] Translation: X:97.07, Y:-11.42, Z:-4.01 [[ 9.92205404e-01 1.20044553e-01 3.34326496e-02 9.70696848e+01] [-1.19955543e-01 9.92768314e-01 -4.66282750e-03 -1.14194278e+01] [-3.37506222e-02 6.16051019e-04 9.99430096e-01 -4.01218129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98587156 meters 0.038378965492976175 Centerline is valid? [True, True] Translation: X:97.10, Y:-11.43, Z:-4.01 [[ 9.92190799e-01 1.20117080e-01 3.36051510e-02 9.71023361e+01] [-1.20027020e-01 9.92759538e-01 -4.69189530e-03 -1.14251396e+01] [-3.39254110e-02 6.21729220e-04 9.99424174e-01 -4.01315358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01587156000001 meters 0.028693901728976595 Centerline is valid? [True, True] Translation: X:97.13, Y:-11.43, Z:-4.01 [[ 9.92168527e-01 1.20226594e-01 3.38700472e-02 9.71336061e+01] [-1.20134941e-01 9.92746277e-01 -4.73563420e-03 -1.14320404e+01] [-3.41937124e-02 6.29571096e-04 9.99415026e-01 -4.01449708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04587156000001 meters 0.023672687363341043 Centerline is valid? [True, True] Translation: X:97.17, Y:-11.44, Z:-4.02 [[ 9.92148016e-01 1.20422397e-01 3.37751561e-02 9.71657730e+01] [-1.20331169e-01 9.92722546e-01 -4.72826269e-03 -1.14379639e+01] [-3.40987477e-02 6.26932421e-04 9.99418272e-01 -4.01564141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07587156000001 meters 0.02468916165018199 Centerline is valid? [True, True] Translation: X:97.20, Y:-11.44, Z:-4.02 [[ 9.92098862e-01 1.20836238e-01 3.37409617e-02 9.71978928e+01] [-1.20745214e-01 9.92672263e-01 -4.72994840e-03 -1.14433329e+01] [-3.40652660e-02 6.18516789e-04 9.99419419e-01 -4.01746144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10587156000001 meters 0.023408002647713262 Centerline is valid? [True, True] Translation: X:97.23, Y:-11.45, Z:-4.02 [[ 9.92044042e-01 1.21318675e-01 3.36213977e-02 9.72306130e+01] [-1.21228352e-01 9.92613425e-01 -4.71966311e-03 -1.14492281e+01] [-3.39456340e-02 6.06247052e-04 9.99423497e-01 -4.01903782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13587156000001 meters 0.024628069433713397 Centerline is valid? [True, True] Translation: X:97.26, Y:-11.45, Z:-4.02 [[ 9.91748753e-01 1.23894103e-01 3.29342123e-02 9.72619756e+01] [-1.23808640e-01 9.92295312e-01 -4.62962276e-03 -1.14529713e+01] [-3.32540474e-02 5.13882554e-04 9.99446799e-01 -4.02233604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16587156000001 meters 0.019885219016992663 Centerline is valid? [True, True] Translation: X:97.29, Y:-11.46, Z:-4.02 [[ 9.91514933e-01 1.25786049e-01 3.28025524e-02 9.72937958e+01] [-1.25702123e-01 9.92057288e-01 -4.61657670e-03 -1.14558293e+01] [-3.31227122e-02 4.54054276e-04 9.99451189e-01 -4.02366620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19587156 meters 0.018197920039929687 Centerline is valid? [True, True] Translation: X:97.33, Y:-11.46, Z:-4.03 [[ 9.91236110e-01 1.28052471e-01 3.24582527e-02 9.73263818e+01] [-1.27971306e-01 9.91767321e-01 -4.57439003e-03 -1.14580645e+01] [-3.27767963e-02 3.80575604e-04 9.99462624e-01 -4.02571101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22587156 meters 0.02693291699650551 Centerline is valid? [True, True] Translation: X:97.36, Y:-11.46, Z:-4.03 [[ 9.90863115e-01 1.31044624e-01 3.18997447e-02 9.73577178e+01] [-1.30967716e-01 9.91376431e-01 -4.49761279e-03 -1.14584856e+01] [-3.22140430e-02 2.78681931e-04 9.99480954e-01 -4.02794449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25587156 meters 0.012770408629381046 Centerline is valid? [True, True] Translation: X:97.39, Y:-11.45, Z:-4.03 [[ 9.90074764e-01 1.36895631e-01 3.18048540e-02 9.73908368e+01] [-1.36822001e-01 9.90585472e-01 -4.49029954e-03 -1.14532975e+01] [-3.21201287e-02 9.41285098e-05 9.99484011e-01 -4.02853757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28587156 meters 0.012202396558996114 Centerline is valid? [True, True] Translation: X:97.42, Y:-11.45, Z:-4.03 [[ 9.89656939e-01 1.39903810e-01 3.17185481e-02 9.74233309e+01] [-1.39832108e-01 9.90165099e-01 -4.47859410e-03 -1.14534484e+01] [-3.20331717e-02 -2.99970778e-06 9.99486806e-01 -4.02935973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31587156 meters 0.012687339330252454 Centerline is valid? [True, True] Translation: X:97.45, Y:-11.45, Z:-4.03 [[ 9.89325859e-01 1.42211104e-01 3.17859579e-02 9.74542665e+01] [-1.42140046e-01 9.89836349e-01 -4.49561425e-03 -1.14541035e+01] [-3.21022228e-02 -7.04300761e-05 9.99484588e-01 -4.03178013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34587156 meters 0.017312664053915988 Centerline is valid? [True, True] Translation: X:97.48, Y:-11.46, Z:-4.03 [[ 9.89026691e-01 1.44252748e-01 3.18959208e-02 9.74846807e+01] [-1.44182240e-01 9.89540866e-01 -4.51171008e-03 -1.14555357e+01] [-3.22131437e-02 -1.36623632e-04 9.99481013e-01 -4.03189630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37587156000001 meters 0.013423593963102966 Centerline is valid? [True, True] Translation: X:97.52, Y:-11.46, Z:-4.03 [[ 9.88698359e-01 1.46155864e-01 3.33769057e-02 9.75157067e+01] [-1.46079739e-01 9.89261553e-01 -4.72119688e-03 -1.14564678e+01] [-3.37085202e-02 -2.07850054e-04 9.99431685e-01 -4.03086495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40587156000001 meters 0.0211379011441392 Centerline is valid? [True, True] Translation: X:97.55, Y:-11.46, Z:-4.03 [[ 9.88649174e-01 1.46487625e-01 3.33794337e-02 9.75464225e+01] [-1.46411677e-01 9.89212479e-01 -4.72155447e-03 -1.14596006e+01] [-3.37110017e-02 -2.19177938e-04 9.99431599e-01 -4.03198408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43587156000001 meters 0.013724564545780898 Centerline is valid? [True, True] Translation: X:97.58, Y:-11.46, Z:-4.03 [[ 9.88668345e-01 1.46315225e-01 3.35672350e-02 9.75761525e+01] [-1.46238325e-01 9.89237994e-01 -4.74798189e-03 -1.14627743e+01] [-3.39006863e-02 -2.14636828e-04 9.99425183e-01 -4.03417576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46587156000001 meters 0.013823564855031185 Centerline is valid? [True, True] Translation: X:97.61, Y:-11.47, Z:-4.04 [[ 9.88729256e-01 1.45965783e-01 3.32933676e-02 9.76060826e+01] [-1.45889921e-01 9.89289619e-01 -4.70965856e-03 -1.14667061e+01] [-3.36242319e-02 -2.00589564e-04 9.99434526e-01 -4.03633323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49587156000001 meters 0.012863242384862096 Centerline is valid? [True, True] Translation: X:97.64, Y:-11.47, Z:-4.04 [[ 9.88998358e-01 1.44086099e-01 3.34879776e-02 9.76356271e+01] [-1.44008252e-01 9.89565146e-01 -4.73772950e-03 -1.14722332e+01] [-3.38211764e-02 -1.36938427e-04 9.99427891e-01 -4.03768333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52587156000001 meters 0.012247256865769215 Centerline is valid? [True, True] Translation: X:97.67, Y:-11.48, Z:-4.04 [[ 9.89181070e-01 1.42807020e-01 3.35703254e-02 9.76657392e+01] [-1.42728076e-01 9.89750547e-01 -4.74869927e-03 -1.14781270e+01] [-3.39043955e-02 -9.41045339e-05 9.99425076e-01 -4.03898439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55587156 meters 0.011937995544403933 Centerline is valid? [True, True] Translation: X:97.70, Y:-11.48, Z:-4.04 [[ 9.89423971e-01 1.41144671e-01 3.34422989e-02 9.76960884e+01] [-1.41065295e-01 9.89988980e-01 -4.73306878e-03 -1.14847994e+01] [-3.37755549e-02 -3.45360517e-05 9.99429443e-01 -4.04080411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58587156 meters 0.01208213322721647 Centerline is valid? [True, True] Translation: X:97.73, Y:-11.49, Z:-4.04 [[ 9.89684779e-01 1.39351604e-01 3.32440811e-02 9.77266499e+01] [-1.39272129e-01 9.90242965e-01 -4.70579456e-03 -1.14920510e+01] [-3.35754774e-02 2.72792997e-05 9.99436184e-01 -4.04284726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61587156 meters 0.02645615175556184 Centerline is valid? [True, True] Translation: X:97.76, Y:-11.50, Z:-4.04 [[ 9.90121731e-01 1.36233632e-01 3.31565209e-02 9.77571861e+01] [-1.36152850e-01 9.90676728e-01 -4.69270047e-03 -1.15018342e+01] [-3.34866972e-02 1.31989900e-04 9.99439155e-01 -4.04442205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64587156 meters 0.013348170295464657 Centerline is valid? [True, True] Translation: X:97.79, Y:-11.51, Z:-4.04 [[ 9.90384212e-01 1.34203349e-01 3.35942515e-02 9.77894853e+01] [-1.34119090e-01 9.90953792e-01 -4.75939811e-03 -1.15080678e+01] [-3.39290780e-02 2.08002305e-04 9.99424221e-01 -4.04299499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67587156 meters 0.014450581254683105 Centerline is valid? [True, True] Translation: X:97.82, Y:-11.52, Z:-4.04 [[ 9.90594286e-01 1.32588827e-01 3.38106932e-02 9.78213359e+01] [-1.32502297e-01 9.91171090e-01 -4.79709950e-03 -1.15152982e+01] [-3.41482234e-02 2.71984844e-04 9.99416742e-01 -4.04449458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70587156 meters 0.01624689810160019 Centerline is valid? [True, True] Translation: X:97.85, Y:-11.52, Z:-4.05 [[ 9.90801478e-01 1.31043631e-01 3.37638552e-02 9.78519438e+01] [-1.30956242e-01 9.91376547e-01 -4.79639826e-03 -1.15240165e+01] [-3.41012316e-02 3.30690907e-04 9.99418329e-01 -4.04674468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73587156 meters 0.019218509278717575 Centerline is valid? [True, True] Translation: X:97.88, Y:-11.54, Z:-4.05 [[ 9.91227596e-01 1.27551158e-01 3.46201590e-02 9.78825070e+01] [-1.27456950e-01 9.91831883e-01 -4.92367496e-03 -1.15371850e+01] [-3.49653979e-02 4.67902602e-04 9.99388414e-01 -4.04674066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76587156000001 meters 0.02115628283319032 Centerline is valid? [True, True] Translation: X:97.91, Y:-11.55, Z:-4.05 [[ 9.91454428e-01 1.25755199e-01 3.46950514e-02 9.79129579e+01] [-1.25659277e-01 9.92061157e-01 -4.94025934e-03 -1.15460520e+01] [-3.50408762e-02 5.38286937e-04 9.99385735e-01 -4.04801073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79587156000001 meters 0.02115628283319032 Centerline is valid? [True, True] Translation: X:97.95, Y:-11.55, Z:-4.05 [[ 9.91431047e-01 1.25939592e-01 3.46943498e-02 9.79451007e+01] [-1.25843610e-01 9.92037767e-01 -4.94518129e-03 -1.15508219e+01] [-3.50408994e-02 5.36744055e-04 9.99385735e-01 -4.04947548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82587156000001 meters 0.030272675059559932 Centerline is valid? [True, True] Translation: X:97.98, Y:-11.56, Z:-4.05 [[ 9.91612280e-01 1.24529741e-01 3.46039040e-02 9.79758925e+01] [-1.24433160e-01 9.92215699e-01 -4.93917398e-03 -1.15589059e+01] [-3.49496109e-02 5.91872455e-04 9.99388900e-01 -4.05071352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85587156000001 meters 0.023077989491021245 Centerline is valid? [True, True] Translation: X:98.01, Y:-11.57, Z:-4.05 [[ 9.91805915e-01 1.22835353e-01 3.51070184e-02 9.80076751e+01] [-1.22734690e-01 9.92426840e-01 -5.01639337e-03 -1.15662268e+01] [-3.54573378e-02 6.66439612e-04 9.99370969e-01 -4.05047081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88587156000001 meters 0.025000243846513448 Centerline is valid? [True, True] Translation: X:98.04, Y:-11.58, Z:-4.05 [[ 9.92098747e-01 1.20272639e-01 3.57011010e-02 9.80389135e+01] [-1.20166654e-01 9.92740595e-01 -5.10752633e-03 -1.15776340e+01] [-3.60562279e-02 7.77088621e-04 9.99349461e-01 -4.05073940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91587156000001 meters 0.032508704699408274 Centerline is valid? [True, True] Translation: X:98.07, Y:-11.59, Z:-4.05 [[ 9.92196327e-01 1.19441395e-01 3.57799191e-02 9.80686458e+01] [-1.19334164e-01 9.92840918e-01 -5.12537139e-03 -1.15862532e+01] [-3.61359492e-02 8.15607950e-04 9.99346550e-01 -4.05238054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94587156 meters 0.028245017439691152 Centerline is valid? [True, True] Translation: X:98.10, Y:-11.60, Z:-4.05 [[ 9.92294830e-01 1.18612931e-01 3.58042455e-02 9.80989563e+01] [-1.18504844e-01 9.92940204e-01 -5.13356039e-03 -1.15951931e+01] [-3.61603815e-02 8.51028887e-04 9.99345637e-01 -4.05416262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97587156 meters 0.029474497382097408 Centerline is valid? [True, True] Translation: X:98.13, Y:-11.60, Z:-4.06 [[ 9.92340171e-01 1.18352623e-01 3.54067893e-02 9.81289566e+01] [-1.18246561e-01 9.92971260e-01 -5.08208137e-03 -1.16041900e+01] [-3.57594019e-02 8.56422406e-04 9.99360061e-01 -4.05652126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00587156 meters 0.031788580247136114 Centerline is valid? [True, True] Translation: X:98.16, Y:-11.61, Z:-4.06 [[ 9.92320097e-01 1.18562734e-01 3.52661824e-02 9.81614010e+01] [-1.18457464e-01 9.92946199e-01 -5.06700082e-03 -1.16112020e+01] [-3.56181792e-02 8.50544218e-04 9.99365109e-01 -4.05744653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03587156 meters 0.027162612651826606 Centerline is valid? [True, True] Translation: X:98.19, Y:-11.62, Z:-4.06 [[ 9.92254906e-01 1.19011723e-01 3.55866832e-02 9.81927907e+01] [-1.18904553e-01 9.92892486e-01 -5.12044935e-03 -1.16181086e+01] [-3.59431438e-02 8.49372340e-04 9.99353475e-01 -4.05839554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06587156 meters 0.026453947340383942 Centerline is valid? [True, True] Translation: X:98.22, Y:-11.62, Z:-4.06 [[ 9.92142960e-01 1.19914116e-01 3.56784519e-02 9.82241636e+01] [-1.19806751e-01 9.92783926e-01 -5.13986718e-03 -1.16245606e+01] [-3.60373361e-02 8.24963654e-04 9.99350104e-01 -4.05937332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09587156 meters 0.027374975830053973 Centerline is valid? [True, True] Translation: X:98.25, Y:-11.63, Z:-4.06 [[ 9.91998979e-01 1.21111867e-01 3.56362483e-02 9.82546565e+01] [-1.21005301e-01 9.92638553e-01 -5.14007989e-03 -1.16329433e+01] [-3.59964387e-02 7.86779043e-04 9.99351608e-01 -4.06171960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12587156000001 meters 0.026570346202954245 Centerline is valid? [True, True] Translation: X:98.29, Y:-11.64, Z:-4.06 [[ 9.91691400e-01 1.23611258e-01 3.56149291e-02 9.82859287e+01] [-1.23506227e-01 9.92330472e-01 -5.14264819e-03 -1.16395331e+01] [-3.59774686e-02 7.01254481e-04 9.99352355e-01 -4.06327829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15587156000001 meters 0.024098825954288257 Centerline is valid? [True, True] Translation: X:98.32, Y:-11.64, Z:-4.06 [[ 9.91505040e-01 1.25074406e-01 3.56952239e-02 9.83167650e+01] [-1.24969610e-01 9.92147148e-01 -5.16081431e-03 -1.16448825e+01] [-3.60604004e-02 6.56155175e-04 9.99349397e-01 -4.06472509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18587156000001 meters 0.030291622711794516 Centerline is valid? [True, True] Translation: X:98.35, Y:-11.65, Z:-4.07 [[ 9.91335844e-01 1.26494003e-01 3.53908433e-02 9.83484000e+01] [-1.26391796e-01 9.91967189e-01 -5.11947649e-03 -1.16503194e+01] [-3.57541385e-02 6.02008302e-04 9.99360435e-01 -4.06677531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21587156000001 meters 0.021326848372951027 Centerline is valid? [True, True] Translation: X:98.38, Y:-11.66, Z:-4.07 [[ 9.91125338e-01 1.28130189e-01 3.54008461e-02 9.83800743e+01] [-1.28028757e-01 9.91757205e-01 -5.12678203e-03 -1.16560229e+01] [-3.57659397e-02 5.48957236e-04 9.99360043e-01 -4.06782454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24587156000001 meters 0.038013267481934364 Centerline is valid? [True, True] Translation: X:98.41, Y:-11.66, Z:-4.07 [[ 9.90819522e-01 1.30505641e-01 3.52838719e-02 9.84105894e+01] [-1.30406153e-01 9.91447456e-01 -5.11633907e-03 -1.16615314e+01] [-3.56498162e-02 4.68134644e-04 9.99364234e-01 -4.06967238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27587156000001 meters 0.021154297843318407 Centerline is valid? [True, True] Translation: X:98.44, Y:-11.67, Z:-4.07 [[ 9.90655970e-01 1.31690071e-01 3.54749672e-02 9.84425903e+01] [-1.31590163e-01 9.91290845e-01 -5.14676452e-03 -1.16662163e+01] [-3.58437880e-02 4.30516280e-04 9.99357312e-01 -4.07002155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30587156 meters 0.01621695499255424 Centerline is valid? [True, True] Translation: X:98.47, Y:-11.67, Z:-4.07 [[ 9.90360274e-01 1.33831956e-01 3.57146426e-02 9.84734810e+01] [-1.33731841e-01 9.91003974e-01 -5.18828058e-03 -1.16728379e+01] [-3.60877105e-02 3.62082073e-04 9.99348561e-01 -4.07055185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33587156 meters 0.020671253968096475 Centerline is valid? [True, True] Translation: X:98.51, Y:-11.68, Z:-4.07 [[ 9.90148444e-01 1.35283793e-01 3.61158517e-02 9.85050755e+01] [-1.35182273e-01 9.90806841e-01 -5.24951418e-03 -1.16774217e+01] [-3.64940071e-02 3.15575389e-04 9.99333822e-01 -4.07156256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36587156 meters 0.013701296375179558 Centerline is valid? [True, True] Translation: X:98.54, Y:-11.68, Z:-4.07 [[ 9.89933217e-01 1.36751187e-01 3.64875174e-02 9.85373834e+01] [-1.36648335e-01 9.90605391e-01 -5.30969543e-03 -1.16811088e+01] [-3.68708385e-02 2.70285388e-04 9.99320003e-01 -4.07148041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39587156 meters 0.013150083179516726 Centerline is valid? [True, True] Translation: X:98.57, Y:-11.69, Z:-4.07 [[ 9.89749001e-01 1.38026533e-01 3.66822943e-02 9.85678494e+01] [-1.37923197e-01 9.90428505e-01 -5.34496922e-03 -1.16856330e+01] [-3.70689375e-02 2.30838628e-04 9.99312684e-01 -4.07296145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42587156 meters 0.02504076591607827 Centerline is valid? [True, True] Translation: X:98.60, Y:-11.69, Z:-4.08 [[ 9.89532594e-01 1.39631974e-01 3.64438920e-02 9.85992889e+01] [-1.39530959e-01 9.90203455e-01 -5.31313906e-03 -1.16898647e+01] [-3.68287518e-02 1.72473102e-04 9.99321577e-01 -4.07500673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45587156 meters 0.011663142437176546 Centerline is valid? [True, True] Translation: X:98.63, Y:-11.70, Z:-4.08 [[ 9.89232140e-01 1.41902117e-01 3.58268469e-02 9.86312298e+01] [-1.41805769e-01 9.89880690e-01 -5.22909607e-03 -1.16952078e+01] [-3.62063237e-02 9.23363354e-05 9.99344332e-01 -4.07839713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48587156 meters 0.018438658893451094 Centerline is valid? [True, True] Translation: X:98.66, Y:-11.70, Z:-4.08 [[ 9.89141164e-01 1.42682983e-01 3.52324257e-02 9.86640162e+01] [-1.42590078e-01 9.89768438e-01 -5.14859542e-03 -1.17001069e+01] [-3.56065599e-02 6.88933501e-05 9.99365883e-01 -4.08168729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51587156000001 meters 0.011787373120840801 Centerline is valid? [True, True] Translation: X:98.70, Y:-11.71, Z:-4.08 [[ 9.89061649e-01 1.43425166e-01 3.44423631e-02 9.86965423e+01] [-1.43336610e-01 9.89661164e-01 -5.03951303e-03 -1.17051444e+01] [-3.48090622e-02 4.75374779e-05 9.99393980e-01 -4.08389479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54587156000001 meters 0.011862990763882931 Centerline is valid? [True, True] Translation: X:98.73, Y:-11.71, Z:-4.09 [[ 9.88993433e-01 1.44021407e-01 3.39090463e-02 9.87286335e+01] [-1.43935701e-01 9.89574572e-01 -4.96797101e-03 -1.17112484e+01] [-3.42710241e-02 3.25683670e-05 9.99412575e-01 -4.08641813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57587156000001 meters 0.012166449732648865 Centerline is valid? [True, True] Translation: X:98.76, Y:-11.72, Z:-4.09 [[ 9.88983855e-01 1.44045083e-01 3.40873765e-02 9.87602276e+01] [-1.43958251e-01 9.89571126e-01 -5.00094756e-03 -1.17173576e+01] [-3.44522454e-02 3.86973010e-05 9.99406344e-01 -4.08875040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60587156000001 meters 0.012124423691940271 Centerline is valid? [True, True] Translation: X:98.79, Y:-11.72, Z:-4.09 [[ 9.89005300e-01 1.43852368e-01 3.42784587e-02 9.87915000e+01] [-1.43764223e-01 9.89599158e-01 -5.03535076e-03 -1.17234427e+01] [-3.46462810e-02 5.19726251e-05 9.99399636e-01 -4.08990700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63587156000001 meters 0.012505989227995375 Centerline is valid? [True, True] Translation: X:98.82, Y:-11.73, Z:-4.09 [[ 9.89118954e-01 1.43067858e-01 3.42823949e-02 9.88226914e+01] [-1.42979012e-01 9.89712878e-01 -5.04197511e-03 -1.17317586e+01] [-3.46510723e-02 8.54502102e-05 9.99399468e-01 -4.09128079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66587156000001 meters 0.01203396891104421 Centerline is valid? [True, True] Translation: X:98.85, Y:-11.74, Z:-4.09 [[ 9.89105863e-01 1.43132019e-01 3.43920970e-02 9.88548844e+01] [-1.43042441e-01 9.89703601e-01 -5.06388438e-03 -1.17370089e+01] [-3.47627863e-02 8.91882260e-05 9.99395588e-01 -4.09068932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69587156 meters 0.011847828280888352 Centerline is valid? [True, True] Translation: X:98.89, Y:-11.74, Z:-4.09 [[ 9.89064059e-01 1.43405482e-01 3.44551197e-02 9.88873132e+01] [-1.43315506e-01 9.89664014e-01 -5.07989893e-03 -1.17423571e+01] [-3.48274774e-02 8.63925219e-05 9.99393336e-01 -4.09160431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72587156 meters 0.011655952549402198 Centerline is valid? [True, True] Translation: X:98.92, Y:-11.75, Z:-4.09 [[ 9.89024663e-01 1.43660871e-01 3.45220387e-02 9.89202741e+01] [-1.43570461e-01 9.89626974e-01 -5.09662203e-03 -1.17473154e+01] [-3.48961258e-02 8.43398612e-05 9.99390941e-01 -4.09235510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75587156 meters 0.012348722216890257 Centerline is valid? [True, True] Translation: X:98.95, Y:-11.75, Z:-4.10 [[ 9.88962097e-01 1.44065133e-01 3.46295816e-02 9.89518075e+01] [-1.43974153e-01 9.89568205e-01 -5.11974732e-03 -1.17530738e+01] [-3.50059099e-02 7.74713790e-05 9.99387102e-01 -4.09726117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78587156 meters 0.012051984628832686 Centerline is valid? [True, True] Translation: X:98.98, Y:-11.76, Z:-4.10 [[ 9.88890966e-01 1.44557444e-01 3.46093009e-02 9.89846137e+01] [-1.44466640e-01 9.89496408e-01 -5.12336286e-03 -1.17575301e+01] [-3.49863991e-02 6.65578237e-05 9.99387786e-01 -4.09784763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81587156 meters 0.011645094334882793 Centerline is valid? [True, True] Translation: X:99.02, Y:-11.76, Z:-4.10 [[ 9.88826108e-01 1.45010791e-01 3.45658693e-02 9.90175599e+01] [-1.44920269e-01 9.89430072e-01 -5.12330052e-03 -1.17619863e+01] [-3.49434444e-02 5.67582359e-05 9.99389290e-01 -4.09774286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84587156 meters 0.011853984273704548 Centerline is valid? [True, True] Translation: X:99.05, Y:-11.77, Z:-4.10 [[ 9.88778915e-01 1.45299702e-01 3.47023613e-02 9.90495176e+01] [-1.45208393e-01 9.89387686e-01 -5.15062571e-03 -1.17669705e+01] [-3.50824734e-02 5.37559891e-05 9.99384419e-01 -4.10017315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87587156000001 meters 0.011434057489748984 Centerline is valid? [True, True] Translation: X:99.08, Y:-11.77, Z:-4.10 [[ 9.88676425e-01 1.45916782e-01 3.50317042e-02 9.90818324e+01] [-1.45823888e-01 9.89296867e-01 -5.20600040e-03 -1.17714958e+01] [-3.54163981e-02 3.85905564e-05 9.99372642e-01 -4.10037578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90587156000001 meters 0.011466575084473322 Centerline is valid? [True, True] Translation: X:99.11, Y:-11.78, Z:-4.10 [[ 9.88637032e-01 1.46192345e-01 3.49945258e-02 9.91144245e+01] [-1.46099576e-01 9.89256184e-01 -5.20740040e-03 -1.17764546e+01] [-3.53798331e-02 3.55435121e-05 9.99373937e-01 -4.10236956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93587156000001 meters 0.011762316511789394 Centerline is valid? [True, True] Translation: X:99.15, Y:-11.78, Z:-4.11 [[ 9.88613408e-01 1.46430958e-01 3.46627206e-02 9.91463241e+01] [-1.46339845e-01 9.89220892e-01 -5.16490589e-03 -1.17818764e+01] [-3.50453895e-02 3.35580589e-05 9.99385721e-01 -4.10528823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96587156000001 meters 0.011766915845357835 Centerline is valid? [True, True] Translation: X:99.18, Y:-11.79, Z:-4.11 [[ 9.88636045e-01 1.46238933e-01 3.48273483e-02 9.91788674e+01] [-1.46146609e-01 9.89249297e-01 -5.19580201e-03 -1.17881652e+01] [-3.52127584e-02 4.68582960e-05 9.99379837e-01 -4.10681478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99587156000001 meters 0.011782345215574449 Centerline is valid? [True, True] Translation: X:99.21, Y:-11.80, Z:-4.11 [[ 9.88818713e-01 1.44840375e-01 3.54798371e-02 9.92111244e+01] [-1.44743411e-01 9.89455029e-01 -5.30003999e-03 -1.17969263e+01] [-3.58733630e-02 1.05306102e-04 9.99356338e-01 -4.10689693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02587156000001 meters 0.012232061197169138 Centerline is valid? [True, True] Translation: X:99.24, Y:-11.80, Z:-4.11 [[ 9.88967310e-01 1.43857442e-01 3.53369080e-02 9.92437671e+01] [-1.43760381e-01 9.89598411e-01 -5.28564721e-03 -1.18040982e+01] [-3.57297277e-02 1.47284930e-04 9.99361479e-01 -4.10840667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05587156000001 meters 0.013073714694811065 Centerline is valid? [True, True] Translation: X:99.28, Y:-11.81, Z:-4.11 [[ 9.89113715e-01 1.42905050e-01 3.51027942e-02 9.92750441e+01] [-1.42808424e-01 9.89736385e-01 -5.25760667e-03 -1.18113821e+01] [-3.54938511e-02 1.87396146e-04 9.99369877e-01 -4.11070738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08587156 meters 0.01348335215266345 Centerline is valid? [True, True] Translation: X:99.31, Y:-11.82, Z:-4.11 [[ 9.89278724e-01 1.41846493e-01 3.47444811e-02 9.93066885e+01] [-1.41750956e-01 9.89888640e-01 -5.21026327e-03 -1.18184155e+01] [-3.51322247e-02 2.29339210e-04 9.99382647e-01 -4.11164979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11587156 meters 0.014294052628834384 Centerline is valid? [True, True] Translation: X:99.34, Y:-11.83, Z:-4.11 [[ 9.89438330e-01 1.40710366e-01 3.48193107e-02 9.93380594e+01] [-1.40613498e-01 9.90050765e-01 -5.22759322e-03 -1.18263704e+01] [-3.52084617e-02 2.76316035e-04 9.99379952e-01 -4.11370928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14587156 meters 0.021165656691153976 Centerline is valid? [True, True] Translation: X:99.37, Y:-11.84, Z:-4.11 [[ 9.89623972e-01 1.39409387e-01 3.47766617e-02 9.93691732e+01] [-1.39311739e-01 9.90234778e-01 -5.22726943e-03 -1.18367957e+01] [-3.51657903e-02 3.28233924e-04 9.99381438e-01 -4.11492336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17587156 meters 0.027199434336648506 Centerline is valid? [True, True] Translation: X:99.40, Y:-11.84, Z:-4.12 [[ 9.89622615e-01 1.39365917e-01 3.49888649e-02 9.94007479e+01] [-1.39266832e-01 9.90240894e-01 -5.26520845e-03 -1.18441983e+01] [-3.53811955e-02 3.37780990e-04 9.99373832e-01 -4.11710216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20587156 meters 0.015204985731526049 Centerline is valid? [True, True] Translation: X:99.43, Y:-11.85, Z:-4.12 [[ 9.89569241e-01 1.39809202e-01 3.47290125e-02 9.94334573e+01] [-1.39711637e-01 9.90178409e-01 -5.23236320e-03 -1.18488260e+01] [-3.51194508e-02 3.25738511e-04 9.99383069e-01 -4.11749286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23587156 meters 0.022776002037601113 Centerline is valid? [True, True] Translation: X:99.46, Y:-11.85, Z:-4.12 [[ 9.89462042e-01 1.40638105e-01 3.44353200e-02 9.94645478e+01] [-1.40542441e-01 9.90061025e-01 -5.19511104e-03 -1.18548753e+01] [-3.48236988e-02 3.00741249e-04 9.99393426e-01 -4.12055650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26587156000001 meters 0.02019297398165068 Centerline is valid? [True, True] Translation: X:99.50, Y:-11.86, Z:-4.12 [[ 9.89236118e-01 1.42381687e-01 3.37543742e-02 9.94976570e+01] [-1.42290578e-01 9.89811799e-01 -5.09844613e-03 -1.18587506e+01] [-3.41364032e-02 2.40637639e-04 9.99417154e-01 -4.12285501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29587156000001 meters 0.014518529177980554 Centerline is valid? [True, True] Translation: X:99.53, Y:-11.86, Z:-4.13 [[ 9.89115287e-01 1.43300373e-01 3.34058808e-02 9.95289849e+01] [-1.43211436e-01 9.89679220e-01 -5.05242682e-03 -1.18638270e+01] [-3.37851207e-02 2.13328439e-04 9.99429097e-01 -4.12608726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32587156000001 meters 0.013305952004871136 Centerline is valid? [True, True] Translation: X:99.56, Y:-11.87, Z:-4.13 [[ 9.88959912e-01 1.44358762e-01 3.34490708e-02 9.95612590e+01] [-1.44269988e-01 9.89525398e-01 -5.06523377e-03 -1.18673655e+01] [-3.38299160e-02 1.83616127e-04 9.99427588e-01 -4.12602211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35587156000001 meters 0.02769197939176529 Centerline is valid? [True, True] Translation: X:99.59, Y:-11.87, Z:-4.13 [[ 9.88647517e-01 1.46438099e-01 3.36447658e-02 9.95931927e+01] [-1.46349285e-01 9.89219828e-01 -5.10074636e-03 -1.18707836e+01] [-3.40290131e-02 1.18952792e-04 9.99420838e-01 -4.12707338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38587156000001 meters 0.012225769857744847 Centerline is valid? [True, True] Translation: X:99.62, Y:-11.88, Z:-4.13 [[ 9.88493570e-01 1.47422931e-01 3.38665300e-02 9.96245624e+01] [-1.47333317e-01 9.89073542e-01 -5.14029796e-03 -1.18755390e+01] [-3.42542865e-02 9.14832989e-05 9.99413146e-01 -4.12900815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41587156000001 meters 0.02471179295821296 Centerline is valid? [True, True] Translation: X:99.66, Y:-11.88, Z:-4.13 [[ 9.88313465e-01 1.48563833e-01 3.41362214e-02 9.96564106e+01] [-1.48473238e-01 9.88902818e-01 -5.18782057e-03 -1.18802828e+01] [-3.45281281e-02 5.88775864e-05 9.99403725e-01 -4.13103414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44587156 meters 0.011960718857831858 Centerline is valid? [True, True] Translation: X:99.69, Y:-11.88, Z:-4.13 [[ 9.88093874e-01 1.50084778e-01 3.38386792e-02 9.96876072e+01] [-1.49996437e-01 9.88673131e-01 -5.14874974e-03 -1.18848155e+01] [-3.42281419e-02 1.17667572e-05 9.99414045e-01 -4.13259548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47587156 meters 0.01230196746621766 Centerline is valid? [True, True] Translation: X:99.72, Y:-11.89, Z:-4.14 [[ 9.88031112e-01 1.50658611e-01 3.31135006e-02 9.97181423e+01] [-1.50574112e-01 9.88585850e-01 -5.04518199e-03 -1.18892548e+01] [-3.34956383e-02 -1.23918348e-06 9.99438864e-01 -4.13638028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50587156 meters 0.01475369717583963 Centerline is valid? [True, True] Translation: X:99.75, Y:-11.89, Z:-4.14 [[ 9.87962678e-01 1.51172348e-01 3.28126082e-02 9.97505275e+01] [-1.51089603e-01 9.88507421e-01 -5.00109137e-03 -1.18945594e+01] [-3.31915334e-02 -1.67523125e-05 9.99449009e-01 -4.13789143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53587156 meters 0.012120100241463228 Centerline is valid? [True, True] Translation: X:99.78, Y:-11.90, Z:-4.14 [[ 9.87874669e-01 1.51791009e-01 3.26056413e-02 9.97832141e+01] [-1.51709434e-01 9.88412611e-01 -4.97584917e-03 -1.18995988e+01] [-3.29831162e-02 -3.10680268e-05 9.99455909e-01 -4.13879372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56587156 meters 0.02014964725530128 Centerline is valid? [True, True] Translation: X:99.82, Y:-11.91, Z:-4.14 [[ 9.87794665e-01 1.52167655e-01 3.32671545e-02 9.98152734e+01] [-1.52082715e-01 9.88354695e-01 -5.08373387e-03 -1.19052596e+01] [-3.36533282e-02 -3.76739873e-05 9.99433566e-01 -4.13926829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59587156 meters 0.022038199949732912 Centerline is valid? [True, True] Translation: X:99.85, Y:-11.91, Z:-4.14 [[ 9.87729508e-01 1.52528208e-01 3.35494343e-02 9.98463601e+01] [-1.52441814e-01 9.88299117e-01 -5.13315906e-03 -1.19103337e+01] [-3.39398278e-02 -4.41639568e-05 9.99423877e-01 -4.14076284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62587156000001 meters 0.03102434917526031 Centerline is valid? [True, True] Translation: X:99.88, Y:-11.92, Z:-4.14 [[ 9.87670957e-01 1.52913330e-01 3.35200503e-02 9.98786502e+01] [-1.52827200e-01 9.88239602e-01 -5.13189195e-03 -1.19156112e+01] [-3.39105759e-02 -5.41548142e-05 9.99424870e-01 -4.14180365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65587156000001 meters 0.012359835411044044 Centerline is valid? [True, True] Translation: X:99.91, Y:-11.92, Z:-4.14 [[ 9.87616795e-01 1.53236815e-01 3.36384363e-02 9.99106821e+01] [-1.53150035e-01 9.88189493e-01 -5.15670987e-03 -1.19202916e+01] [-3.40313471e-02 -5.88744423e-05 9.99420764e-01 -4.14411250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68587156000001 meters 0.01262094504103694 Centerline is valid? [True, True] Translation: X:99.94, Y:-11.92, Z:-4.15 [[ 9.87373654e-01 1.54862653e-01 3.33290493e-02 9.99435153e+01] [-1.54778191e-01 9.87936003e-01 -5.11514413e-03 -1.19235706e+01] [-3.37191126e-02 -1.08051414e-04 9.99431343e-01 -4.14541902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71587156000001 meters 0.01262094504103694 Centerline is valid? [True, True] Translation: X:99.98, Y:-11.93, Z:-4.15 [[ 9.87345100e-01 1.55044805e-01 3.33281032e-02 9.99755869e+01] [-1.54960238e-01 9.87907433e-01 -5.12130027e-03 -1.19287029e+01] [-3.37191119e-02 -1.08040086e-04 9.99431343e-01 -4.14688360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74587156000001 meters 0.012420982726636913 Centerline is valid? [True, True] Translation: X:100.01, Y:-11.93, Z:-4.15 [[ 9.87222264e-01 1.55774774e-01 3.35621836e-02 1.00007816e+02] [-1.55689222e-01 9.87792591e-01 -5.16359711e-03 -1.19334066e+01] [-3.39568345e-02 -1.27652225e-04 9.99423292e-01 -4.14680042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77587156000001 meters 0.015255074724130182 Centerline is valid? [True, True] Translation: X:100.04, Y:-11.94, Z:-4.15 [[ 9.87104481e-01 1.56495891e-01 3.36716607e-02 1.00039469e+02] [-1.56409947e-01 9.87678599e-01 -5.18782487e-03 -1.19376113e+01] [-3.40686519e-02 -1.45657479e-04 9.99419484e-01 -4.14879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80587156000001 meters 0.012968239972153907 Centerline is valid? [True, True] Translation: X:100.07, Y:-11.94, Z:-4.15 [[ 9.87022761e-01 1.56968609e-01 3.38662834e-02 1.00072153e+02] [-1.56881831e-01 9.87603580e-01 -5.22119748e-03 -1.19415534e+01] [-3.42660269e-02 -1.59563790e-04 9.99412735e-01 -4.14977884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83587156 meters 0.013065440571623099 Centerline is valid? [True, True] Translation: X:100.10, Y:-11.95, Z:-4.15 [[ 9.87022987e-01 1.57043133e-01 3.35123356e-02 1.00104146e+02] [-1.56957982e-01 9.87591733e-01 -5.17312099e-03 -1.19455012e+01] [-3.39089087e-02 -1.54039234e-04 9.99424916e-01 -4.15219658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86587156 meters 0.012774243892302596 Centerline is valid? [True, True] Translation: X:100.14, Y:-11.95, Z:-4.15 [[ 9.87094277e-01 1.56646013e-01 3.32703432e-02 1.00136049e+02] [-1.56561669e-01 9.87654802e-01 -5.14149515e-03 -1.19524110e+01] [-3.36650090e-02 -1.33720029e-04 9.99433164e-01 -4.15341434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89587156 meters 0.01207047938969427 Centerline is valid? [True, True] Translation: X:100.17, Y:-11.96, Z:-4.15 [[ 9.87220045e-01 1.55809218e-01 3.34674376e-02 1.00168786e+02] [-1.55723172e-01 9.87787162e-01 -5.17841469e-03 -1.19598908e+01] [-3.38655500e-02 -9.94207654e-05 9.99426393e-01 -4.15393248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92587156 meters 0.012309355883725864 Centerline is valid? [True, True] Translation: X:100.20, Y:-11.97, Z:-4.16 [[ 9.87383482e-01 1.54786148e-01 3.33932337e-02 1.00199952e+02] [-1.54699667e-01 9.87947997e-01 -5.17377220e-03 -1.19663015e+01] [-3.37916066e-02 -5.74249184e-05 9.99428899e-01 -4.15765104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95587156 meters 0.012355162477213133 Centerline is valid? [True, True] Translation: X:100.23, Y:-11.98, Z:-4.16 [[ 9.87749876e-01 1.52513956e-01 3.30102368e-02 1.00231578e+02] [-1.52427976e-01 9.88301317e-01 -5.12049065e-03 -1.19755260e+01] [-3.34050068e-02 2.60804133e-05 9.99441897e-01 -4.15889605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98587156 meters 0.012726489464675013 Centerline is valid? [True, True] Translation: X:100.26, Y:-11.98, Z:-4.16 [[ 9.87946111e-01 1.51229130e-01 3.30489310e-02 1.00262373e+02] [-1.51142016e-01 9.88498733e-01 -5.13288834e-03 -1.19837151e+01] [-3.34450687e-02 7.59349996e-05 9.99440554e-01 -4.16070552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01587156000001 meters 0.0130880508368891 Centerline is valid? [True, True] Translation: X:100.29, Y:-11.99, Z:-4.16 [[ 9.88099372e-01 1.50193374e-01 3.31900923e-02 1.00294186e+02] [-1.50104736e-01 9.88656632e-01 -5.16058065e-03 -1.19917786e+01] [-3.35886899e-02 1.17176465e-04 9.99435734e-01 -4.16127870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04587156000001 meters 0.013513249986776624 Centerline is valid? [True, True] Translation: X:100.33, Y:-12.00, Z:-4.16 [[ 9.88187711e-01 1.49619133e-01 3.31536373e-02 1.00325269e+02] [-1.49530153e-01 9.88743695e-01 -5.16125762e-03 -1.19987015e+01] [-3.35526728e-02 1.42822888e-04 9.99436940e-01 -4.16255919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07587156000001 meters 0.014202683215046719 Centerline is valid? [True, True] Translation: X:100.36, Y:-12.01, Z:-4.16 [[ 9.88290032e-01 1.48918123e-01 3.32596606e-02 1.00356177e+02] [-1.48827979e-01 9.88849515e-01 -5.18364587e-03 -1.20057078e+01] [-3.36607380e-02 1.72977487e-04 9.99433302e-01 -4.16378897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10587156000001 meters 0.026671536746309916 Centerline is valid? [True, True] Translation: X:100.39, Y:-12.01, Z:-4.16 [[ 9.88233020e-01 1.49191602e-01 3.37248387e-02 1.00389575e+02] [-1.49098885e-01 9.88808291e-01 -5.26175201e-03 -1.20098038e+01] [-3.41324093e-02 1.71501247e-04 9.99417305e-01 -4.16125978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13587156000001 meters 0.0130361932987199 Centerline is valid? [True, True] Translation: X:100.42, Y:-12.02, Z:-4.16 [[ 9.88125611e-01 1.49723794e-01 3.45045285e-02 1.00420630e+02] [-1.49626797e-01 9.88727849e-01 -5.39101111e-03 -1.20151075e+01] [-3.49227508e-02 1.64194066e-04 9.99390001e-01 -4.16254748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16587156000001 meters 0.012332651791375337 Centerline is valid? [True, True] Translation: X:100.45, Y:-12.02, Z:-4.16 [[ 9.87876660e-01 1.51367140e-01 3.44629354e-02 1.00453338e+02] [-1.51271189e-01 9.88477605e-01 -5.38988814e-03 -1.20190532e+01] [-3.48816918e-02 1.11295482e-04 9.99391442e-01 -4.16378328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19587156 meters 0.0234088992510819 Centerline is valid? [True, True] Translation: X:100.49, Y:-12.02, Z:-4.16 [[ 9.87757526e-01 1.52217544e-01 3.41304840e-02 1.00486408e+02] [-1.52123722e-01 9.88347010e-01 -5.34430377e-03 -1.20234054e+01] [-3.45462586e-02 8.68200082e-05 9.99403096e-01 -4.16445062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22587156 meters 0.011631177748211805 Centerline is valid? [True, True] Translation: X:100.52, Y:-12.03, Z:-4.17 [[ 9.87535068e-01 1.53687362e-01 3.39806307e-02 1.00519072e+02] [-1.53595001e-01 9.88119524e-01 -5.32754826e-03 -1.20264182e+01] [-3.43957014e-02 4.18857300e-05 9.99408292e-01 -4.16506550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25587156 meters 0.011655715340249 Centerline is valid? [True, True] Translation: X:100.55, Y:-12.03, Z:-4.17 [[ 9.87322209e-01 1.55044176e-01 3.40023477e-02 1.00551095e+02] [-1.54952236e-01 9.87907538e-01 -5.33863819e-03 -1.20297775e+01] [-3.44189004e-02 2.21623079e-06 9.99407494e-01 -4.16685293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28587156 meters 0.01206852068493384 Centerline is valid? [True, True] Translation: X:100.58, Y:-12.03, Z:-4.17 [[ 9.86956146e-01 1.57386703e-01 3.38672667e-02 1.00583334e+02] [-1.57296724e-01 9.87537048e-01 -5.32170614e-03 -1.20314785e+01] [-3.42827464e-02 -7.49195104e-05 9.99412171e-01 -4.16879555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31587156 meters 0.021830232207472513 Centerline is valid? [True, True] Translation: X:100.62, Y:-12.04, Z:-4.17 [[ 9.86762239e-01 1.58592698e-01 3.38915995e-02 1.00615714e+02] [-1.58503184e-01 9.87344086e-01 -5.32893494e-03 -1.20352535e+01] [-3.43078005e-02 -1.13534654e-04 9.99411308e-01 -4.16947545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34587156 meters 0.023992936975635173 Centerline is valid? [True, True] Translation: X:100.65, Y:-12.04, Z:-4.17 [[ 9.86570520e-01 1.59760183e-01 3.39895952e-02 1.00647166e+02] [-1.59670584e-01 9.87155845e-01 -5.35185841e-03 -1.20379807e+01] [-3.44080415e-02 -1.47152775e-04 9.99407857e-01 -4.17239475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37587156000001 meters 0.01916748924954439 Centerline is valid? [True, True] Translation: X:100.68, Y:-12.04, Z:-4.17 [[ 9.86403538e-01 1.60734336e-01 3.42422696e-02 1.00679934e+02] [-1.60643865e-01 9.86997691e-01 -5.39515358e-03 -1.20423996e+01] [-3.46642274e-02 -1.79011931e-04 9.99398999e-01 -4.17183687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40587156000001 meters 0.019425343844269614 Centerline is valid? [True, True] Translation: X:100.71, Y:-12.05, Z:-4.17 [[ 9.86251397e-01 1.61652117e-01 3.43041565e-02 1.00713157e+02] [-1.61561643e-01 9.86847785e-01 -5.41150473e-03 -1.20467545e+01] [-3.47277620e-02 -2.05131790e-04 9.99396788e-01 -4.17230222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43587156000001 meters 0.013330623620545946 Centerline is valid? [True, True] Translation: X:100.74, Y:-12.05, Z:-4.17 [[ 9.86223975e-01 1.61928286e-01 3.37861060e-02 1.00743453e+02] [-1.61840424e-01 9.86802507e-01 -5.33746872e-03 -1.20515638e+01] [-3.42045013e-02 -2.04018110e-04 9.99414834e-01 -4.17442308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46587156000001 meters 0.01344314901989819 Centerline is valid? [True, True] Translation: X:100.78, Y:-12.06, Z:-4.18 [[ 9.86193207e-01 1.62219132e-01 3.32853214e-02 1.00775699e+02] [-1.62133954e-01 9.86754736e-01 -5.26033696e-03 -1.20569571e+01] [-3.36977758e-02 -2.08972201e-04 9.99432047e-01 -4.17711897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49587156000001 meters 0.013725607977956182 Centerline is valid? [True, True] Translation: X:100.81, Y:-12.06, Z:-4.18 [[ 9.86189906e-01 1.62329943e-01 3.28398877e-02 1.00807301e+02] [-1.62246875e-01 9.86736514e-01 -5.19645829e-03 -1.20618278e+01] [-3.32478571e-02 -2.03474454e-04 9.99447116e-01 -4.17959472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52587156000001 meters 0.013580544607389866 Centerline is valid? [True, True] Translation: X:100.84, Y:-12.07, Z:-4.18 [[ 9.86168088e-01 1.62519992e-01 3.25538745e-02 1.00840190e+02] [-1.62438279e-01 9.86705230e-01 -5.15695413e-03 -1.20677667e+01] [-3.29591863e-02 -2.02371747e-04 9.99456678e-01 -4.18112928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55587156000001 meters 0.014719633887640405 Centerline is valid? [True, True] Translation: X:100.87, Y:-12.07, Z:-4.19 [[ 9.86193080e-01 1.62358685e-01 3.26016368e-02 1.00871626e+02] [-1.62276400e-01 9.86731788e-01 -5.17190435e-03 -1.20721802e+01] [-3.30087750e-02 -1.89979989e-04 9.99455044e-01 -4.18615872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58587156 meters 0.013721729018108602 Centerline is valid? [True, True] Translation: X:100.90, Y:-12.08, Z:-4.19 [[ 9.86209505e-01 1.62343138e-01 3.21794743e-02 1.00904257e+02] [-1.62262864e-01 9.86734347e-01 -5.10798823e-03 -1.20797856e+01] [-3.25818394e-02 -1.83987097e-04 9.99469054e-01 -4.18516717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61587156 meters 0.013750611085129611 Centerline is valid? [True, True] Translation: X:100.94, Y:-12.09, Z:-4.19 [[ 9.86226952e-01 1.62283155e-01 3.19464705e-02 1.00936444e+02] [-1.62203810e-01 9.86744216e-01 -5.07711231e-03 -1.20863220e+01] [-3.23469248e-02 -1.74654219e-04 9.99476686e-01 -4.18745968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64587156 meters 0.02289935507183857 Centerline is valid? [True, True] Translation: X:100.97, Y:-12.09, Z:-4.19 [[ 9.86161242e-01 1.62744442e-01 3.16267556e-02 1.00968958e+02] [-1.62666721e-01 9.86668239e-01 -5.03232941e-03 -1.20921629e+01] [-3.20240989e-02 -1.81932425e-04 9.99487080e-01 -4.18912834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67587156 meters 0.013910833315630334 Centerline is valid? [True, True] Translation: X:101.00, Y:-12.10, Z:-4.19 [[ 9.86069595e-01 1.63377396e-01 3.12182800e-02 1.01001897e+02] [-1.63301802e-01 9.86563626e-01 -4.97320132e-03 -1.20976174e+01] [-3.16113282e-02 -1.94078763e-04 9.99500218e-01 -4.18984980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70587156 meters 0.02007077185563855 Centerline is valid? [True, True] Translation: X:101.03, Y:-12.10, Z:-4.19 [[ 9.85955316e-01 1.64045327e-01 3.13248288e-02 1.01033345e+02] [-1.63969324e-01 9.86452780e-01 -4.99739462e-03 -1.21023164e+01] [-3.17202637e-02 -2.09103218e-04 9.99496764e-01 -4.19187143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73587156 meters 0.016323576167540044 Centerline is valid? [True, True] Translation: X:101.07, Y:-12.10, Z:-4.19 [[ 9.85671108e-01 1.65577403e-01 3.21961311e-02 1.01065672e+02] [-1.65497817e-01 9.86196763e-01 -5.13981409e-03 -1.21042235e+01] [-3.26027574e-02 -2.62223177e-04 9.99468354e-01 -4.19379460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76587156000001 meters 0.01543267071426193 Centerline is valid? [True, True] Translation: X:101.10, Y:-12.11, Z:-4.19 [[ 9.85485780e-01 1.66532756e-01 3.29335385e-02 1.01098085e+02] [-1.66449814e-01 9.86035879e-01 -5.26355869e-03 -1.21100298e+01] [-3.33502055e-02 -2.94619114e-04 9.99443684e-01 -4.19153879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79587156000001 meters 0.025968528793876587 Centerline is valid? [True, True] Translation: X:101.13, Y:-12.11, Z:-4.19 [[ 9.85297448e-01 1.67517702e-01 3.35672336e-02 1.01130005e+02] [-1.67431875e-01 9.85869014e-01 -5.37166809e-03 -1.21141685e+01] [-3.39927450e-02 -3.27534006e-04 9.99422026e-01 -4.19271144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82587156000001 meters 0.017505199628232947 Centerline is valid? [True, True] Translation: X:101.16, Y:-12.12, Z:-4.19 [[ 9.85009147e-01 1.69164020e-01 3.37714969e-02 1.01162180e+02] [-1.69077897e-01 9.85587840e-01 -5.41065132e-03 -1.21182901e+01] [-3.42000641e-02 -3.80472637e-04 9.99414934e-01 -4.19305333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85587156000001 meters 0.01795827188513851 Centerline is valid? [True, True] Translation: X:101.19, Y:-12.12, Z:-4.19 [[ 9.84847458e-01 1.70127187e-01 3.36485530e-02 1.01194091e+02] [-1.70042062e-01 9.85422029e-01 -5.39650885e-03 -1.21228154e+01] [-3.40761182e-02 -4.06931313e-04 9.99419158e-01 -4.19435845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88587156000001 meters 0.01784450478709739 Centerline is valid? [True, True] Translation: X:101.23, Y:-12.13, Z:-4.20 [[ 9.84634759e-01 1.71425729e-01 3.32807821e-02 1.01226225e+02] [-1.71343014e-01 9.85196947e-01 -5.34296375e-03 -1.21280562e+01] [-3.37040463e-02 -4.41561668e-04 9.99431760e-01 -4.19508624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91587156000001 meters 0.020257256683614798 Centerline is valid? [True, True] Translation: X:101.26, Y:-12.13, Z:-4.20 [[ 9.84434105e-01 1.72735852e-01 3.24317622e-02 1.01257352e+02] [-1.72657826e-01 9.84968074e-01 -5.21237753e-03 -1.21291924e+01] [-3.28446148e-02 -4.68355361e-04 9.99460360e-01 -4.19944698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94587156 meters 0.02100047199520164 Centerline is valid? [True, True] Translation: X:101.29, Y:-12.13, Z:-4.20 [[ 9.84148425e-01 1.74551370e-01 3.13639324e-02 1.01289662e+02] [-1.74479169e-01 9.84647938e-01 -5.04553515e-03 -1.21324644e+01] [-3.17631365e-02 -5.06797389e-04 9.99495296e-01 -4.20247178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97587156 meters 0.03142909401196521 Centerline is valid? [True, True] Translation: X:101.32, Y:-12.14, Z:-4.21 [[ 9.84021463e-01 1.75243802e-01 3.14860194e-02 1.01321352e+02] [-1.75171220e-01 9.84524928e-01 -5.07055164e-03 -1.21350386e+01] [-3.18873537e-02 -5.25912797e-04 9.99491331e-01 -4.20598820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00587156 meters 0.022757931516544264 Centerline is valid? [True, True] Translation: X:101.35, Y:-12.14, Z:-4.21 [[ 9.83917870e-01 1.75851661e-01 3.13339847e-02 1.01352956e+02] [-1.75779895e-01 9.84416530e-01 -5.05207405e-03 -1.21399435e+01] [-3.17341081e-02 -5.37058608e-04 9.99496202e-01 -4.20615917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03587156 meters 0.030373457701988814 Centerline is valid? [True, True] Translation: X:101.39, Y:-12.14, Z:-4.21 [[ 9.83848912e-01 1.76219442e-01 3.14328811e-02 1.01385095e+02] [-1.76147219e-01 9.84350756e-01 -5.07401503e-03 -1.21427533e+01] [-3.18351204e-02 -5.44750423e-04 9.99492986e-01 -4.20916739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06587156 meters 0.022308528537807067 Centerline is valid? [True, True] Translation: X:101.42, Y:-12.15, Z:-4.21 [[ 9.83791523e-01 1.76418866e-01 3.21033077e-02 1.01416549e+02] [-1.76343526e-01 9.84315026e-01 -5.18560259e-03 -1.21490119e+01] [-3.25146063e-02 -5.59658595e-04 9.99471104e-01 -4.20652654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09587156 meters 0.022835606198440234 Centerline is valid? [True, True] Translation: X:101.45, Y:-12.15, Z:-4.21 [[ 9.83794878e-01 1.76377486e-01 3.22276494e-02 1.01447837e+02] [-1.76301360e-01 9.84322444e-01 -5.21116278e-03 -1.21528276e+01] [-3.26415304e-02 -5.55063151e-04 9.99466969e-01 -4.20840291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12587156000001 meters 0.02158341814053815 Centerline is valid? [True, True] Translation: X:101.48, Y:-12.16, Z:-4.21 [[ 9.83862576e-01 1.76048971e-01 3.19560856e-02 1.01480109e+02] [-1.75973766e-01 9.84381265e-01 -5.17293183e-03 -1.21593749e+01] [-3.23676613e-02 -5.33978681e-04 9.99475887e-01 -4.20955141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15587156000001 meters 0.030931370818726774 Centerline is valid? [True, True] Translation: X:101.51, Y:-12.17, Z:-4.21 [[ 9.84030318e-01 1.75108538e-01 3.19583151e-02 1.01510467e+02] [-1.75032606e-01 9.84549010e-01 -5.18007664e-03 -1.21650443e+01] [-3.23716031e-02 -4.96394724e-04 9.99475779e-01 -4.21191470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18587156000001 meters 0.018175381830819667 Centerline is valid? [True, True] Translation: X:101.54, Y:-12.17, Z:-4.21 [[ 9.84566733e-01 1.71982283e-01 3.24105196e-02 1.01540647e+02] [-1.71902320e-01 9.85099964e-01 -5.25865472e-03 -1.21730872e+01] [-3.28319972e-02 -3.93947003e-04 9.99460807e-01 -4.21280423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21587156000001 meters 0.016260114124517278 Centerline is valid? [True, True] Translation: X:101.57, Y:-12.18, Z:-4.21 [[ 9.84897799e-01 1.70065771e-01 3.24647358e-02 1.01571947e+02] [-1.69984334e-01 9.85432660e-01 -5.27245265e-03 -1.21817435e+01] [-3.28884747e-02 -3.25669474e-04 9.99458975e-01 -4.21369586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24587156000001 meters 0.021195254956040556 Centerline is valid? [True, True] Translation: X:101.60, Y:-12.19, Z:-4.22 [[ 9.85639111e-01 1.65736543e-01 3.23564810e-02 1.01601770e+02] [-1.65653128e-01 9.86170050e-01 -5.26055296e-03 -1.21937298e+01] [-3.27808583e-02 -1.74945550e-04 9.99462548e-01 -4.21601418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27587156000001 meters 0.012551183378590347 Centerline is valid? [True, True] Translation: X:101.63, Y:-12.20, Z:-4.22 [[ 9.85952041e-01 1.63879433e-01 3.22816349e-02 1.01633026e+02] [-1.63795249e-01 9.86480370e-01 -5.25327372e-03 -1.22026213e+01] [-3.27061026e-02 -1.08102465e-04 9.99465006e-01 -4.21632912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30587156000001 meters 0.023581973707596657 Centerline is valid? [True, True] Translation: X:101.66, Y:-12.21, Z:-4.22 [[ 9.86260940e-01 1.61950203e-01 3.25805314e-02 1.01663175e+02] [-1.61863203e-01 9.86798931e-01 -5.30783003e-03 -1.22111355e+01] [-3.30100378e-02 -3.86837598e-05 9.99455019e-01 -4.21880864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33587156 meters 0.012171708174616951 Centerline is valid? [True, True] Translation: X:101.70, Y:-12.22, Z:-4.22 [[ 9.86464482e-01 1.60673544e-01 3.27389234e-02 1.01695029e+02] [-1.60584830e-01 9.87007605e-01 -5.33856176e-03 -1.22196510e+01] [-3.31713320e-02 8.92711667e-06 9.99449680e-01 -4.21862426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36587156 meters 0.02209322118730837 Centerline is valid? [True, True] Translation: X:101.73, Y:-12.23, Z:-4.22 [[ 9.86799089e-01 1.58536803e-01 3.30702159e-02 1.01726701e+02] [-1.58444867e-01 9.87353065e-01 -5.39906312e-03 -1.22289716e+01] [-3.35079292e-02 8.79846211e-05 9.99438448e-01 -4.21919398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39587156 meters 0.020622375072598058 Centerline is valid? [True, True] Translation: X:101.76, Y:-12.24, Z:-4.22 [[ 9.86812553e-01 1.58451066e-01 3.30793738e-02 1.01758943e+02] [-1.58358814e-01 9.87366827e-01 -5.40701504e-03 -1.22350716e+01] [-3.35182237e-02 9.72998928e-05 9.99438102e-01 -4.22061763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42587156 meters 0.01268966389924897 Centerline is valid? [True, True] Translation: X:101.79, Y:-12.24, Z:-4.22 [[ 9.86811903e-01 1.58488900e-01 3.29171101e-02 1.01791136e+02] [-1.58397360e-01 9.87360754e-01 -5.38684665e-03 -1.22409655e+01] [-3.33548181e-02 1.01821048e-04 9.99443568e-01 -4.22184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45587156 meters 0.012777101556093854 Centerline is valid? [True, True] Translation: X:101.82, Y:-12.25, Z:-4.22 [[ 9.86730471e-01 1.58993656e-01 3.29240833e-02 1.01823040e+02] [-1.58902138e-01 9.87279600e-01 -5.39458042e-03 -1.22465206e+01] [-3.33629798e-02 9.12896378e-05 9.99443297e-01 -4.22402134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48587156 meters 0.012147907127975623 Centerline is valid? [True, True] Translation: X:101.86, Y:-12.25, Z:-4.22 [[ 9.86544978e-01 1.60183813e-01 3.27131969e-02 1.01855696e+02] [-1.60093928e-01 9.87087201e-01 -5.36573674e-03 -1.22502010e+01] [-3.31502821e-02 5.63564298e-05 9.99450377e-01 -4.22431618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51587156000001 meters 0.012567152212683428 Centerline is valid? [True, True] Translation: X:101.89, Y:-12.26, Z:-4.23 [[ 9.86456991e-01 1.60775236e-01 3.24642650e-02 1.01887283e+02] [-1.60686818e-01 9.86991044e-01 -5.33149810e-03 -1.22558442e+01] [-3.28991117e-02 4.27141143e-05 9.99458677e-01 -4.22806063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54587156000001 meters 0.012448258929773887 Centerline is valid? [True, True] Translation: X:101.92, Y:-12.26, Z:-4.23 [[ 9.86413437e-01 1.61105808e-01 3.21473064e-02 1.01920035e+02] [-1.61019095e-01 9.86937139e-01 -5.28523473e-03 -1.22621456e+01] [-3.25788526e-02 3.70963642e-05 9.99469168e-01 -4.22940733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57587156000001 meters 0.012295125919624495 Centerline is valid? [True, True] Translation: X:101.95, Y:-12.27, Z:-4.23 [[ 9.86401189e-01 1.61285478e-01 3.16178554e-02 1.01951914e+02] [-1.61201499e-01 9.86907794e-01 -5.20416312e-03 -1.22689812e+01] [-3.20432638e-02 3.65470110e-05 9.99486482e-01 -4.22968028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60587156000001 meters 0.012295125919624495 Centerline is valid? [True, True] Translation: X:101.98, Y:-12.27, Z:-4.23 [[ 9.86368979e-01 1.61482550e-01 3.16168163e-02 1.01983928e+02] [-1.61398470e-01 9.86875567e-01 -5.21046665e-03 -1.22744443e+01] [-3.20432629e-02 3.65368942e-05 9.99486482e-01 -4.23114487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63587156000001 meters 0.012748638573826123 Centerline is valid? [True, True] Translation: X:102.02, Y:-12.28, Z:-4.23 [[ 9.86335944e-01 1.61662972e-01 3.17252216e-02 1.02015609e+02] [-1.61578193e-01 9.86846027e-01 -5.23504658e-03 -1.22805979e+01] [-3.21542221e-02 3.74106438e-05 9.99482919e-01 -4.23481013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66587156000001 meters 0.0124775970913573 Centerline is valid? [True, True] Translation: X:102.05, Y:-12.29, Z:-4.24 [[ 9.86313625e-01 1.61815467e-01 3.16415536e-02 1.02048365e+02] [-1.61731023e-01 9.86821034e-01 -5.22715483e-03 -1.22866212e+01] [-3.20703852e-02 3.81931957e-05 9.99485612e-01 -4.23520406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69587156 meters 0.0128830490601666 Centerline is valid? [True, True] Translation: X:102.08, Y:-12.29, Z:-4.24 [[ 9.86296906e-01 1.61936705e-01 3.15423042e-02 1.02080039e+02] [-1.61852645e-01 9.86801146e-01 -5.21722794e-03 -1.22932047e+01] [-3.19708426e-02 4.05304088e-05 9.99488801e-01 -4.23808720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72587156 meters 0.013452548813001546 Centerline is valid? [True, True] Translation: X:102.11, Y:-12.30, Z:-4.24 [[ 9.86332461e-01 1.61689738e-01 3.16970870e-02 1.02110813e+02] [-1.61604528e-01 9.86841642e-01 -5.24890761e-03 -1.23016751e+01] [-3.21286999e-02 5.47751807e-05 9.99483739e-01 -4.24032836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75587156 meters 0.01245121277076356 Centerline is valid? [True, True] Translation: X:102.14, Y:-12.31, Z:-4.24 [[ 9.86313557e-01 1.61734717e-01 3.20538360e-02 1.02143483e+02] [-1.61647421e-01 9.86834271e-01 -5.31350001e-03 -1.23076570e+01] [-3.24912013e-02 5.93571692e-05 9.99472020e-01 -4.23730397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78587156 meters 0.015550805031218175 Centerline is valid? [True, True] Translation: X:102.17, Y:-12.31, Z:-4.24 [[ 9.86299792e-01 1.61750502e-01 3.23959120e-02 1.02174690e+02] [-1.61661119e-01 9.86831683e-01 -5.37697421e-03 -1.23147105e+01] [-3.28390407e-02 6.61491420e-05 9.99460651e-01 -4.24207452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81587156 meters 0.012604509977275961 Centerline is valid? [True, True] Translation: X:102.21, Y:-12.32, Z:-4.24 [[ 9.86252479e-01 1.62044229e-01 3.23684338e-02 1.02207621e+02] [-1.61954959e-01 9.86783494e-01 -5.37842111e-03 -1.23211188e+01] [-3.28121783e-02 6.22527946e-05 9.99461534e-01 -4.24109321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84587156 meters 0.012511283560230398 Centerline is valid? [True, True] Translation: X:102.24, Y:-12.33, Z:-4.24 [[ 9.86193111e-01 1.62322271e-01 3.27815266e-02 1.02239148e+02] [-1.62230640e-01 9.86737795e-01 -5.45370127e-03 -1.23289137e+01] [-3.32320285e-02 6.02345779e-05 9.99447662e-01 -4.24267304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87587156000001 meters 0.018783307827570664 Centerline is valid? [True, True] Translation: X:102.27, Y:-12.34, Z:-4.24 [[ 9.86243134e-01 1.61992173e-01 3.29092015e-02 1.02272002e+02] [-1.61899451e-01 9.86792040e-01 -5.48068769e-03 -1.23354045e+01] [-3.33623666e-02 7.73089584e-05 9.99443318e-01 -4.24273258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90587156000001 meters 0.012290483255414977 Centerline is valid? [True, True] Translation: X:102.30, Y:-12.34, Z:-4.24 [[ 9.86180514e-01 1.62392655e-01 3.28118734e-02 1.02303011e+02] [-1.62300476e-01 9.86726214e-01 -5.47126815e-03 -1.23419106e+01] [-3.32648294e-02 7.02753699e-05 9.99446570e-01 -4.24402361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93587156000001 meters 0.012883645996084702 Centerline is valid? [True, True] Translation: X:102.33, Y:-12.35, Z:-4.25 [[ 9.86355290e-01 1.61455264e-01 3.21782402e-02 1.02333298e+02] [-1.61365909e-01 9.86880026e-01 -5.37187655e-03 -1.23521083e+01] [-3.26233803e-02 1.06107869e-04 9.99467710e-01 -4.24666664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96587156000001 meters 0.013322237448280556 Centerline is valid? [True, True] Translation: X:102.36, Y:-12.36, Z:-4.25 [[ 9.86479097e-01 1.60761096e-01 3.18568902e-02 1.02363888e+02] [-1.60673000e-01 9.86993340e-01 -5.32303750e-03 -1.23603686e+01] [-3.22982758e-02 1.32523112e-04 9.99478266e-01 -4.24924043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99587156000001 meters 0.01841804300451412 Centerline is valid? [True, True] Translation: X:102.39, Y:-12.37, Z:-4.25 [[ 9.86660130e-01 1.59734930e-01 3.14092373e-02 1.02393987e+02] [-1.59648579e-01 9.87159928e-01 -5.25431899e-03 -1.23694387e+01] [-3.18452387e-02 1.69786954e-04 9.99492797e-01 -4.25304242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02587156000001 meters 0.015036665213692686 Centerline is valid? [True, True] Translation: X:102.42, Y:-12.38, Z:-4.25 [[ 9.86870484e-01 1.58437919e-01 3.13699566e-02 1.02424488e+02] [-1.58350974e-01 9.87368917e-01 -5.25259583e-03 -1.23827454e+01] [-3.18059304e-02 2.16168595e-04 9.99494040e-01 -4.25391181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05587156000001 meters 0.015106113534544793 Centerline is valid? [True, True] Translation: X:102.46, Y:-12.39, Z:-4.25 [[ 9.86894057e-01 1.58169782e-01 3.19756199e-02 1.02456571e+02] [-1.58079133e-01 9.87411902e-01 -5.35932980e-03 -1.23914122e+01] [-3.24207917e-02 2.34412451e-04 9.99474280e-01 -4.25372890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08587156 meters 0.01532642667641989 Centerline is valid? [True, True] Translation: X:102.49, Y:-12.40, Z:-4.25 [[ 9.86908574e-01 1.57943960e-01 3.26369860e-02 1.02487630e+02] [-1.57849175e-01 9.87448045e-01 -5.47693063e-03 -1.23997903e+01] [-3.30923762e-02 2.53508490e-04 9.99452265e-01 -4.25416195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11587156 meters 0.01906443217526365 Centerline is valid? [True, True] Translation: X:102.52, Y:-12.41, Z:-4.25 [[ 9.86936092e-01 1.57726104e-01 3.28576619e-02 1.02519542e+02] [-1.57629718e-01 9.87482863e-01 -5.51979233e-03 -1.24071666e+01] [-3.33169934e-02 2.68338294e-04 9.99444799e-01 -4.25441939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14587156 meters 0.014881826693371144 Centerline is valid? [True, True] Translation: X:102.55, Y:-12.42, Z:-4.26 [[ 9.86750586e-01 1.58708930e-01 3.36861422e-02 1.02549973e+02] [-1.58607944e-01 9.87325384e-01 -5.66624838e-03 -1.24172107e+01] [-3.41584675e-02 2.48284162e-04 9.99416398e-01 -4.25529040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17587156 meters 0.018674627749725344 Centerline is valid? [True, True] Translation: X:102.58, Y:-12.42, Z:-4.26 [[ 9.86657455e-01 1.59333384e-01 3.34654807e-02 1.02580962e+02] [-1.59233880e-01 9.87224807e-01 -5.63488515e-03 -1.24235017e+01] [-3.39357781e-02 2.30863108e-04 9.99423989e-01 -4.25737525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20587156 meters 0.013538749269318999 Centerline is valid? [True, True] Translation: X:102.61, Y:-12.43, Z:-4.26 [[ 9.86457633e-01 1.60653400e-01 3.30427410e-02 1.02613631e+02] [-1.60556944e-01 9.87010866e-01 -5.56939584e-03 -1.24290175e+01] [-3.35082868e-02 1.88731524e-04 9.99438422e-01 -4.25816178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23587156 meters 0.013034419372779917 Centerline is valid? [True, True] Translation: X:102.64, Y:-12.43, Z:-4.26 [[ 9.86227512e-01 1.62058265e-01 3.30516851e-02 1.02644116e+02] [-1.61962309e-01 9.86781180e-01 -5.57795151e-03 -1.24345287e+01] [-3.35187340e-02 1.48002011e-04 9.99438078e-01 -4.26040057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26587156000001 meters 0.026449917908970673 Centerline is valid? [True, True] Translation: X:102.67, Y:-12.44, Z:-4.26 [[ 9.85872587e-01 1.64109500e-01 3.35158793e-02 1.02674618e+02] [-1.64011826e-01 9.86442124e-01 -5.66181631e-03 -1.24412362e+01] [-3.39906330e-02 8.48289128e-05 9.99422148e-01 -4.26160269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29587156000001 meters 0.01664986598869431 Centerline is valid? [True, True] Translation: X:102.71, Y:-12.45, Z:-4.26 [[ 9.85638300e-01 1.65473745e-01 3.36983752e-02 1.02706933e+02] [-1.65375630e-01 9.86214195e-01 -5.69763855e-03 -1.24473605e+01] [-3.41766256e-02 4.29207513e-05 9.99415808e-01 -4.26218285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32587156000001 meters 0.011600642872221274 Centerline is valid? [True, True] Translation: X:102.74, Y:-12.45, Z:-4.26 [[ 9.85404191e-01 1.66805352e-01 3.39787478e-02 1.02739534e+02] [-1.66706154e-01 9.85989845e-01 -5.75184656e-03 -1.24535061e+01] [-3.44621391e-02 3.42732727e-06 9.99406004e-01 -4.26310313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35587156000001 meters 0.021628462512152943 Centerline is valid? [True, True] Translation: X:102.77, Y:-12.46, Z:-4.26 [[ 9.85098487e-01 1.68543166e-01 3.42661913e-02 1.02770468e+02] [-1.68443089e-01 9.85694272e-01 -5.80750833e-03 -1.24602374e+01] [-3.47548043e-02 -5.09354488e-05 9.99395868e-01 -4.26490227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38587156000001 meters 0.011646132618201958 Centerline is valid? [True, True] Translation: X:102.80, Y:-12.47, Z:-4.27 [[ 9.84915899e-01 1.69554922e-01 3.45224613e-02 1.02803358e+02] [-1.69453742e-01 9.85520736e-01 -5.85726942e-03 -1.24666166e+01] [-3.50157304e-02 -8.10424779e-05 9.99386758e-01 -4.26507135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41587156000001 meters 0.026220069794949317 Centerline is valid? [True, True] Translation: X:102.83, Y:-12.47, Z:-4.27 [[ 9.84833876e-01 1.70068282e-01 3.43368015e-02 1.02834298e+02] [-1.69968263e-01 9.85432276e-01 -5.83254629e-03 -1.24721661e+01] [-3.48285236e-02 -9.20773604e-05 9.99393299e-01 -4.26816350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44587156 meters 0.0120162981109826 Centerline is valid? [True, True] Translation: X:102.87, Y:-12.48, Z:-4.27 [[ 9.84693953e-01 1.70884471e-01 3.42974819e-02 1.02866272e+02] [-1.70784964e-01 9.85291066e-01 -5.83194868e-03 -1.24795521e+01] [-3.47895920e-02 -1.14809634e-04 9.99394652e-01 -4.26954842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47587156 meters 0.011699622191091252 Centerline is valid? [True, True] Translation: X:102.90, Y:-12.49, Z:-4.27 [[ 9.84629635e-01 1.71158446e-01 3.47745353e-02 1.02898876e+02] [-1.71056083e-01 9.85243509e-01 -5.91984488e-03 -1.24873271e+01] [-3.52746167e-02 -1.19541094e-04 9.99377650e-01 -4.26923329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50587156 meters 0.029682691850241093 Centerline is valid? [True, True] Translation: X:102.93, Y:-12.49, Z:-4.27 [[ 9.84668423e-01 1.70801502e-01 3.54251953e-02 1.02929150e+02] [-1.70694768e-01 9.85305454e-01 -6.03817721e-03 -1.24943356e+01] [-3.59359679e-02 -1.01293058e-04 9.99354089e-01 -4.27071125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53587156 meters 0.01175348964032301 Centerline is valid? [True, True] Translation: X:102.96, Y:-12.50, Z:-4.27 [[ 9.84570707e-01 1.71325206e-01 3.56117569e-02 1.02960302e+02] [-1.71217467e-01 9.85214525e-01 -6.07607172e-03 -1.25013298e+01] [-3.61262045e-02 -1.15032579e-04 9.99347229e-01 -4.27168559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56587156 meters 0.014280812607921304 Centerline is valid? [True, True] Translation: X:102.99, Y:-12.51, Z:-4.27 [[ 9.84510553e-01 1.71624063e-01 3.58350761e-02 1.02992162e+02] [-1.71515027e-01 9.85162507e-01 -6.11798001e-03 -1.25088404e+01] [-3.63533660e-02 -1.23038171e-04 9.99338990e-01 -4.27289678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59587156 meters 0.01171360908644288 Centerline is valid? [True, True] Translation: X:103.02, Y:-12.51, Z:-4.27 [[ 9.84424185e-01 1.72128692e-01 3.57873941e-02 1.03024181e+02] [-1.72020025e-01 9.85074462e-01 -6.11683103e-03 -1.25148891e+01] [-3.63061301e-02 -1.34592036e-04 9.99340706e-01 -4.27448944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62587156000001 meters 0.012106395254131895 Centerline is valid? [True, True] Translation: X:103.05, Y:-12.52, Z:-4.28 [[ 9.84304796e-01 1.72930622e-01 3.52004082e-02 1.03054386e+02] [-1.72825753e-01 9.84933996e-01 -6.02353372e-03 -1.25199009e+01] [-3.57117322e-02 -1.54543909e-04 9.99362121e-01 -4.27683728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65587156000001 meters 0.013269433051350114 Centerline is valid? [True, True] Translation: X:103.09, Y:-12.52, Z:-4.28 [[ 9.84055708e-01 1.74559739e-01 3.41066082e-02 1.03086001e+02] [-1.74462053e-01 9.84646565e-01 -5.84251551e-03 -1.25227998e+01] [-3.46028226e-02 -2.00948131e-04 9.99401123e-01 -4.28061995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68587156000001 meters 0.014515109629628395 Centerline is valid? [True, True] Translation: X:103.12, Y:-12.53, Z:-4.28 [[ 9.83865409e-01 1.75701874e-01 3.37299311e-02 1.03116568e+02] [-1.75606972e-01 9.84443394e-01 -5.77896408e-03 -1.25258867e+01] [-3.42205826e-02 -2.37488196e-04 9.99414276e-01 -4.28417090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71587156000001 meters 0.014967257485039095 Centerline is valid? [True, True] Translation: X:103.15, Y:-12.53, Z:-4.29 [[ 9.83653120e-01 1.76913736e-01 3.35867379e-02 1.03148480e+02] [-1.76820171e-01 9.84226323e-01 -5.75953171e-03 -1.25307218e+01] [-3.40758918e-02 -2.73431383e-04 9.99419211e-01 -4.28536804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74587156000001 meters 0.01669315149206228 Centerline is valid? [True, True] Translation: X:103.18, Y:-12.53, Z:-4.28 [[ 9.83146741e-01 1.79550145e-01 3.44126481e-02 1.03180935e+02] [-1.79453326e-01 9.83748754e-01 -5.90706962e-03 -1.25326847e+01] [-3.49140148e-02 -3.67947915e-04 9.99390252e-01 -4.28456298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77587156000001 meters 0.024971105800316286 Centerline is valid? [True, True] Translation: X:103.21, Y:-12.54, Z:-4.29 [[ 9.82874585e-01 1.80964942e-01 3.47741400e-02 1.03212620e+02] [-1.80866758e-01 9.83489459e-01 -5.97491530e-03 -1.25366026e+01] [-3.52812503e-02 -4.16893575e-04 9.99377336e-01 -4.28511430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80587156000001 meters 0.02190849479975096 Centerline is valid? [True, True] Translation: X:103.24, Y:-12.54, Z:-4.29 [[ 9.82594383e-01 1.82399831e-01 3.51934635e-02 1.03244024e+02] [-1.82299960e-01 9.83224330e-01 -6.05324617e-03 -1.25380870e+01] [-3.57071807e-02 -4.67881317e-04 9.99362186e-01 -4.28614311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83587156 meters 0.019410184069832095 Centerline is valid? [True, True] Translation: X:103.28, Y:-12.54, Z:-4.29 [[ 9.82248561e-01 1.84130816e-01 3.58274739e-02 1.03276098e+02] [-1.84028255e-01 9.82901601e-01 -6.16801852e-03 -1.25398896e+01] [-3.63506037e-02 -5.34740207e-04 9.99338955e-01 -4.28585131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86587156 meters 0.02046749030794376 Centerline is valid? [True, True] Translation: X:103.31, Y:-12.54, Z:-4.29 [[ 9.82239544e-01 1.84063345e-01 3.64165198e-02 1.03307372e+02] [-1.83957098e-01 9.82914238e-01 -6.27589318e-03 -1.25433053e+01] [-3.69494777e-02 -5.34646859e-04 9.99316992e-01 -4.28739215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89587156 meters 0.019012073058773105 Centerline is valid? [True, True] Translation: X:103.34, Y:-12.55, Z:-4.29 [[ 9.82349222e-01 1.83352711e-01 3.70376662e-02 1.03338468e+02] [-1.83242081e-01 9.83047060e-01 -6.38882565e-03 -1.25503488e+01] [-3.75811774e-02 -5.10801126e-04 9.99293447e-01 -4.28759953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92587156 meters 0.0174119376950666 Centerline is valid? [True, True] Translation: X:103.37, Y:-12.56, Z:-4.29 [[ 9.82539408e-01 1.82206205e-01 3.76458510e-02 1.03370328e+02] [-1.82090798e-01 9.83260230e-01 -6.50083911e-03 -1.25579223e+01] [-3.82001613e-02 -4.67632435e-04 9.99269998e-01 -4.28796645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95587156 meters 0.014085063536094587 Centerline is valid? [True, True] Translation: X:103.40, Y:-12.57, Z:-4.29 [[ 9.83143515e-01 1.78942824e-01 3.75272480e-02 1.03400187e+02] [-1.78825710e-01 9.83859416e-01 -6.48183566e-03 -1.25713668e+01] [-3.80814143e-02 -3.38262086e-04 9.99274583e-01 -4.28980559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98587156 meters 0.012984269238507483 Centerline is valid? [True, True] Translation: X:103.43, Y:-12.58, Z:-4.29 [[ 9.83485580e-01 1.77116088e-01 3.72290840e-02 1.03430665e+02] [-1.76999275e-01 9.84189933e-01 -6.43681641e-03 -1.25799026e+01] [-3.77805534e-02 -2.59004739e-04 9.99286026e-01 -4.29143990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01587156000001 meters 0.01150759462637481 Centerline is valid? [True, True] Translation: X:103.46, Y:-12.59, Z:-4.29 [[ 9.84063432e-01 1.74058290e-01 3.63713160e-02 1.03461373e+02] [-1.73944504e-01 9.84735342e-01 -6.29408942e-03 -1.25888993e+01] [-3.69116588e-02 -1.32807302e-04 9.99318524e-01 -4.29472828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04587156000001 meters 0.011591823896011861 Centerline is valid? [True, True] Translation: X:103.49, Y:-12.60, Z:-4.30 [[ 9.84307682e-01 1.72847837e-01 3.55248126e-02 1.03492199e+02] [-1.72738289e-01 9.84948536e-01 -6.15342184e-03 -1.25964546e+01] [-3.60537178e-02 -7.96349546e-05 9.99349850e-01 -4.29920940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07587156000001 meters 0.011375808636749567 Centerline is valid? [True, True] Translation: X:103.52, Y:-12.60, Z:-4.30 [[ 9.84450625e-01 1.72082373e-01 3.52792330e-02 1.03524265e+02] [-1.71973616e-01 9.85082562e-01 -6.11724093e-03 -1.26047233e+01] [-3.58056266e-02 -4.49756070e-05 9.99358772e-01 -4.30100551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10587156000001 meters 0.011042047728811302 Centerline is valid? [True, True] Translation: X:103.56, Y:-12.61, Z:-4.30 [[ 9.84466274e-01 1.71886149e-01 3.57953532e-02 1.03556192e+02] [-1.71773806e-01 9.85116821e-01 -6.21362179e-03 -1.26117181e+01] [-3.63306400e-02 -3.16029362e-05 9.99339824e-01 -4.30013542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13587156000001 meters 0.011126899340732632 Centerline is valid? [True, True] Translation: X:103.59, Y:-12.62, Z:-4.30 [[ 9.84409908e-01 1.72098332e-01 3.63221375e-02 1.03586346e+02] [-1.71982497e-01 9.85079775e-01 -6.31326728e-03 -1.26175080e+01] [-3.68667058e-02 -3.19290555e-05 9.99320191e-01 -4.30115064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16587156000001 meters 0.010983750747798653 Centerline is valid? [True, True] Translation: X:103.62, Y:-12.62, Z:-4.30 [[ 9.84341326e-01 1.72389998e-01 3.67945889e-02 1.03617334e+02] [-1.72271219e-01 9.85028775e-01 -6.39843019e-03 -1.26236293e+01] [-3.73467542e-02 -4.04094320e-05 9.99302366e-01 -4.30184323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19587156 meters 0.010785788937172093 Centerline is valid? [True, True] Translation: X:103.65, Y:-12.63, Z:-4.30 [[ 9.84306554e-01 1.72405721e-01 3.76414126e-02 1.03648576e+02] [-1.72281155e-01 9.85026023e-01 -6.55267723e-03 -1.26302779e+01] [-3.82074900e-02 -3.50628860e-05 9.99269827e-01 -4.30219980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22587156 meters 0.010566260764927204 Centerline is valid? [True, True] Translation: X:103.68, Y:-12.64, Z:-4.30 [[ 9.84260102e-01 1.72571559e-01 3.80934095e-02 1.03680880e+02] [-1.72443864e-01 9.84996983e-01 -6.63762646e-03 -1.26363025e+01] [-3.86673589e-02 -3.58238190e-05 9.99252137e-01 -4.30261154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25587156 meters 0.01054033392054557 Centerline is valid? [True, True] Translation: X:103.71, Y:-12.64, Z:-4.30 [[ 9.84205805e-01 1.72829851e-01 3.83246092e-02 1.03713604e+02] [-1.72700511e-01 9.84951695e-01 -6.68521917e-03 -1.26428958e+01] [-3.89032942e-02 -3.90481005e-05 9.99242980e-01 -4.30379140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28587156 meters 0.010618525047318868 Centerline is valid? [True, True] Translation: X:103.75, Y:-12.65, Z:-4.31 [[ 9.84175988e-01 1.73028997e-01 3.81915083e-02 1.03745506e+02] [-1.72900417e-01 9.84916730e-01 -6.66942511e-03 -1.26501516e+01] [-3.87694594e-02 -3.94396666e-05 9.99248181e-01 -4.30545938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31587156 meters 0.025604854330291006 Centerline is valid? [True, True] Translation: X:103.78, Y:-12.66, Z:-4.31 [[ 9.84196171e-01 1.72793933e-01 3.87318087e-02 1.03777340e+02] [-1.72661205e-01 9.84957997e-01 -6.77142539e-03 -1.26578249e+01] [-3.93192660e-02 -2.30698053e-05 9.99226698e-01 -4.30691911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34587156 meters 0.010498305925327779 Centerline is valid? [True, True] Translation: X:103.81, Y:-12.67, Z:-4.31 [[ 9.84203061e-01 1.72765914e-01 3.86816945e-02 1.03807767e+02] [-1.72633204e-01 9.84962912e-01 -6.77038399e-03 -1.26667008e+01] [-3.92697261e-02 -1.43122152e-05 9.99228647e-01 -4.30868988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37587156000001 meters 0.010627709159670939 Centerline is valid? [True, True] Translation: X:103.84, Y:-12.67, Z:-4.31 [[ 9.84192174e-01 1.72871343e-01 3.84871764e-02 1.03839110e+02] [-1.72739768e-01 9.84944414e-01 -6.74345023e-03 -1.26738670e+01] [-3.90734787e-02 -1.14149703e-05 9.99236340e-01 -4.31094255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40587156000001 meters 0.01060719320428776 Centerline is valid? [True, True] Translation: X:103.87, Y:-12.68, Z:-4.31 [[ 9.84203328e-01 1.72867613e-01 3.82177511e-02 1.03871687e+02] [-1.72737621e-01 9.84945069e-01 -6.70270382e-03 -1.26817437e+01] [-3.88010659e-02 -4.81998030e-06 9.99246955e-01 -4.31218091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43587156000001 meters 0.010764425274602004 Centerline is valid? [True, True] Translation: X:103.90, Y:-12.69, Z:-4.31 [[ 9.84148993e-01 1.73284678e-01 3.77250645e-02 1.03902349e+02] [-1.73158051e-01 9.84871779e-01 -6.62339024e-03 -1.26888773e+01] [-3.83020834e-02 -1.39957922e-05 9.99266206e-01 -4.31455746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46587156000001 meters 0.010913371558560475 Centerline is valid? [True, True] Translation: X:103.93, Y:-12.70, Z:-4.32 [[ 9.84018723e-01 1.74232007e-01 3.67472614e-02 1.03934509e+02] [-1.74112292e-01 9.84704629e-01 -6.45786904e-03 -1.26962538e+01] [-3.73103658e-02 -4.34858596e-05 9.99303725e-01 -4.31700658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49587156000001 meters 0.010838798666110393 Centerline is valid? [True, True] Translation: X:103.97, Y:-12.70, Z:-4.32 [[ 9.83859784e-01 1.75070396e-01 3.70173089e-02 1.03966865e+02] [-1.74949237e-01 9.84555916e-01 -6.51249033e-03 -1.27021906e+01] [-3.75857547e-02 -6.87726158e-05 9.99293404e-01 -4.31807342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52587156000001 meters 0.010838798666110393 Centerline is valid? [True, True] Translation: X:104.00, Y:-12.71, Z:-4.32 [[ 9.83826516e-01 1.75257519e-01 3.70160683e-02 1.03998800e+02] [-1.75136228e-01 9.84522624e-01 -6.51953329e-03 -1.27080052e+01] [-3.75857539e-02 -6.87648550e-05 9.99293404e-01 -4.31953794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55587156000001 meters 0.010970487573639389 Centerline is valid? [True, True] Translation: X:104.03, Y:-12.71, Z:-4.32 [[ 9.83614294e-01 1.76391513e-01 3.72686776e-02 1.04031027e+02] [-1.76269095e-01 9.84320082e-01 -6.57138226e-03 -1.27139767e+01] [-3.78434439e-02 -1.05610562e-04 9.99283675e-01 -4.32108356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58587156 meters 0.011171255211864814 Centerline is valid? [True, True] Translation: X:104.06, Y:-12.72, Z:-4.32 [[ 9.83371744e-01 1.77655552e-01 3.76632272e-02 1.04063848e+02] [-1.77531167e-01 9.84092721e-01 -6.64844228e-03 -1.27199920e+01] [-3.82452404e-02 -1.48506409e-04 9.99268372e-01 -4.32190564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61587156 meters 0.02219945393557769 Centerline is valid? [True, True] Translation: X:104.10, Y:-12.73, Z:-4.32 [[ 9.83010485e-01 1.79565117e-01 3.80362299e-02 1.04096692e+02] [-1.79439389e-01 9.83746066e-01 -6.72190170e-03 -1.27260189e+01] [-3.86250106e-02 -2.17498007e-04 9.99253752e-01 -4.32367434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64587156 meters 0.012492777186301436 Centerline is valid? [True, True] Translation: X:104.13, Y:-12.73, Z:-4.32 [[ 9.82834698e-01 1.80477936e-01 3.82579489e-02 1.04128258e+02] [-1.80351125e-01 9.83579002e-01 -6.76889825e-03 -1.27316427e+01] [-3.88513520e-02 -2.47156054e-04 9.99244971e-01 -4.32421806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67587156 meters 0.013596219086553785 Centerline is valid? [True, True] Translation: X:104.16, Y:-12.74, Z:-4.33 [[ 9.82626114e-01 1.81562218e-01 3.84848199e-02 1.04159847e+02] [-1.81434445e-01 9.83379418e-01 -6.81633585e-03 -1.27366549e+01] [-3.90827689e-02 -2.84562319e-04 9.99235936e-01 -4.32612421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70587156 meters 0.013880890282392158 Centerline is valid? [True, True] Translation: X:104.19, Y:-12.74, Z:-4.33 [[ 9.82421472e-01 1.82696888e-01 3.83392629e-02 1.04191179e+02] [-1.82570667e-01 9.83169235e-01 -6.79761191e-03 -1.27432037e+01] [-3.89358863e-02 -3.21504921e-04 9.99241659e-01 -4.32736631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73587156 meters 0.015579588242087383 Centerline is valid? [True, True] Translation: X:104.22, Y:-12.75, Z:-4.33 [[ 9.82044717e-01 1.84761821e-01 3.80951969e-02 1.04221732e+02] [-1.84638506e-01 9.82783249e-01 -6.76080565e-03 -1.27478805e+01] [-3.86884601e-02 -3.94426755e-04 9.99251243e-01 -4.32956837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76587156000001 meters 0.01984855083083196 Centerline is valid? [True, True] Translation: X:104.25, Y:-12.75, Z:-4.33 [[ 9.81873014e-01 1.85691050e-01 3.80028793e-02 1.04253602e+02] [-1.85568801e-01 9.82608088e-01 -6.75027385e-03 -1.27535268e+01] [-3.85954020e-02 -4.24237019e-04 9.99254830e-01 -4.33151676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79587156000001 meters 0.017155092322247115 Centerline is valid? [True, True] Translation: X:104.28, Y:-12.76, Z:-4.33 [[ 9.81657473e-01 1.86850776e-01 3.78865921e-02 1.04283930e+02] [-1.86729888e-01 9.82388199e-01 -6.73609107e-03 -1.27586167e+01] [-3.84779848e-02 -4.62024950e-04 9.99259341e-01 -4.33314411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82587156000001 meters 0.018392072616667792 Centerline is valid? [True, True] Translation: X:104.31, Y:-12.76, Z:-4.34 [[ 9.81472093e-01 1.87966763e-01 3.71621728e-02 1.04314059e+02] [-1.87851020e-01 9.82175267e-01 -6.61349285e-03 -1.27639329e+01] [-3.77428838e-02 -4.89993401e-04 9.99287363e-01 -4.33594564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85587156000001 meters 0.019737902395701907 Centerline is valid? [True, True] Translation: X:104.35, Y:-12.77, Z:-4.34 [[ 9.81070631e-01 1.90163566e-01 3.65818890e-02 1.04345944e+02] [-1.90052850e-01 9.81752261e-01 -6.51253789e-03 -1.27701918e+01] [-3.71527997e-02 -5.63232608e-04 9.99309438e-01 -4.33738232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88587156000001 meters 0.019631135852683616 Centerline is valid? [True, True] Translation: X:104.38, Y:-12.78, Z:-4.34 [[ 9.80828709e-01 1.91387833e-01 3.66843389e-02 1.04377855e+02] [-1.91277121e-01 9.81514305e-01 -6.53695843e-03 -1.27760606e+01] [-3.72572977e-02 -6.05238248e-04 9.99305523e-01 -4.33809864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91587156000001 meters 0.020614330341405397 Centerline is valid? [True, True] Translation: X:104.41, Y:-12.78, Z:-4.34 [[ 9.80579514e-01 1.92570964e-01 3.71515835e-02 1.04409559e+02] [-1.92458012e-01 9.81282833e-01 -6.62682127e-03 -1.27798860e+01] [-3.77323445e-02 -6.51994733e-04 9.99287669e-01 -4.33906813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94587156 meters 0.021834280384481247 Centerline is valid? [True, True] Translation: X:104.44, Y:-12.78, Z:-4.34 [[ 9.80220341e-01 1.94287363e-01 3.76895782e-02 1.04441619e+02] [-1.94172127e-01 9.80944392e-01 -6.72945870e-03 -1.27844809e+01] [-3.82788291e-02 -7.21913248e-04 9.99266836e-01 -4.33999860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97587156 meters 0.02209285112387336 Centerline is valid? [True, True] Translation: X:104.47, Y:-12.79, Z:-4.34 [[ 9.80131339e-01 1.94657912e-01 3.80900969e-02 1.04474411e+02] [-1.94540238e-01 9.80870916e-01 -6.80755248e-03 -1.27906809e+01] [-3.86866122e-02 -7.37760991e-04 9.99251120e-01 -4.34088722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00587156 meters 0.02293946226449095 Centerline is valid? [True, True] Translation: X:104.51, Y:-12.80, Z:-4.34 [[ 9.80111220e-01 1.94635483e-01 3.87172406e-02 1.04505481e+02] [-1.94513567e-01 9.80875364e-01 -6.92766924e-03 -1.27950822e+01] [-3.93251577e-02 -7.41142217e-04 9.99226192e-01 -4.34180571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03587156 meters 0.022340243813515345 Centerline is valid? [True, True] Translation: X:104.54, Y:-12.80, Z:-4.34 [[ 9.80213315e-01 1.94064101e-01 3.89997585e-02 1.04537243e+02] [-1.93939700e-01 9.80988588e-01 -6.98445746e-03 -1.28016761e+01] [-3.96137505e-02 -7.17343277e-04 9.99214810e-01 -4.34293742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06587156 meters 0.028532503528005907 Centerline is valid? [True, True] Translation: X:104.57, Y:-12.81, Z:-4.35 [[ 9.80663957e-01 1.91781584e-01 3.89618746e-02 1.04568179e+02] [-1.91655364e-01 9.81437437e-01 -6.98422482e-03 -1.28123924e+01] [-3.95780880e-02 -6.18074686e-04 9.99216289e-01 -4.34586545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09587156 meters 0.022434380159959792 Centerline is valid? [True, True] Translation: X:104.60, Y:-12.82, Z:-4.35 [[ 9.80951642e-01 1.90347698e-01 3.87508626e-02 1.04598449e+02] [-1.90221452e-01 9.81716584e-01 -6.95328394e-03 -1.28212778e+01] [-3.93659060e-02 -5.50410046e-04 9.99224711e-01 -4.34721756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12587156000001 meters 0.017705370426736467 Centerline is valid? [True, True] Translation: X:104.63, Y:-12.83, Z:-4.35 [[ 9.81282307e-01 1.88672726e-01 3.85698863e-02 1.04628317e+02] [-1.88546232e-01 9.82039905e-01 -6.92417486e-03 -1.28296379e+01] [-3.91835704e-02 -4.77636454e-04 9.99231915e-01 -4.34906236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15587156000001 meters 0.022952418615929223 Centerline is valid? [True, True] Translation: X:104.66, Y:-12.84, Z:-4.35 [[ 9.81963292e-01 1.85139292e-01 3.83605868e-02 1.04658476e+02] [-1.85011244e-01 9.82712234e-01 -6.89241867e-03 -1.28431502e+01] [-3.89734755e-02 -3.29037760e-04 9.99240191e-01 -4.35162302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18587156000001 meters 0.01246781074739795 Centerline is valid? [True, True] Translation: X:104.69, Y:-12.85, Z:-4.35 [[ 9.82267977e-01 1.83445899e-01 3.86939625e-02 1.04689474e+02] [-1.83314043e-01 9.83029774e-01 -6.95888617e-03 -1.28529720e+01] [-3.93138963e-02 -2.57655649e-04 9.99226877e-01 -4.35181785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21587156000001 meters 0.01151335126080253 Centerline is valid? [True, True] Translation: X:104.72, Y:-12.86, Z:-4.35 [[ 9.82495631e-01 1.82202908e-01 3.87870551e-02 1.04720311e+02] [-1.82069188e-01 9.83260931e-01 -6.98223222e-03 -1.28627248e+01] [-3.94099789e-02 -2.01914956e-04 9.99223105e-01 -4.35290404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24587156000001 meters 0.019466327224731798 Centerline is valid? [True, True] Translation: X:104.75, Y:-12.88, Z:-4.36 [[ 9.82968231e-01 1.79714545e-01 3.84205468e-02 1.04749183e+02] [-1.79581178e-01 9.83718798e-01 -6.92294670e-03 -1.28751115e+01] [-3.90391683e-02 -9.45703853e-05 9.99237677e-01 -4.35536361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27587156000001 meters 0.010417365234613923 Centerline is valid? [True, True] Translation: X:104.78, Y:-12.88, Z:-4.36 [[ 9.83079628e-01 1.78970504e-01 3.90384806e-02 1.04781118e+02] [-1.78831977e-01 9.83854438e-01 -7.04051550e-03 -1.28846670e+01] [-3.96682270e-02 -5.99413158e-05 9.99212904e-01 -4.35545114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30587156000001 meters 0.010343843206866852 Centerline is valid? [True, True] Translation: X:104.81, Y:-12.89, Z:-4.36 [[ 9.83102921e-01 1.78714070e-01 3.96223213e-02 1.04813056e+02] [-1.78570851e-01 9.83901052e-01 -7.15344077e-03 -1.28940669e+01] [-4.02628641e-02 -4.28231307e-05 9.99189121e-01 -4.35562795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33587156 meters 0.020944843835262666 Centerline is valid? [True, True] Translation: X:104.84, Y:-12.90, Z:-4.36 [[ 9.83108854e-01 1.78610247e-01 3.99419650e-02 1.04844494e+02] [-1.78464311e-01 9.83919905e-01 -7.21879122e-03 -1.29027283e+01] [-4.05890445e-02 -3.13576907e-05 9.99175925e-01 -4.35692347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36587156 meters 0.010070525013866738 Centerline is valid? [True, True] Translation: X:104.88, Y:-12.91, Z:-4.36 [[ 9.83013975e-01 1.78966701e-01 4.06748576e-02 1.04875923e+02] [-1.78815336e-01 9.83855131e-01 -7.35915314e-03 -1.29126188e+01] [-4.13352107e-02 -3.91379515e-05 9.99145334e-01 -4.35625419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39587156 meters 0.010130108869232095 Centerline is valid? [True, True] Translation: X:104.91, Y:-12.92, Z:-4.36 [[ 9.82888978e-01 1.79624142e-01 4.07973564e-02 1.04906770e+02] [-1.79472099e-01 9.83735312e-01 -7.38927146e-03 -1.29194074e+01] [-4.14610917e-02 -5.91537209e-05 9.99140117e-01 -4.35732368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42587156 meters 0.010196730188420183 Centerline is valid? [True, True] Translation: X:104.94, Y:-12.93, Z:-4.36 [[ 9.82776219e-01 1.80249908e-01 4.07538096e-02 1.04938581e+02] [-1.80098426e-01 9.83620844e-01 -7.38867423e-03 -1.29268074e+01] [-4.14181045e-02 -7.82836395e-05 9.99141899e-01 -4.35964862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45587156 meters 0.010834386511191708 Centerline is valid? [True, True] Translation: X:104.97, Y:-12.94, Z:-4.36 [[ 9.82567234e-01 1.81817431e-01 3.87821085e-02 1.04969573e+02] [-1.81681192e-01 9.83332296e-01 -7.03844121e-03 -1.29358015e+01] [-3.94154111e-02 -1.30238006e-04 9.99222902e-01 -4.36436066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48587156 meters 0.011201098479740086 Centerline is valid? [True, True] Translation: X:105.00, Y:-12.94, Z:-4.37 [[ 9.82425459e-01 1.82695757e-01 3.82423641e-02 1.05000289e+02] [-1.82563703e-01 9.83169485e-01 -6.94683185e-03 -1.29429482e+01] [-3.88678821e-02 -1.56923140e-04 9.99244346e-01 -4.36725371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51587156000001 meters 0.011595867486483308 Centerline is valid? [True, True] Translation: X:105.03, Y:-12.95, Z:-4.37 [[ 9.82258714e-01 1.83698695e-01 3.77174747e-02 1.05032065e+02] [-1.83570725e-01 9.82982581e-01 -6.85817443e-03 -1.29500991e+01] [-3.83354583e-02 -1.87322585e-04 9.99264909e-01 -4.36899203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54587156000001 meters 0.012343562805755992 Centerline is valid? [True, True] Translation: X:105.06, Y:-12.96, Z:-4.37 [[ 9.81977368e-01 1.85108727e-01 3.81471905e-02 1.05063939e+02] [-1.84978576e-01 9.82718018e-01 -6.94432031e-03 -1.29560640e+01] [-3.87733858e-02 -2.37247599e-04 9.99248001e-01 -4.37023038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57587156000001 meters 0.014753438799953054 Centerline is valid? [True, True] Translation: X:105.10, Y:-12.96, Z:-4.37 [[ 9.81280461e-01 1.88600291e-01 3.89690446e-02 1.05095375e+02] [-1.88467035e-01 9.82053862e-01 -7.09857811e-03 -1.29602048e+01] [-3.96084946e-02 -3.78684283e-04 9.99215204e-01 -4.37005635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60587156000001 meters 0.0170332589959926 Centerline is valid? [True, True] Translation: X:105.13, Y:-12.96, Z:-4.37 [[ 9.80829220e-01 1.90959744e-01 3.88383633e-02 1.05126338e+02] [-1.90828991e-01 9.81597758e-01 -7.08079172e-03 -1.29634141e+01] [-3.94757965e-02 -4.66438239e-04 9.99220418e-01 -4.37148210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63587156000001 meters 0.018948096476411963 Centerline is valid? [True, True] Translation: X:105.16, Y:-12.97, Z:-4.37 [[ 9.80343126e-01 1.93380433e-01 3.91326316e-02 1.05158310e+02] [-1.93249376e-01 9.81123688e-01 -7.14048575e-03 -1.29675951e+01] [-3.97747821e-02 -5.62230523e-04 9.99208512e-01 -4.37275526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66587156000001 meters 0.021458794699212483 Centerline is valid? [True, True] Translation: X:105.19, Y:-12.97, Z:-4.37 [[ 9.79815670e-01 1.95950214e-01 3.95571304e-02 1.05190291e+02] [-1.95818122e-01 9.80613618e-01 -7.22458090e-03 -1.29709913e+01] [-4.02059189e-02 -6.67245415e-04 9.99191192e-01 -4.37332576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69587156 meters 0.027731988465897115 Centerline is valid? [True, True] Translation: X:105.22, Y:-12.97, Z:-4.38 [[ 9.78653161e-01 2.01675621e-01 3.95592660e-02 1.05221109e+02] [-2.01547898e-01 9.79451960e-01 -7.23203662e-03 -1.29699850e+01] [-4.02049261e-02 -8.95431418e-04 9.99191054e-01 -4.37508791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72587156 meters 0.028680960871154012 Centerline is valid? [True, True] Translation: X:105.25, Y:-12.98, Z:-4.38 [[ 9.78081688e-01 2.04445627e-01 3.94740084e-02 1.05252813e+02] [-2.04320624e-01 9.78877406e-01 -7.21852059e-03 -1.29752211e+01] [-4.01160099e-02 -1.00505124e-03 9.99194523e-01 -4.37641033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75587156 meters 0.031531216000813024 Centerline is valid? [True, True] Translation: X:105.28, Y:-12.98, Z:-4.38 [[ 9.77507948e-01 2.07237397e-01 3.91263745e-02 1.05284620e+02] [-2.07116751e-01 9.78290056e-01 -7.15666604e-03 -1.29776058e+01] [-3.97600719e-02 -1.10802963e-03 9.99208641e-01 -4.37842479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78587156 meters 0.03713971605795636 Centerline is valid? [True, True] Translation: X:105.32, Y:-12.97, Z:-4.38 [[ 9.76429558e-01 2.12295803e-01 3.89334001e-02 1.05316007e+02] [-2.12180221e-01 9.77204580e-01 -7.12477094e-03 -1.29746371e+01] [-3.95584558e-02 -1.30406047e-03 9.99216407e-01 -4.38021469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81587156 meters 0.0453796131572231 Centerline is valid? [True, True] Translation: X:105.35, Y:-12.97, Z:-4.38 [[ 9.75996053e-01 2.14376699e-01 3.83970758e-02 1.05347281e+02] [-2.14265875e-01 9.76750100e-01 -7.02691222e-03 -1.29681963e+01] [-3.90107538e-02 -1.36894446e-03 9.99237853e-01 -4.38355566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84587156 meters 0.04747380863496595 Centerline is valid? [True, True] Translation: X:105.38, Y:-12.97, Z:-4.39 [[ 9.75614144e-01 2.16169197e-01 3.80515391e-02 1.05379019e+02] [-2.16061738e-01 9.76354873e-01 -6.96322168e-03 -1.29703807e+01] [-3.86570397e-02 -1.42806411e-03 9.99251517e-01 -4.38541598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87587156000001 meters 0.045083025293965136 Centerline is valid? [True, True] Translation: X:105.41, Y:-12.98, Z:-4.39 [[ 9.75363784e-01 2.17265682e-01 3.82244925e-02 1.05410265e+02] [-2.17157996e-01 9.76111389e-01 -6.99713339e-03 -1.29786569e+01] [-3.88315994e-02 -1.47600369e-03 9.99244679e-01 -4.38629416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90587156000001 meters 0.04659541345423527 Centerline is valid? [True, True] Translation: X:105.44, Y:-12.98, Z:-4.39 [[ 9.75040138e-01 2.18637390e-01 3.86577374e-02 1.05442112e+02] [-2.18528074e-01 9.75804957e-01 -7.08282487e-03 -1.29810302e+01] [-3.92709821e-02 -1.54176235e-03 9.99227408e-01 -4.38695178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93587156000001 meters 0.04715225120736449 Centerline is valid? [True, True] Translation: X:105.47, Y:-12.98, Z:-4.39 [[ 9.74957091e-01 2.18953202e-01 3.89636604e-02 1.05474250e+02] [-2.18842173e-01 9.75734112e-01 -7.14461735e-03 -1.29842828e+01] [-3.95825094e-02 -1.56119674e-03 9.99215086e-01 -4.38791479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96587156000001 meters 0.04274028293993692 Centerline is valid? [True, True] Translation: X:105.51, Y:-12.99, Z:-4.39 [[ 9.74944408e-01 2.18905317e-01 3.95457234e-02 1.05505440e+02] [-2.18790628e-01 9.75744833e-01 -7.25824180e-03 -1.29937091e+01] [-4.01754030e-02 -1.57585139e-03 9.99191400e-01 -4.38798586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99587156000001 meters 0.05182503148993449 Centerline is valid? [True, True] Translation: X:105.54, Y:-12.99, Z:-4.39 [[ 9.75042523e-01 2.18475275e-01 3.95048411e-02 1.05538492e+02] [-2.18360204e-01 9.75841253e-01 -7.25739671e-03 -1.29863380e+01] [-4.01360154e-02 -1.55001476e-03 9.99193023e-01 -4.39113597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02587156000001 meters 0.03947947662883982 Centerline is valid? [True, True] Translation: X:105.57, Y:-13.00, Z:-4.39 [[ 9.75474888e-01 2.16575299e-01 3.92922646e-02 1.05567613e+02] [-2.16459659e-01 9.76264829e-01 -7.22498849e-03 -1.30040796e+01] [-3.99244100e-02 -1.45739534e-03 9.99201640e-01 -4.39163986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05587156000001 meters 0.0391052028414126 Centerline is valid? [True, True] Translation: X:105.60, Y:-13.01, Z:-4.39 [[ 9.75751485e-01 2.15319027e-01 3.93288147e-02 1.05598866e+02] [-2.15202120e-01 9.76542748e-01 -7.23249258e-03 -1.30086776e+01] [-3.99635621e-02 -1.40652895e-03 9.99200148e-01 -4.39366331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08587156 meters 0.04249263625819144 Centerline is valid? [True, True] Translation: X:105.63, Y:-13.02, Z:-4.40 [[ 9.76170466e-01 2.13501373e-01 3.88379241e-02 1.05629167e+02] [-2.13385646e-01 9.76941888e-01 -7.14943568e-03 -1.30151228e+01] [-3.94688092e-02 -1.30838754e-03 9.99219946e-01 -4.39570153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11587156 meters 0.034077092086284226 Centerline is valid? [True, True] Translation: X:105.66, Y:-13.03, Z:-4.40 [[ 9.77007846e-01 2.09627947e-01 3.88817672e-02 1.05658613e+02] [-2.09508852e-01 9.77780546e-01 -7.15853116e-03 -1.30267602e+01] [-3.95184638e-02 -1.15213330e-03 9.99218176e-01 -4.39624414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14587156 meters 0.03140158038630211 Centerline is valid? [True, True] Translation: X:105.69, Y:-13.03, Z:-4.40 [[ 9.77443980e-01 2.07542641e-01 3.91065035e-02 1.05688435e+02] [-2.07420487e-01 9.78225383e-01 -7.20014614e-03 -1.30318186e+01] [-3.97493117e-02 -1.07375052e-03 9.99209107e-01 -4.39760664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17587156 meters 0.029228433985900786 Centerline is valid? [True, True] Translation: X:105.72, Y:-13.04, Z:-4.40 [[ 9.77943615e-01 2.05214639e-01 3.89003562e-02 1.05718342e+02] [-2.05091914e-01 9.78716509e-01 -7.16260143e-03 -1.30389747e+01] [-3.95422915e-02 -9.73528164e-04 9.99217424e-01 -4.39913091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20587156 meters 0.023442994010746128 Centerline is valid? [True, True] Translation: X:105.75, Y:-13.05, Z:-4.40 [[ 9.79011974e-01 2.00083482e-01 3.87576318e-02 1.05746990e+02] [-1.99957592e-01 9.79778556e-01 -7.13737924e-03 -1.30507892e+01] [-3.94019682e-02 -7.62303001e-04 9.99223150e-01 -4.40083596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23587156 meters 0.02048972211362233 Centerline is valid? [True, True] Translation: X:105.78, Y:-13.06, Z:-4.40 [[ 9.79521117e-01 1.97515242e-01 3.90654583e-02 1.05778366e+02] [-1.97385321e-01 9.80299591e-01 -7.19358116e-03 -1.30603335e+01] [-3.97166947e-02 -6.64683372e-04 9.99210760e-01 -4.40206298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26587156000001 meters 0.01920564672755583 Centerline is valid? [True, True] Translation: X:105.81, Y:-13.07, Z:-4.40 [[ 9.79994025e-01 1.95071526e-01 3.94817780e-02 1.05808497e+02] [-1.94936701e-01 9.80788854e-01 -7.27364153e-03 -1.30672537e+01] [-4.01421681e-02 -5.68322294e-04 9.99193817e-01 -4.40347192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29587156000001 meters 0.023735445019139004 Centerline is valid? [True, True] Translation: X:105.84, Y:-13.08, Z:-4.40 [[ 9.80447423e-01 1.92786725e-01 3.94477955e-02 1.05839083e+02] [-1.92650033e-01 9.81240572e-01 -7.27360192e-03 -1.30758100e+01] [-4.01100313e-02 -4.68234854e-04 9.99195159e-01 -4.40498310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32587156000001 meters 0.026634048672908736 Centerline is valid? [True, True] Translation: X:105.87, Y:-13.09, Z:-4.41 [[ 9.81255176e-01 1.88664142e-01 3.92953090e-02 1.05869295e+02] [-1.88524943e-01 9.82041627e-01 -7.25186492e-03 -1.30884533e+01] [-3.99577960e-02 -2.92215912e-04 9.99201326e-01 -4.40648804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35587156000001 meters 0.011546152297610551 Centerline is valid? [True, True] Translation: X:105.90, Y:-13.10, Z:-4.41 [[ 9.81593724e-01 1.86921574e-01 3.91674173e-02 1.05900416e+02] [-1.86781634e-01 9.82374816e-01 -7.23475485e-03 -1.30971348e+01] [-3.98294161e-02 -2.14164252e-04 9.99206471e-01 -4.40794599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38587156000001 meters 0.021138944136981908 Centerline is valid? [True, True] Translation: X:105.93, Y:-13.11, Z:-4.41 [[ 9.81982332e-01 1.84904464e-01 3.90004953e-02 1.05931550e+02] [-1.84763859e-01 9.82756493e-01 -7.21059584e-03 -1.31061872e+01] [-3.96612614e-02 -1.25204316e-04 9.99213175e-01 -4.40922313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41587156000001 meters 0.021138944136981908 Centerline is valid? [True, True] Translation: X:105.96, Y:-13.11, Z:-4.41 [[ 9.81946768e-01 1.85093488e-01 3.89993040e-02 1.05963427e+02] [-1.84952777e-01 9.82720909e-01 -7.21703308e-03 -1.31122687e+01] [-3.96612573e-02 -1.26287268e-04 9.99213175e-01 -4.41068743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44587156 meters 0.010406136625660629 Centerline is valid? [True, True] Translation: X:105.99, Y:-13.12, Z:-4.41 [[ 9.81977496e-01 1.84829659e-01 3.94739831e-02 1.05994419e+02] [-1.84684965e-01 9.82770566e-01 -7.31290177e-03 -1.31185276e+01] [-4.01455099e-02 -1.09146218e-04 9.99193838e-01 -4.41137494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47587156 meters 0.010359617366996195 Centerline is valid? [True, True] Translation: X:106.03, Y:-13.12, Z:-4.41 [[ 9.81894340e-01 1.85257027e-01 3.95390790e-02 1.06026614e+02] [-1.85111907e-01 9.82690093e-01 -7.33226499e-03 -1.31245030e+01] [-4.02130149e-02 -1.19644826e-04 9.99191122e-01 -4.41297980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50587156 meters 0.010494651214532226 Centerline is valid? [True, True] Translation: X:106.06, Y:-13.13, Z:-4.41 [[ 9.81774197e-01 1.85889874e-01 3.95522475e-02 1.06058180e+02] [-1.85744856e-01 9.82570576e-01 -7.34252800e-03 -1.31298273e+01] [-4.02277762e-02 -1.37921972e-04 9.99190526e-01 -4.41448392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53587156 meters 0.021597314353379814 Centerline is valid? [True, True] Translation: X:106.09, Y:-13.13, Z:-4.42 [[ 9.81354692e-01 1.88257643e-01 3.87560202e-02 1.06090180e+02] [-1.88119976e-01 9.82119652e-01 -7.20171268e-03 -1.31329484e+01] [-3.94188265e-02 -2.23347048e-04 9.99222751e-01 -4.41709952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56587156 meters 0.012648076106847523 Centerline is valid? [True, True] Translation: X:106.12, Y:-13.14, Z:-4.42 [[ 9.81112578e-01 1.89563293e-01 3.85209868e-02 1.06120685e+02] [-1.89428020e-01 9.81868467e-01 -7.16509999e-03 -1.31362439e+01] [-3.91807822e-02 -2.67184549e-04 9.99232103e-01 -4.41984788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59587156 meters 0.029248188676346237 Centerline is valid? [True, True] Translation: X:106.15, Y:-13.14, Z:-4.42 [[ 9.80795174e-01 1.91335968e-01 3.78335023e-02 1.06152221e+02] [-1.91206696e-01 9.81524548e-01 -7.03992588e-03 -1.31392132e+01] [-3.84815023e-02 -3.29293631e-04 9.99259258e-01 -4.42219825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62587156000001 meters 0.014750723083200534 Centerline is valid? [True, True] Translation: X:106.18, Y:-13.14, Z:-4.42 [[ 9.80466454e-01 1.93038197e-01 3.77065850e-02 1.06183923e+02] [-1.92910827e-01 9.81191165e-01 -7.02209786e-03 -1.31432448e+01] [-3.83529012e-02 -3.89077098e-04 9.99264181e-01 -4.42364778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65587156000001 meters 0.018209957470888917 Centerline is valid? [True, True] Translation: X:106.22, Y:-13.14, Z:-4.43 [[ 9.79802279e-01 1.96474472e-01 3.72192950e-02 1.06215448e+02] [-1.96352608e-01 9.80508807e-01 -6.93774371e-03 -1.31431654e+01] [-3.78569361e-02 -5.10488533e-04 9.99283039e-01 -4.42620471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68587156000001 meters 0.019864036576484532 Centerline is valid? [True, True] Translation: X:106.25, Y:-13.15, Z:-4.43 [[ 9.79425408e-01 1.98266273e-01 3.76344936e-02 1.06247899e+02] [-1.98142765e-01 9.80148024e-01 -7.02112904e-03 -1.31459574e+01] [-3.82794276e-02 -5.80330461e-04 9.99266906e-01 -4.42728125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71587156000001 meters 0.020852590463098553 Centerline is valid? [True, True] Translation: X:106.28, Y:-13.15, Z:-4.43 [[ 9.79102169e-01 1.99809757e-01 3.78814472e-02 1.06280359e+02] [-1.99685531e-01 9.79834503e-01 -7.07356554e-03 -1.31495880e+01] [-3.85309164e-02 -6.38633554e-04 9.99257204e-01 -4.42788076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74587156000001 meters 0.02259942320709717 Centerline is valid? [True, True] Translation: X:106.31, Y:-13.15, Z:-4.43 [[ 9.78581110e-01 2.02281003e-01 3.82283496e-02 1.06312815e+02] [-2.02156121e-01 9.79327245e-01 -7.14486912e-03 -1.31523027e+01] [-3.88833356e-02 -7.36260903e-04 9.99243486e-01 -4.42859833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77587156000001 meters 0.02533329881176837 Centerline is valid? [True, True] Translation: X:106.34, Y:-13.15, Z:-4.43 [[ 9.78323172e-01 2.03520191e-01 3.82531451e-02 1.06344566e+02] [-2.03395835e-01 9.79070439e-01 -7.15612716e-03 -1.31539853e+01] [-3.89089400e-02 -7.79525372e-04 9.99242456e-01 -4.43041476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80587156000001 meters 0.025665212654270693 Centerline is valid? [True, True] Translation: X:106.38, Y:-13.16, Z:-4.43 [[ 9.78031400e-01 2.04846172e-01 3.86345307e-02 1.06376729e+02] [-2.04720117e-01 9.78793824e-01 -7.23357465e-03 -1.31585052e+01] [-3.92970101e-02 -8.34602479e-04 9.99227226e-01 -4.43111816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83587156 meters 0.029296025078717126 Centerline is valid? [True, True] Translation: X:106.41, Y:-13.16, Z:-4.43 [[ 9.77795107e-01 2.05938560e-01 3.88077111e-02 1.06408821e+02] [-2.05811974e-01 9.78564531e-01 -7.27249884e-03 -1.31629470e+01] [-3.94735376e-02 -8.76077842e-04 9.99220232e-01 -4.43169344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86587156 meters 0.029052842868497183 Centerline is valid? [True, True] Translation: X:106.44, Y:-13.16, Z:-4.43 [[ 9.77338256e-01 2.08029803e-01 3.91603748e-02 1.06441238e+02] [-2.07902308e-01 9.78122014e-01 -7.34543932e-03 -1.31602863e+01] [-3.98316950e-02 -9.62553463e-04 9.99205940e-01 -4.43409998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89587156 meters 0.029540718988520683 Centerline is valid? [True, True] Translation: X:106.47, Y:-13.16, Z:-4.44 [[ 9.77090013e-01 2.09185216e-01 3.92001482e-02 1.06473616e+02] [-2.09058145e-01 9.77875522e-01 -7.35907421e-03 -1.31640326e+01] [-3.98722749e-02 -1.00463234e-03 9.99204280e-01 -4.43567837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92587156 meters 0.03836582493013756 Centerline is valid? [True, True] Translation: X:106.51, Y:-13.17, Z:-4.44 [[ 9.76928571e-01 2.09981720e-01 3.89646559e-02 1.06505189e+02] [-2.09856544e-01 9.77704775e-01 -7.32143441e-03 -1.31655567e+01] [-3.96332975e-02 -1.02446956e-03 9.99213767e-01 -4.43769564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95587156 meters 0.031020020101308422 Centerline is valid? [True, True] Translation: X:106.54, Y:-13.17, Z:-4.44 [[ 9.76735665e-01 2.10869577e-01 3.90059284e-02 1.06537002e+02] [-2.10744606e-01 9.77513635e-01 -7.33515620e-03 -1.31713552e+01] [-3.96755882e-02 -1.05578034e-03 9.99212056e-01 -4.43889125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98587156 meters 0.03462821519499884 Centerline is valid? [True, True] Translation: X:106.57, Y:-13.17, Z:-4.44 [[ 9.76573254e-01 2.11729687e-01 3.84085788e-02 1.06569171e+02] [-2.11608933e-01 9.77327683e-01 -7.22913927e-03 -1.31730684e+01] [-3.90683907e-02 -1.06781429e-03 9.99235968e-01 -4.44085975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01587156000001 meters 0.030111881927074657 Centerline is valid? [True, True] Translation: X:106.60, Y:-13.18, Z:-4.44 [[ 9.76527949e-01 2.11901948e-01 3.86099613e-02 1.06601708e+02] [-2.11779808e-01 9.77290341e-01 -7.27340482e-03 -1.31793262e+01] [-3.92743909e-02 -1.07412709e-03 9.99227886e-01 -4.44184401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04587156000001 meters 0.029526798771609974 Centerline is valid? [True, True] Translation: X:106.63, Y:-13.18, Z:-4.44 [[ 9.76528754e-01 2.11798224e-01 3.91548816e-02 1.06633261e+02] [-2.11672208e-01 9.77312822e-01 -7.38406222e-03 -1.31843735e+01] [-3.98304991e-02 -1.07725117e-03 9.99205870e-01 -4.44271783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07587156000001 meters 0.029105612715062495 Centerline is valid? [True, True] Translation: X:106.66, Y:-13.19, Z:-4.44 [[ 9.76872140e-01 2.10226973e-01 3.90569026e-02 1.06664862e+02] [-2.10100062e-01 9.77652091e-01 -7.37237557e-03 -1.31874783e+01] [-3.97339347e-02 -1.00398935e-03 9.99209791e-01 -4.44486794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10587156000001 meters 0.03587214777333889 Centerline is valid? [True, True] Translation: X:106.70, Y:-13.19, Z:-4.45 [[ 9.77187090e-01 2.08838323e-01 3.86257210e-02 1.06696432e+02] [-2.08712857e-01 9.77949737e-01 -7.29758047e-03 -1.31945263e+01] [-3.92980282e-02 -9.30583159e-04 9.99227101e-01 -4.44664545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13587156000001 meters 0.026037699014815858 Centerline is valid? [True, True] Translation: X:106.73, Y:-13.20, Z:-4.45 [[ 9.77506029e-01 2.07334215e-01 3.86585937e-02 1.06727115e+02] [-2.07207097e-01 9.78269787e-01 -7.31047184e-03 -1.32007539e+01] [-3.93342452e-02 -8.64304669e-04 9.99225735e-01 -4.44891028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16587156000001 meters 0.029792822934028476 Centerline is valid? [True, True] Translation: X:106.76, Y:-13.21, Z:-4.45 [[ 9.77933282e-01 2.05393524e-01 3.82098936e-02 1.06757841e+02] [-2.05267630e-01 9.78679164e-01 -7.23148820e-03 -1.32092099e+01] [-3.88805276e-02 -7.71341322e-04 9.99243569e-01 -4.45054813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19587156000001 meters 0.021087695640580273 Centerline is valid? [True, True] Translation: X:106.79, Y:-13.22, Z:-4.45 [[ 9.78753383e-01 2.01453994e-01 3.81851108e-02 1.06786836e+02] [-2.01324974e-01 9.79497790e-01 -7.23428337e-03 -1.32173092e+01] [-3.88596069e-02 -6.07037118e-04 9.99244496e-01 -4.45345603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22587156 meters 0.018409067108630155 Centerline is valid? [True, True] Translation: X:106.82, Y:-13.23, Z:-4.45 [[ 9.79141163e-01 1.99545932e-01 3.82623016e-02 1.06818453e+02] [-1.99414927e-01 9.79888329e-01 -7.24909072e-03 -1.32259751e+01] [-3.89393093e-02 -5.32190938e-04 9.99241436e-01 -4.45429833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25587156 meters 0.016651917564339654 Centerline is valid? [True, True] Translation: X:106.85, Y:-13.23, Z:-4.46 [[ 9.79476345e-01 1.97853514e-01 3.84717538e-02 1.06849589e+02] [-1.97719697e-01 9.80231488e-01 -7.29047828e-03 -1.32331114e+01] [-3.91536712e-02 -4.65772497e-04 9.99233092e-01 -4.45516075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28587156 meters 0.014105167690696528 Centerline is valid? [True, True] Translation: X:106.88, Y:-13.24, Z:-4.46 [[ 9.79968588e-01 1.95293149e-01 3.90147823e-02 1.06880340e+02] [-1.95153233e-01 9.80744847e-01 -7.40005074e-03 -1.32415544e+01] [-3.97087259e-02 -3.62043624e-04 9.99211232e-01 -4.45551997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31587156 meters 0.013379652544660356 Centerline is valid? [True, True] Translation: X:106.91, Y:-13.25, Z:-4.46 [[ 9.80121347e-01 1.94471917e-01 3.92787293e-02 1.06911060e+02] [-1.94329157e-01 9.80908033e-01 -7.45724122e-03 -1.32484303e+01] [-3.99790451e-02 -3.24001046e-04 9.99200466e-01 -4.45673924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34587156 meters 0.026538399656239248 Centerline is valid? [True, True] Translation: X:106.94, Y:-13.26, Z:-4.46 [[ 9.80252486e-01 1.93837104e-01 3.91438404e-02 1.06943356e+02] [-1.93694686e-01 9.81033685e-01 -7.43490637e-03 -1.32553994e+01] [-3.98425867e-02 -2.93868412e-04 9.99205926e-01 -4.45822527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37587156000001 meters 0.013080035052630097 Centerline is valid? [True, True] Translation: X:106.98, Y:-13.26, Z:-4.46 [[ 9.80227296e-01 1.93938748e-01 3.92709812e-02 1.06975304e+02] [-1.93795163e-01 9.81013597e-01 -7.46709013e-03 -1.32609196e+01] [-3.99735247e-02 -2.91080648e-04 9.99200697e-01 -4.45967737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40587156000001 meters 0.017135191538247774 Centerline is valid? [True, True] Translation: X:107.01, Y:-13.27, Z:-4.46 [[ 9.80114620e-01 1.94428165e-01 3.96613085e-02 1.07007677e+02] [-1.94281929e-01 9.80916710e-01 -7.54581618e-03 -1.32663640e+01] [-4.03715595e-02 -3.09710784e-04 9.99184688e-01 -4.45914559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43587156000001 meters 0.013125200734152416 Centerline is valid? [True, True] Translation: X:107.04, Y:-13.27, Z:-4.46 [[ 9.79950830e-01 1.95153315e-01 4.01441615e-02 1.07039493e+02] [-1.95003766e-01 9.80772691e-01 -7.64594685e-03 -1.32706095e+01] [-4.08644292e-02 -3.35610712e-04 9.99164644e-01 -4.46026228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46587156000001 meters 0.013675332151885676 Centerline is valid? [True, True] Translation: X:107.07, Y:-13.27, Z:-4.46 [[ 9.79765085e-01 1.95963258e-01 4.07281119e-02 1.07071085e+02] [-1.95809700e-01 9.80611170e-01 -7.76497032e-03 -1.32747239e+01] [-4.14600904e-02 -3.67112557e-04 9.99140093e-01 -4.46060076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49587156000001 meters 0.027488183310656614 Centerline is valid? [True, True] Translation: X:107.10, Y:-13.28, Z:-4.46 [[ 9.79567467e-01 1.97063822e-01 4.01674927e-02 1.07103487e+02] [-1.96915091e-01 9.80390580e-01 -7.66535565e-03 -1.32770743e+01] [-4.08903958e-02 -4.00852455e-04 9.99163558e-01 -4.46257162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52587156000001 meters 0.014652962485428687 Centerline is valid? [True, True] Translation: X:107.14, Y:-13.28, Z:-4.46 [[ 9.79440008e-01 1.97668639e-01 4.03036080e-02 1.07135054e+02] [-1.97519122e-01 9.80268806e-01 -7.69832286e-03 -1.32820568e+01] [-4.10300867e-02 -4.20687867e-04 9.99157823e-01 -4.46435737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55587156000001 meters 0.015079660221871311 Centerline is valid? [True, True] Translation: X:107.17, Y:-13.29, Z:-4.47 [[ 9.79363343e-01 1.97995262e-01 4.05625388e-02 1.07166232e+02] [-1.97843783e-01 9.80202883e-01 -7.75538279e-03 -1.32871080e+01] [-4.12950465e-02 -4.29708499e-04 9.99146903e-01 -4.46545911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58587156 meters 0.015336734330671321 Centerline is valid? [True, True] Translation: X:107.20, Y:-13.29, Z:-4.47 [[ 9.79280743e-01 1.98351582e-01 4.08151439e-02 1.07197918e+02] [-1.98198206e-01 9.80130836e-01 -7.81120568e-03 -1.32907576e+01] [-4.15535461e-02 -4.40125014e-04 9.99136181e-01 -4.46601573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61587156 meters 0.015560375290832708 Centerline is valid? [True, True] Translation: X:107.23, Y:-13.30, Z:-4.47 [[ 9.79183572e-01 1.98867495e-01 4.06356035e-02 1.07230709e+02] [-1.98715609e-01 9.80026283e-01 -7.78410835e-03 -1.32958519e+01] [-4.13719656e-02 -4.52857672e-04 9.99143711e-01 -4.46777428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64587156 meters 0.015631981273620633 Centerline is valid? [True, True] Translation: X:107.26, Y:-13.30, Z:-4.47 [[ 9.79060959e-01 1.99446241e-01 4.07533513e-02 1.07263699e+02] [-1.99293646e-01 9.79908657e-01 -7.81456639e-03 -1.33009548e+01] [-4.14931476e-02 -4.70947110e-04 9.99138678e-01 -4.46918777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67587156 meters 0.016891426357391985 Centerline is valid? [True, True] Translation: X:107.30, Y:-13.30, Z:-4.47 [[ 9.78990320e-01 1.99862286e-01 4.04106472e-02 1.07295823e+02] [-1.99712276e-01 9.79823882e-01 -7.75676467e-03 -1.33040688e+01] [-4.11456019e-02 -4.76704798e-04 9.99153047e-01 -4.47187771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70587156 meters 0.02973875914060651 Centerline is valid? [True, True] Translation: X:107.33, Y:-13.31, Z:-4.48 [[ 9.78908487e-01 2.00642281e-01 3.84818142e-02 1.07327432e+02] [-2.00506592e-01 9.79664456e-01 -7.39327773e-03 -1.33071381e+01] [-3.91826697e-02 -4.78515113e-04 9.99231950e-01 -4.47670135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73587156 meters 0.0164082845847928 Centerline is valid? [True, True] Translation: X:107.36, Y:-13.31, Z:-4.48 [[ 9.78901430e-01 2.00790169e-01 3.78853416e-02 1.07360038e+02] [-2.00658530e-01 9.79634159e-01 -7.28480403e-03 -1.33135821e+01] [-3.85764918e-02 -4.70911853e-04 9.99255539e-01 -4.47968287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76587156000001 meters 0.016437779597483472 Centerline is valid? [True, True] Translation: X:107.39, Y:-13.32, Z:-4.48 [[ 9.79023883e-01 2.00296484e-01 3.73303473e-02 1.07391673e+02] [-2.00168036e-01 9.79735233e-01 -7.18543599e-03 -1.33198106e+01] [-3.80130741e-02 -4.37628864e-04 9.99277146e-01 -4.48294598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79587156000001 meters 0.020204757633605974 Centerline is valid? [True, True] Translation: X:107.42, Y:-13.33, Z:-4.49 [[ 9.79498401e-01 1.98270569e-01 3.56604044e-02 1.07422704e+02] [-1.98151787e-01 9.80147269e-01 -6.87032980e-03 -1.33298067e+01] [-3.63146322e-02 -3.36695796e-04 9.99340349e-01 -4.48646734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82587156000001 meters 0.014074798767923153 Centerline is valid? [True, True] Translation: X:107.45, Y:-13.34, Z:-4.49 [[ 9.79694721e-01 1.97313003e-01 3.55785426e-02 1.07453008e+02] [-1.97193907e-01 9.80340498e-01 -6.86079975e-03 -1.33370915e+01] [-3.62328112e-02 -2.94382530e-04 9.99343333e-01 -4.48931727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85587156000001 meters 0.01306000401669429 Centerline is valid? [True, True] Translation: X:107.48, Y:-13.35, Z:-4.49 [[ 9.79889967e-01 1.96350923e-01 3.55241963e-02 1.07484466e+02] [-1.96231358e-01 9.80533656e-01 -6.85586891e-03 -1.33452956e+01] [-3.61788263e-02 -2.52964137e-04 9.99345300e-01 -4.49056372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88587156000001 meters 0.012716271196625295 Centerline is valid? [True, True] Translation: X:107.52, Y:-13.35, Z:-4.49 [[ 9.79988049e-01 1.95902633e-01 3.52927988e-02 1.07516295e+02] [-1.95784123e-01 9.80623325e-01 -6.81698013e-03 -1.33528422e+01] [-3.59444061e-02 -2.29210612e-04 9.99353765e-01 -4.49278535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91587156000001 meters 0.028581918689751313 Centerline is valid? [True, True] Translation: X:107.55, Y:-13.36, Z:-4.49 [[ 9.80106238e-01 1.95340595e-01 3.51257065e-02 1.07548349e+02] [-1.95222601e-01 9.80735444e-01 -6.79149825e-03 -1.33607500e+01] [-3.57756807e-02 -2.00941982e-04 9.99359825e-01 -4.49354673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94587156000001 meters 0.012001491658696203 Centerline is valid? [True, True] Translation: X:107.58, Y:-13.37, Z:-4.49 [[ 9.79875555e-01 1.96158274e-01 3.69571044e-02 1.07579674e+02] [-1.96027933e-01 9.80572219e-01 -7.15354398e-03 -1.33671286e+01] [-3.76423367e-02 -2.35041895e-04 9.99291248e-01 -4.49116220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97587156 meters 0.012400829753687804 Centerline is valid? [True, True] Translation: X:107.61, Y:-13.37, Z:-4.49 [[ 9.79600666e-01 1.97331395e-01 3.79849316e-02 1.07612447e+02] [-1.97194322e-01 9.80336800e-01 -7.35920028e-03 -1.33713838e+01] [-3.86902276e-02 -2.81335342e-04 9.99251213e-01 -4.49038312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00587156 meters 0.014864314417280564 Centerline is valid? [True, True] Translation: X:107.64, Y:-13.37, Z:-4.49 [[ 9.78963140e-01 2.00340790e-01 3.86618463e-02 1.07643899e+02] [-2.00200797e-01 9.79726191e-01 -7.49881228e-03 -1.33720880e+01] [-3.93803414e-02 -3.99071645e-04 9.99224214e-01 -4.49126876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03587156 meters 0.0163814678415243 Centerline is valid? [True, True] Translation: X:107.68, Y:-13.38, Z:-4.49 [[ 9.78605555e-01 2.02083915e-01 3.86427036e-02 1.07675318e+02] [-2.01945289e-01 9.79368100e-01 -7.49838533e-03 -1.33763982e+01] [-3.93607342e-02 -4.65750406e-04 9.99224957e-01 -4.49313217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06587156 meters 0.027003387331199606 Centerline is valid? [True, True] Translation: X:107.71, Y:-13.38, Z:-4.49 [[ 9.78300693e-01 2.03611675e-01 3.83410900e-02 1.07706298e+02] [-2.03476127e-01 9.79051591e-01 -7.44626410e-03 -1.33804294e+01] [-3.90540515e-02 -5.16811186e-04 9.99236966e-01 -4.49464842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09587156 meters 0.02066036888125856 Centerline is valid? [True, True] Translation: X:107.74, Y:-13.38, Z:-4.50 [[ 9.77529875e-01 2.07154982e-01 3.90148422e-02 1.07738561e+02] [-2.07017316e-01 9.78307911e-01 -7.58035115e-03 -1.33837099e+01] [-3.97388362e-02 -6.66728210e-04 9.99209878e-01 -4.49561629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12587156000001 meters 0.023027555760403454 Centerline is valid? [True, True] Translation: X:107.77, Y:-13.39, Z:-4.50 [[ 9.77108494e-01 2.09107225e-01 3.91555849e-02 1.07769832e+02] [-2.08969857e-01 9.77892437e-01 -7.61453477e-03 -1.33865067e+01] [-3.98822046e-02 -7.42110386e-04 9.99204113e-01 -4.49686930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15587156000001 meters 0.025203372852810012 Centerline is valid? [True, True] Translation: X:107.80, Y:-13.39, Z:-4.50 [[ 9.76662762e-01 2.11164598e-01 3.92347032e-02 1.07800781e+02] [-2.11028084e-01 9.77450171e-01 -7.63614083e-03 -1.33897421e+01] [-3.99624500e-02 -8.21689837e-04 9.99200844e-01 -4.49822151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18587156000001 meters 0.030303579808338244 Centerline is valid? [True, True] Translation: X:107.83, Y:-13.39, Z:-4.50 [[ 9.75704981e-01 2.15558273e-01 3.91716868e-02 1.07831715e+02] [-2.15425467e-01 9.76490473e-01 -7.63048082e-03 -1.33884208e+01] [-3.98955923e-02 -9.93480793e-04 9.99203360e-01 -4.49939203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21587156000001 meters 0.03276189964776379 Centerline is valid? [True, True] Translation: X:107.86, Y:-13.39, Z:-4.50 [[ 9.75171299e-01 2.18051698e-01 3.86573915e-02 1.07863314e+02] [-2.17924252e-01 9.75936623e-01 -7.53186462e-03 -1.33907717e+01] [-3.93695000e-02 -1.07952491e-03 9.99224138e-01 -4.50158871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24587156000001 meters 0.03549402568349587 Centerline is valid? [True, True] Translation: X:107.89, Y:-13.39, Z:-4.50 [[ 9.74709357e-01 2.20203654e-01 3.81053865e-02 1.07894308e+02] [-2.20081208e-01 9.75453250e-01 -7.43089473e-03 -1.33924988e+01] [-3.88063333e-02 -1.14331689e-03 9.99246096e-01 -4.50398141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27587156000001 meters 0.03625864055136855 Centerline is valid? [True, True] Translation: X:107.93, Y:-13.40, Z:-4.51 [[ 9.74229048e-01 2.22363284e-01 3.78461642e-02 1.07925619e+02] [-2.22244124e-01 9.74963117e-01 -7.38037755e-03 -1.33980725e+01] [-3.85397392e-02 -1.22090942e-03 9.99256322e-01 -4.50500533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30587156000001 meters 0.04078289018092947 Centerline is valid? [True, True] Translation: X:107.96, Y:-13.40, Z:-4.51 [[ 9.73553329e-01 2.25271804e-01 3.80332670e-02 1.07956195e+02] [-2.25153403e-01 9.74295043e-01 -7.42393040e-03 -1.33957983e+01] [-3.87280257e-02 -1.33572735e-03 9.99248896e-01 -4.50752476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33587156 meters 0.04078289018092947 Centerline is valid? [True, True] Translation: X:107.99, Y:-13.40, Z:-4.51 [[ 9.73512171e-01 2.25449566e-01 3.80334872e-02 1.07988049e+02] [-2.25331345e-01 9.74253913e-01 -7.42280289e-03 -1.34022051e+01] [-3.87277414e-02 -1.34394787e-03 9.99248896e-01 -4.50898951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36587156 meters 0.04194408388839182 Centerline is valid? [True, True] Translation: X:108.02, Y:-13.41, Z:-4.51 [[ 9.73263178e-01 2.26510996e-01 3.80992791e-02 1.08020241e+02] [-2.26392891e-01 9.74007628e-01 -7.44303728e-03 -1.34059185e+01] [-3.87949183e-02 -1.38137180e-03 9.99246239e-01 -4.51043020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39587156 meters 0.04313363241060915 Centerline is valid? [True, True] Translation: X:108.05, Y:-13.41, Z:-4.51 [[ 9.73086868e-01 2.27299363e-01 3.79070826e-02 1.08051470e+02] [-2.27182803e-01 9.73823927e-01 -7.41170230e-03 -1.34123263e+01] [-3.85994993e-02 -1.39960710e-03 9.99253781e-01 -4.51119464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42587156 meters 0.04464672911689606 Centerline is valid? [True, True] Translation: X:108.08, Y:-13.41, Z:-4.51 [[ 9.72905778e-01 2.28059618e-01 3.79889114e-02 1.08082877e+02] [-2.27942848e-01 9.73646126e-01 -7.43506666e-03 -1.34107403e+01] [-3.86833949e-02 -1.42568132e-03 9.99250500e-01 -4.51404908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45587156 meters 0.04293588701628542 Centerline is valid? [True, True] Translation: X:108.12, Y:-13.42, Z:-4.52 [[ 9.72853388e-01 2.28303865e-01 3.78633225e-02 1.08115447e+02] [-2.28188056e-01 9.73588875e-01 -7.41034509e-03 -1.34182811e+01] [-3.85551199e-02 -1.43077860e-03 9.99255451e-01 -4.51558561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48587156 meters 0.04052721748093519 Centerline is valid? [True, True] Translation: X:108.15, Y:-13.43, Z:-4.52 [[ 9.72820759e-01 2.28477525e-01 3.76535774e-02 1.08147075e+02] [-2.28362852e-01 9.73548148e-01 -7.37640743e-03 -1.34267193e+01] [-3.83429139e-02 -1.42275605e-03 9.99263627e-01 -4.51657535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51587156000001 meters 0.04142019438627706 Centerline is valid? [True, True] Translation: X:108.18, Y:-13.43, Z:-4.52 [[ 9.73005248e-01 2.27682770e-01 3.77007246e-02 1.08178438e+02] [-2.27566922e-01 9.73734376e-01 -7.39323573e-03 -1.34295160e+01] [-3.83938039e-02 -1.38578070e-03 9.99261725e-01 -4.51831897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54587156000001 meters 0.0405385383264139 Centerline is valid? [True, True] Translation: X:108.21, Y:-13.44, Z:-4.52 [[ 9.73129650e-01 2.27150830e-01 3.76985950e-02 1.08210225e+02] [-2.27034350e-01 9.73858642e-01 -7.39923940e-03 -1.34356043e+01] [-3.83938459e-02 -1.35845679e-03 9.99261761e-01 -4.51949271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57587156000001 meters 0.04040195320825703 Centerline is valid? [True, True] Translation: X:108.24, Y:-13.44, Z:-4.52 [[ 9.73346118e-01 2.26244947e-01 3.75574042e-02 1.08240907e+02] [-2.26128419e-01 9.74069558e-01 -7.37794015e-03 -1.34398932e+01] [-3.82527458e-02 -1.31150704e-03 9.99267235e-01 -4.52150849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60587156000001 meters 0.04243430413515814 Centerline is valid? [True, True] Translation: X:108.27, Y:-13.44, Z:-4.52 [[ 9.73539881e-01 2.25471229e-01 3.71863633e-02 1.08271996e+02] [-2.25356211e-01 9.74249008e-01 -7.31081063e-03 -1.34419150e+01] [-3.78771550e-02 -1.26281224e-03 9.99281605e-01 -4.52389984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63587156000001 meters 0.0354928097509861 Centerline is valid? [True, True] Translation: X:108.30, Y:-13.45, Z:-4.52 [[ 9.74170408e-01 2.22705964e-01 3.73372468e-02 1.08302011e+02] [-2.22587730e-01 9.74884979e-01 -7.34705092e-03 -1.34533201e+01] [-3.80357531e-02 -1.15353343e-03 9.99275713e-01 -4.52398120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66587156000001 meters 0.03576022349552407 Centerline is valid? [True, True] Translation: X:108.33, Y:-13.46, Z:-4.53 [[ 9.74452729e-01 2.21449649e-01 3.74423738e-02 1.08333089e+02] [-2.21329802e-01 9.75171178e-01 -7.36828771e-03 -1.34572073e+01] [-3.81444285e-02 -1.10706510e-03 9.99271623e-01 -4.52580016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69587156000001 meters 0.030508018756516445 Centerline is valid? [True, True] Translation: X:108.36, Y:-13.47, Z:-4.53 [[ 9.74777608e-01 2.20023169e-01 3.73954482e-02 1.08364088e+02] [-2.19902327e-01 9.75494088e-01 -7.36550608e-03 -1.34684961e+01] [-3.80996207e-02 -1.04361567e-03 9.99273401e-01 -4.52643496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72587156 meters 0.030371661952821916 Centerline is valid? [True, True] Translation: X:108.40, Y:-13.47, Z:-4.53 [[ 9.75050689e-01 2.18811268e-01 3.73869223e-02 1.08395242e+02] [-2.18689531e-01 9.75766693e-01 -7.36540545e-03 -1.34734100e+01] [-3.80925473e-02 -9.94484847e-04 9.99273721e-01 -4.52844733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75587156 meters 0.028178100558892766 Centerline is valid? [True, True] Translation: X:108.43, Y:-13.48, Z:-4.53 [[ 9.75728768e-01 2.15747494e-01 3.75018704e-02 1.08425201e+02] [-2.15622452e-01 9.76448802e-01 -7.39567524e-03 -1.34785157e+01] [-3.82142548e-02 -8.70072169e-04 9.99269190e-01 -4.52992290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78587156 meters 0.02577698663195271 Centerline is valid? [True, True] Translation: X:108.46, Y:-13.49, Z:-4.53 [[ 9.76003733e-01 2.14424561e-01 3.79318047e-02 1.08456542e+02] [-2.14295657e-01 9.76740202e-01 -7.47994388e-03 -1.34860591e+01] [-3.86534022e-02 -8.28167849e-04 9.99252335e-01 -4.53080771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81587156 meters 0.025297828613495346 Centerline is valid? [True, True] Translation: X:108.49, Y:-13.49, Z:-4.53 [[ 9.76260304e-01 2.13251579e-01 3.79418243e-02 1.08487428e+02] [-2.13121469e-01 9.76997012e-01 -7.48847014e-03 -1.34907540e+01] [-3.86659771e-02 -7.75521175e-04 9.99251891e-01 -4.53245360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84587156 meters 0.026545980883246785 Centerline is valid? [True, True] Translation: X:108.52, Y:-13.50, Z:-4.53 [[ 9.76632288e-01 2.11610602e-01 3.75543365e-02 1.08518883e+02] [-2.11481702e-01 9.77353808e-01 -7.41776261e-03 -1.34968934e+01] [-3.82735510e-02 -6.97628519e-04 9.99267056e-01 -4.53429516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87587156000001 meters 0.021741363405764012 Centerline is valid? [True, True] Translation: X:108.55, Y:-13.50, Z:-4.54 [[ 9.76729186e-01 2.11254250e-01 3.70369825e-02 1.08550897e+02] [-2.11128387e-01 9.77430916e-01 -7.32181517e-03 -1.35024987e+01] [-3.77478563e-02 -6.68127794e-04 9.99287072e-01 -4.53570688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90587156000001 meters 0.0291530311983022 Centerline is valid? [True, True] Translation: X:108.58, Y:-13.51, Z:-4.54 [[ 9.76749442e-01 2.11101550e-01 3.73719667e-02 1.08582132e+02] [-2.10973033e-01 9.77463911e-01 -7.39468852e-03 -1.35059864e+01] [-3.80907789e-02 -6.61719288e-04 9.99274064e-01 -4.53714134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93587156000001 meters 0.02051238649848587 Centerline is valid? [True, True] Translation: X:108.61, Y:-13.51, Z:-4.54 [[ 9.76833189e-01 2.10691240e-01 3.74982874e-02 1.08614110e+02] [-2.10561324e-01 9.77552448e-01 -7.42561930e-03 -1.35106709e+01] [-3.82210556e-02 -6.42097659e-04 9.99269102e-01 -4.53802361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96587156000001 meters 0.020216999562193153 Centerline is valid? [True, True] Translation: X:108.65, Y:-13.51, Z:-4.54 [[ 9.76919689e-01 2.10351292e-01 3.71517841e-02 1.08646185e+02] [-2.10223276e-01 9.77625672e-01 -7.36343911e-03 -1.35149172e+01] [-3.78694468e-02 -6.16681122e-04 9.99282505e-01 -4.54030219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99587156000001 meters 0.02065723258555959 Centerline is valid? [True, True] Translation: X:108.68, Y:-13.52, Z:-4.54 [[ 9.77006110e-01 2.10025933e-01 3.67174042e-02 1.08678225e+02] [-2.09900432e-01 9.77695637e-01 -7.28358806e-03 -1.35182686e+01] [-3.74281883e-02 -5.90888949e-04 9.99299145e-01 -4.54339823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02587156000001 meters 0.02006295195251746 Centerline is valid? [True, True] Translation: X:108.71, Y:-13.52, Z:-4.55 [[ 9.77199176e-01 2.09254036e-01 3.59794267e-02 1.08708591e+02] [-2.09132758e-01 9.77861162e-01 -7.14399866e-03 -1.35228767e+01] [-3.66777945e-02 -5.43367111e-04 9.99326996e-01 -4.54646273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05587156000001 meters 0.017249816466544766 Centerline is valid? [True, True] Translation: X:108.74, Y:-13.53, Z:-4.55 [[ 9.77754101e-01 2.06704758e-01 3.56379146e-02 1.08739592e+02] [-2.06583881e-01 9.78403266e-01 -7.08158879e-03 -1.35296548e+01] [-3.63320501e-02 -4.38166239e-04 9.99339677e-01 -4.54873109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08587156 meters 0.01578127396482264 Centerline is valid? [True, True] Translation: X:108.77, Y:-13.54, Z:-4.55 [[ 9.78105917e-01 2.05036074e-01 3.56233501e-02 1.08769759e+02] [-2.04913965e-01 9.78754347e-01 -7.08488265e-03 -1.35362675e+01] [-3.63191653e-02 -3.69956282e-04 9.99340173e-01 -4.55045379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11587156 meters 0.014191902046491112 Centerline is valid? [True, True] Translation: X:108.80, Y:-13.54, Z:-4.55 [[ 9.78471488e-01 2.03342973e-01 3.52871289e-02 1.08800939e+02] [-2.03221864e-01 9.79107525e-01 -7.02341360e-03 -1.35435858e+01] [-3.59780553e-02 -2.98906146e-04 9.99352535e-01 -4.55209251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14587156 meters 0.01195781065213022 Centerline is valid? [True, True] Translation: X:108.83, Y:-13.55, Z:-4.55 [[ 9.79227507e-01 1.99728792e-01 3.49556861e-02 1.08831918e+02] [-1.99607432e-01 9.79851205e-01 -6.96337034e-03 -1.35526540e+01] [-3.56421567e-02 -1.58690973e-04 9.99364604e-01 -4.55437840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17587156 meters 0.01117283874714546 Centerline is valid? [True, True] Translation: X:108.86, Y:-13.56, Z:-4.55 [[ 9.79462978e-01 1.98536481e-01 3.51502568e-02 1.08863583e+02] [-1.98412783e-01 9.80093492e-01 -7.00812062e-03 -1.35599411e+01] [-3.58419055e-02 -1.10065585e-04 9.99357466e-01 -4.55432484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20587156 meters 0.010958104010886378 Centerline is valid? [True, True] Translation: X:108.89, Y:-13.57, Z:-4.56 [[ 9.79619806e-01 1.97742175e-01 3.52571603e-02 1.08894650e+02] [-1.97616986e-01 9.80254062e-01 -7.03561909e-03 -1.35656816e+01] [-3.59522133e-02 -7.51819680e-05 9.99353507e-01 -4.55562721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23587156 meters 0.015861771251445864 Centerline is valid? [True, True] Translation: X:108.93, Y:-13.57, Z:-4.56 [[ 9.79994276e-01 1.95877570e-01 3.52589864e-02 1.08927451e+02] [-1.95750924e-01 9.80628359e-01 -7.04259038e-03 -1.35721606e+01] [-3.59554475e-02 -2.80923110e-07 9.99353394e-01 -4.55714659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26587156000001 meters 0.010898003727753501 Centerline is valid? [True, True] Translation: X:108.96, Y:-13.58, Z:-4.56 [[ 9.80186555e-01 1.94818404e-01 3.57785892e-02 1.08959869e+02] [-1.94687024e-01 9.80839328e-01 -7.15370059e-03 -1.35798115e+01] [-3.64867199e-02 4.63340635e-05 9.99334137e-01 -4.55809086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29587156000001 meters 0.011082990177250259 Centerline is valid? [True, True] Translation: X:108.99, Y:-13.59, Z:-4.56 [[ 9.80388518e-01 1.93756354e-01 3.60115078e-02 1.08990814e+02] [-1.93622270e-01 9.81049676e-01 -7.20764527e-03 -1.35875411e+01] [-3.67256051e-02 9.36627855e-05 9.99325383e-01 -4.55907861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32587156000001 meters 0.01177204461254653 Centerline is valid? [True, True] Translation: X:109.02, Y:-13.60, Z:-4.56 [[ 9.80776528e-01 1.91621137e-01 3.68611191e-02 1.09022640e+02] [-1.91478880e-01 9.81468953e-01 -7.38463002e-03 -1.35959387e+01] [-3.75930952e-02 1.84545981e-04 9.99293113e-01 -4.55831970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35587156000001 meters 0.012789141685137912 Centerline is valid? [True, True] Translation: X:109.05, Y:-13.60, Z:-4.56 [[ 9.80938801e-01 1.90725276e-01 3.71878667e-02 1.09053778e+02] [-1.90579547e-01 9.81643427e-01 -7.45784407e-03 -1.36042665e+01] [-3.79276243e-02 2.28441840e-04 9.99280463e-01 -4.56021731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38587156000001 meters 0.013732834986076628 Centerline is valid? [True, True] Translation: X:109.09, Y:-13.61, Z:-4.56 [[ 9.81155807e-01 1.89598114e-01 3.72268394e-02 1.09085182e+02] [-1.89450994e-01 9.81861740e-01 -7.47286494e-03 -1.36127510e+01] [-3.79684504e-02 2.79383095e-04 9.99278899e-01 -4.56175933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41587156000001 meters 0.014726798576986309 Centerline is valid? [True, True] Translation: X:109.12, Y:-13.62, Z:-4.56 [[ 9.81508282e-01 1.87740173e-01 3.73513016e-02 1.09116372e+02] [-1.87590480e-01 9.82218661e-01 -7.50420706e-03 -1.36215286e+01] [-3.80959866e-02 3.58692782e-04 9.99274020e-01 -4.56277680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44587156000001 meters 0.02658515913027246 Centerline is valid? [True, True] Translation: X:109.15, Y:-13.63, Z:-4.56 [[ 9.81626243e-01 1.87182862e-01 3.70472023e-02 1.09147133e+02] [-1.87034955e-01 9.82325012e-01 -7.44959022e-03 -1.36291441e+01] [-3.77868290e-02 3.83591444e-04 9.99285749e-01 -4.56471807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47587156 meters 0.01669830955171005 Centerline is valid? [True, True] Translation: X:109.18, Y:-13.64, Z:-4.57 [[ 9.81736145e-01 1.86698566e-01 3.65757822e-02 1.09177199e+02] [-1.86553805e-01 9.82417163e-01 -7.36176668e-03 -1.36381866e+01] [-3.73071075e-02 4.03961095e-04 9.99303766e-01 -4.56746598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50587156 meters 0.029905426819792733 Centerline is valid? [True, True] Translation: X:109.21, Y:-13.65, Z:-4.57 [[ 9.81774745e-01 1.86509905e-01 3.65021371e-02 1.09208823e+02] [-1.86365494e-01 9.82452994e-01 -7.34968852e-03 -1.36461736e+01] [-3.72324236e-02 4.12999749e-04 9.99306548e-01 -4.57013917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53587156 meters 0.02294265213537691 Centerline is valid? [True, True] Translation: X:109.24, Y:-13.65, Z:-4.57 [[ 9.81768106e-01 1.86621433e-01 3.61085413e-02 1.09240592e+02] [-1.86479942e-01 9.82431815e-01 -7.27733250e-03 -1.36538949e+01] [-3.68322860e-02 4.11134255e-04 9.99321377e-01 -4.57079962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56587156 meters 0.016437056034384917 Centerline is valid? [True, True] Translation: X:109.27, Y:-13.66, Z:-4.57 [[ 9.81723867e-01 1.86908487e-01 3.58255014e-02 1.09271612e+02] [-1.86769129e-01 9.82377246e-01 -7.22762863e-03 -1.36610996e+01] [-3.65450626e-02 4.04437842e-04 9.99331924e-01 -4.57288728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59587156 meters 0.02969405346066753 Centerline is valid? [True, True] Translation: X:109.30, Y:-13.67, Z:-4.58 [[ 9.81576276e-01 1.87723291e-01 3.56087114e-02 1.09302117e+02] [-1.87585878e-01 9.82221880e-01 -7.19140476e-03 -1.36672397e+01] [-3.63256497e-02 3.79220924e-04 9.99339934e-01 -4.57621401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62587156000001 meters 0.01430574710086326 Centerline is valid? [True, True] Translation: X:109.33, Y:-13.67, Z:-4.58 [[ 9.81199703e-01 1.89704998e-01 3.54845840e-02 1.09333497e+02] [-1.89569735e-01 9.81841087e-01 -7.16913346e-03 -1.36729201e+01] [-3.62002430e-02 3.07548432e-04 9.99344509e-01 -4.57663477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65587156000001 meters 0.013335358925624792 Centerline is valid? [True, True] Translation: X:109.37, Y:-13.68, Z:-4.58 [[ 9.80915584e-01 1.91180347e-01 3.54216235e-02 1.09365206e+02] [-1.91046299e-01 9.81554893e-01 -7.16266347e-03 -1.36790721e+01] [-3.61376283e-02 2.58798149e-04 9.99346789e-01 -4.57773160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68587156000001 meters 0.012574975489498784 Centerline is valid? [True, True] Translation: X:109.40, Y:-13.68, Z:-4.58 [[ 9.80604147e-01 1.92828880e-01 3.51074065e-02 1.09395632e+02] [-1.92698030e-01 9.81232379e-01 -7.10542574e-03 -1.36843690e+01] [-3.58186553e-02 2.02481888e-04 9.99358286e-01 -4.57991445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71587156000001 meters 0.01126157860792511 Centerline is valid? [True, True] Translation: X:109.43, Y:-13.69, Z:-4.58 [[ 9.79907425e-01 1.96372310e-01 3.49192456e-02 1.09426875e+02] [-1.96244902e-01 9.80529403e-01 -7.07309337e-03 -1.36879572e+01] [-3.56283068e-02 7.82527805e-05 9.99365107e-01 -4.58191392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74587156000001 meters 0.010829581045309882 Centerline is valid? [True, True] Translation: X:109.46, Y:-13.69, Z:-4.58 [[ 9.79504254e-01 1.98291245e-01 3.53835998e-02 1.09457275e+02] [-1.98161442e-01 9.80143144e-01 -7.17361471e-03 -1.36924153e+01] [-3.61034577e-02 1.49209582e-05 9.99348058e-01 -4.58324424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77587156000001 meters 0.03670398370099608 Centerline is valid? [True, True] Translation: X:109.49, Y:-13.70, Z:-4.58 [[ 9.79047399e-01 2.00552764e-01 3.52814337e-02 1.09490488e+02] [-2.00425085e-01 9.79682900e-01 -7.15546196e-03 -1.36969448e+01] [-3.59996650e-02 -6.57479265e-05 9.99351800e-01 -4.58462812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80587156000001 meters 0.014037837019267764 Centerline is valid? [True, True] Translation: X:109.52, Y:-13.70, Z:-4.59 [[ 9.78672020e-01 2.02411701e-01 3.50796334e-02 1.09523619e+02] [-2.02286421e-01 9.79300509e-01 -7.12154918e-03 -1.37016068e+01] [-3.57949878e-02 -1.26472572e-04 9.99359146e-01 -4.58592307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83587156 meters 0.03028596949603391 Centerline is valid? [True, True] Translation: X:109.55, Y:-13.70, Z:-4.59 [[ 9.77995243e-01 2.05789043e-01 3.42954013e-02 1.09554679e+02] [-2.05671105e-01 9.78596349e-01 -6.97016544e-03 -1.37028801e+01] [-3.49957382e-02 -2.36784422e-04 9.99387434e-01 -4.59046614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86587156 meters 0.014156613826511911 Centerline is valid? [True, True] Translation: X:109.59, Y:-13.71, Z:-4.59 [[ 9.77716140e-01 2.07131736e-01 3.41700764e-02 1.09586773e+02] [-2.07015392e-01 9.78313020e-01 -6.94714192e-03 -1.37082302e+01] [-3.48680042e-02 -2.81398960e-04 9.99391887e-01 -4.59112079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89587156 meters 0.015108852204867823 Centerline is valid? [True, True] Translation: X:109.62, Y:-13.71, Z:-4.59 [[ 9.77456916e-01 2.08350175e-01 3.41786723e-02 1.09617473e+02] [-2.08234304e-01 9.78054243e-01 -6.95497070e-03 -1.37127718e+01] [-3.48776648e-02 -3.18987827e-04 9.99391538e-01 -4.59277830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92587156 meters 0.015985591682573245 Centerline is valid? [True, True] Translation: X:109.65, Y:-13.72, Z:-4.59 [[ 9.77235009e-01 2.09372180e-01 3.42786658e-02 1.09649099e+02] [-2.09256072e-01 9.77835961e-01 -6.98063542e-03 -1.37185239e+01] [-3.49804630e-02 -3.51297654e-04 9.99387935e-01 -4.59469387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95587156 meters 0.015147896462183653 Centerline is valid? [True, True] Translation: X:109.68, Y:-13.73, Z:-4.59 [[ 9.77208322e-01 2.09410844e-01 3.47993419e-02 1.09679896e+02] [-2.09290972e-01 9.77827682e-01 -7.09323217e-03 -1.37263655e+01] [-3.55131596e-02 -3.51622598e-04 9.99369147e-01 -4.59449643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98587156 meters 0.014818839032156625 Centerline is valid? [True, True] Translation: X:109.71, Y:-13.73, Z:-4.60 [[ 9.77268247e-01 2.09030687e-01 3.53969612e-02 1.09710739e+02] [-2.08906159e-01 9.77909024e-01 -7.22208835e-03 -1.37333135e+01] [-3.61246459e-02 -3.36725570e-04 9.99347235e-01 -4.59506000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01587156000001 meters 0.013925984968803071 Centerline is valid? [True, True] Translation: X:109.74, Y:-13.74, Z:-4.60 [[ 9.77574994e-01 2.07468546e-01 3.61100180e-02 1.09740608e+02] [-2.07337746e-01 9.78241649e-01 -7.37126104e-03 -1.37419708e+01] [-3.68536283e-02 -2.81009269e-04 9.99320635e-01 -4.59551904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04587156000001 meters 0.025822184753018528 Centerline is valid? [True, True] Translation: X:109.77, Y:-13.75, Z:-4.60 [[ 9.77675321e-01 2.06872639e-01 3.68059388e-02 1.09771330e+02] [-2.06736203e-01 9.78367847e-01 -7.51657895e-03 -1.37501395e+01] [-3.75647216e-02 -2.60346285e-04 9.99294163e-01 -4.59635213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07587156000001 meters 0.012397168577873019 Centerline is valid? [True, True] Translation: X:109.80, Y:-13.76, Z:-4.60 [[ 9.77903893e-01 2.05764566e-01 3.69448239e-02 1.09802209e+02] [-2.05626074e-01 9.78601501e-01 -7.55111780e-03 -1.37586129e+01] [-3.77080126e-02 -2.12551601e-04 9.99288777e-01 -4.59695829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10587156000001 meters 0.011407720141214337 Centerline is valid? [True, True] Translation: X:109.83, Y:-13.77, Z:-4.60 [[ 9.78241446e-01 2.04256072e-01 3.63748726e-02 1.09834008e+02] [-2.04120564e-01 9.78917482e-01 -7.44039616e-03 -1.37696557e+01] [-3.71277448e-02 -1.46355626e-04 9.99310517e-01 -4.59896270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13587156000001 meters 0.01115970394457841 Centerline is valid? [True, True] Translation: X:109.86, Y:-13.78, Z:-4.60 [[ 9.78404477e-01 2.03578631e-01 3.57829655e-02 1.09864592e+02] [-2.03446787e-01 9.79058593e-01 -7.32643814e-03 -1.37781969e+01] [-3.65251261e-02 -1.11709467e-04 9.99332729e-01 -4.60167107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16587156000001 meters 0.010896489789076515 Centerline is valid? [True, True] Translation: X:109.90, Y:-13.79, Z:-4.60 [[ 9.78540453e-01 2.02988505e-01 3.54153827e-02 1.09896815e+02] [-2.02858738e-01 9.79181117e-01 -7.25756823e-03 -1.37871534e+01] [-3.61512769e-02 -8.24957468e-05 9.99346326e-01 -4.60340186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19587156000001 meters 0.010816067705300619 Centerline is valid? [True, True] Translation: X:109.93, Y:-13.80, Z:-4.61 [[ 9.78715228e-01 2.02161074e-01 3.53185804e-02 1.09927544e+02] [-2.02031215e-01 9.79352285e-01 -7.24501538e-03 -1.37956573e+01] [-3.60539925e-02 -4.46488175e-05 9.99349842e-01 -4.60582268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22587156 meters 0.010816067705300619 Centerline is valid? [True, True] Translation: X:109.96, Y:-13.80, Z:-4.61 [[ 9.78676364e-01 2.02349362e-01 3.53172770e-02 1.09959314e+02] [-2.02219395e-01 9.79313399e-01 -7.25136279e-03 -1.38023751e+01] [-3.60539912e-02 -4.51010309e-05 9.99349842e-01 -4.60728716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25587156 meters 0.02402040191655566 Centerline is valid? [True, True] Translation: X:109.99, Y:-13.81, Z:-4.61 [[ 9.78646547e-01 2.02544516e-01 3.50236295e-02 1.09991373e+02] [-2.02416579e-01 9.79273055e-01 -7.19801164e-03 -1.38098713e+01] [-3.57556145e-02 -4.50540488e-05 9.99360563e-01 -4.60957439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28587156 meters 0.011067450168310403 Centerline is valid? [True, True] Translation: X:110.02, Y:-13.82, Z:-4.61 [[ 9.78653246e-01 2.02575234e-01 3.46568608e-02 1.10022993e+02] [-2.02449735e-01 9.79266702e-01 -7.12963352e-03 -1.38168039e+01] [-3.53825969e-02 -3.88332989e-05 9.99373839e-01 -4.61144192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31587156 meters 0.011015499246664283 Centerline is valid? [True, True] Translation: X:110.06, Y:-13.82, Z:-4.61 [[ 9.78625572e-01 2.02711708e-01 3.46403394e-02 1.10055091e+02] [-2.02586189e-01 9.79238460e-01 -7.13260679e-03 -1.38235893e+01] [-3.53670155e-02 -3.75029206e-05 9.99374391e-01 -4.61272253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34587156 meters 0.011164572951955276 Centerline is valid? [True, True] Translation: X:110.09, Y:-13.83, Z:-4.62 [[ 9.78582816e-01 2.02949533e-01 3.44551726e-02 1.10086174e+02] [-2.02825234e-01 9.79189198e-01 -7.10202927e-03 -1.38309313e+01] [-3.51794863e-02 -3.84546533e-05 9.99381010e-01 -4.61504154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37587156000001 meters 0.011459058942630093 Centerline is valid? [True, True] Translation: X:110.12, Y:-13.84, Z:-4.62 [[ 9.78524184e-01 2.03235022e-01 3.44375696e-02 1.10117761e+02] [-2.03110897e-01 9.79129983e-01 -7.10211106e-03 -1.38381612e+01] [-3.51622547e-02 -4.50582205e-05 9.99381616e-01 -4.61803343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40587156000001 meters 0.01145269053517584 Centerline is valid? [True, True] Translation: X:110.15, Y:-13.85, Z:-4.62 [[ 9.78464098e-01 2.03603802e-01 3.39632202e-02 1.10149658e+02] [-2.03483087e-01 9.79053364e-01 -7.01028634e-03 -1.38450625e+01] [-3.46791259e-02 -5.16273690e-05 9.99398497e-01 -4.61934827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43587156000001 meters 0.021282723438807827 Centerline is valid? [True, True] Translation: X:110.18, Y:-13.85, Z:-4.62 [[ 9.78354659e-01 2.04058101e-01 3.43867999e-02 1.10181882e+02] [-2.03934404e-01 9.78958777e-01 -7.10431006e-03 -1.38511134e+01] [-3.51129516e-02 -6.21166955e-05 9.99383348e-01 -4.61936022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46587156000001 meters 0.01787167701095059 Centerline is valid? [True, True] Translation: X:110.21, Y:-13.86, Z:-4.62 [[ 9.78358127e-01 2.03993365e-01 3.46710681e-02 1.10214341e+02] [-2.03867322e-01 9.78972269e-01 -7.17012222e-03 -1.38582427e+01] [-3.54046716e-02 -5.33504627e-05 9.99373057e-01 -4.62076025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49587156000001 meters 0.022688568980258193 Centerline is valid? [True, True] Translation: X:110.25, Y:-13.87, Z:-4.62 [[ 9.78388339e-01 2.03804975e-01 3.49254991e-02 1.10245055e+02] [-2.03676697e-01 9.79011507e-01 -7.22995713e-03 -1.38655593e+01] [-3.56659667e-02 -3.98045702e-05 9.99363766e-01 -4.62230770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52587156000001 meters 0.010771402281529943 Centerline is valid? [True, True] Translation: X:110.28, Y:-13.88, Z:-4.62 [[ 9.78690124e-01 2.02242712e-01 3.55461153e-02 1.10277011e+02] [-2.02108559e-01 9.79335430e-01 -7.36516560e-03 -1.38752653e+01] [-3.63011212e-02 2.40406807e-05 9.99340897e-01 -4.62252525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55587156000001 meters 0.0109949542864471 Centerline is valid? [True, True] Translation: X:110.31, Y:-13.88, Z:-4.62 [[ 9.78834201e-01 2.01487047e-01 3.58688892e-02 1.10307670e+02] [-2.01349646e-01 9.79491177e-01 -7.44000607e-03 -1.38836840e+01] [-3.66323253e-02 6.03442438e-05 9.99328809e-01 -4.62362701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58587156 meters 0.020158359615842773 Centerline is valid? [True, True] Translation: X:110.34, Y:-13.89, Z:-4.62 [[ 9.78990279e-01 2.00746088e-01 3.57637041e-02 1.10339409e+02] [-2.00608857e-01 9.79643302e-01 -7.42205348e-03 -1.38918928e+01] [-3.65256214e-02 9.16024082e-05 9.99332713e-01 -4.62458291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61587156 meters 0.01413433057657834 Centerline is valid? [True, True] Translation: X:110.37, Y:-13.90, Z:-4.63 [[ 9.79121430e-01 2.00116024e-01 3.57043608e-02 1.10370845e+02] [-1.99978564e-01 9.79772199e-01 -7.41701021e-03 -1.38999785e+01] [-3.64664027e-02 1.22046854e-04 9.99334872e-01 -4.62581395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64587156 meters 0.02838858381363274 Centerline is valid? [True, True] Translation: X:110.40, Y:-13.91, Z:-4.63 [[ 9.79296806e-01 1.99210455e-01 3.59577481e-02 1.10402870e+02] [-1.99070180e-01 9.79956717e-01 -7.47634334e-03 -1.39086717e+01] [-3.67264026e-02 1.63443768e-04 9.99325345e-01 -4.62701788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67587156 meters 0.012352996132707829 Centerline is valid? [True, True] Translation: X:110.43, Y:-13.92, Z:-4.63 [[ 9.79428525e-01 1.98588556e-01 3.58099095e-02 1.10434499e+02] [-1.98448753e-01 9.80082929e-01 -7.45280763e-03 -1.39170522e+01] [-3.65767233e-02 1.93060518e-04 9.99330829e-01 -4.62837012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70587156 meters 0.012571121746683822 Centerline is valid? [True, True] Translation: X:110.47, Y:-13.93, Z:-4.63 [[ 9.79500369e-01 1.98246331e-01 3.57410154e-02 1.10466134e+02] [-1.98106574e-01 9.80152206e-01 -7.44568106e-03 -1.39254932e+01] [-3.65077141e-02 2.12517206e-04 9.99333349e-01 -4.62988094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73587156 meters 0.02095720535636048 Centerline is valid? [True, True] Translation: X:110.50, Y:-13.93, Z:-4.63 [[ 9.79555118e-01 1.97983571e-01 3.56970066e-02 1.10496376e+02] [-1.97843713e-01 9.80205312e-01 -7.44393880e-03 -1.39348314e+01] [-3.64641731e-02 2.29320032e-04 9.99334935e-01 -4.63230774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76587156000001 meters 0.013943142499630672 Centerline is valid? [True, True] Translation: X:110.53, Y:-13.95, Z:-4.63 [[ 9.79716614e-01 1.97169421e-01 3.57711644e-02 1.10527788e+02] [-1.97028190e-01 9.80369394e-01 -7.46619775e-03 -1.39454223e+01] [-3.65410607e-02 2.66830184e-04 9.99332117e-01 -4.63311866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79587156000001 meters 0.014880414453775082 Centerline is valid? [True, True] Translation: X:110.56, Y:-13.95, Z:-4.64 [[ 9.79772124e-01 1.96979176e-01 3.52957338e-02 1.10558290e+02] [-1.96841299e-01 9.80407633e-01 -7.37400019e-03 -1.39537888e+01] [-3.60567313e-02 2.77181757e-04 9.99349706e-01 -4.63618237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82587156000001 meters 0.014268020862470749 Centerline is valid? [True, True] Translation: X:110.59, Y:-13.96, Z:-4.64 [[ 9.79754106e-01 1.97107706e-01 3.50776805e-02 1.10590315e+02] [-1.96971383e-01 9.80381801e-01 -7.33477261e-03 -1.39601158e+01] [-3.58352598e-02 2.76974331e-04 9.99357672e-01 -4.63708595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85587156000001 meters 0.01454949893659215 Centerline is valid? [True, True] Translation: X:110.62, Y:-13.97, Z:-4.64 [[ 9.79726713e-01 1.97321891e-01 3.46358222e-02 1.10621639e+02] [-1.97188869e-01 9.80338716e-01 -7.24932666e-03 -1.39677180e+01] [-3.53852883e-02 2.72560363e-04 9.99373707e-01 -4.63982754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88587156000001 meters 0.020316474563855456 Centerline is valid? [True, True] Translation: X:110.65, Y:-13.98, Z:-4.64 [[ 9.79713676e-01 1.97500953e-01 3.39777254e-02 1.10653406e+02] [-1.97372837e-01 9.80302659e-01 -7.11763569e-03 -1.39769501e+01] [-3.47141943e-02 2.66964970e-04 9.99397245e-01 -4.64227186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91587156000001 meters 0.02419365368125099 Centerline is valid? [True, True] Translation: X:110.68, Y:-13.98, Z:-4.64 [[ 9.79557179e-01 1.98214924e-01 3.43303995e-02 1.10684510e+02] [-1.98084324e-01 9.80158549e-01 -7.19860959e-03 -1.39834140e+01] [-3.50761064e-02 2.51135729e-04 9.99384612e-01 -4.64235245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94587156000001 meters 0.013782310298398754 Centerline is valid? [True, True] Translation: X:110.72, Y:-13.99, Z:-4.64 [[ 9.79428905e-01 1.98829139e-01 3.44382610e-02 1.10715189e+02] [-1.98697852e-01 9.80034141e-01 -7.22815996e-03 -1.39901062e+01] [-3.51878404e-02 2.36660312e-04 9.99380688e-01 -4.64435112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97587156 meters 0.013084499510239787 Centerline is valid? [True, True] Translation: X:110.75, Y:-14.00, Z:-4.65 [[ 9.79214067e-01 1.99904213e-01 3.43237132e-02 1.10747385e+02] [-1.99774372e-01 9.79815424e-01 -7.20656226e-03 -1.39962166e+01] [-3.50715257e-02 1.99768878e-04 9.99384785e-01 -4.64515161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00587156 meters 0.011862063277909101 Centerline is valid? [True, True] Translation: X:110.78, Y:-14.00, Z:-4.65 [[ 9.78709300e-01 2.02194191e-01 3.52932699e-02 1.10777831e+02] [-2.02058117e-01 9.79345441e-01 -7.41787282e-03 -1.40013717e+01] [-3.60641538e-02 1.28649462e-04 9.99349469e-01 -4.64511431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03587156 meters 0.01619706023402995 Centerline is valid? [True, True] Translation: X:110.81, Y:-14.01, Z:-4.65 [[ 9.78405048e-01 2.03620590e-01 3.55277118e-02 1.10808979e+02] [-2.03483427e-01 9.79049870e-01 -7.47303164e-03 -1.40064727e+01] [-3.63050647e-02 8.23513137e-05 9.99340750e-01 -4.64688731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06587156 meters 0.01789978484206579 Centerline is valid? [True, True] Translation: X:110.84, Y:-14.01, Z:-4.65 [[ 9.78142896e-01 2.04934937e-01 3.51873121e-02 1.10841063e+02] [-2.04801052e-01 9.78775598e-01 -7.40667379e-03 -1.40118643e+01] [-3.59583687e-02 3.83868151e-05 9.99353288e-01 -4.64775215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09587156 meters 0.010847252883242052 Centerline is valid? [True, True] Translation: X:110.87, Y:-14.02, Z:-4.65 [[ 9.77794739e-01 2.06565163e-01 3.53310241e-02 1.10873606e+02] [-2.06430992e-01 9.78432846e-01 -7.44394713e-03 -1.40185692e+01] [-3.61066946e-02 -1.47660066e-05 9.99347941e-01 -4.64884406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12587156000001 meters 0.01113535727302885 Centerline is valid? [True, True] Translation: X:110.90, Y:-14.02, Z:-4.65 [[ 9.77607284e-01 2.07474800e-01 3.51881472e-02 1.10904850e+02] [-2.07342039e-01 9.78240362e-01 -7.42114549e-03 -1.40249336e+01] [-3.59621665e-02 -4.10163097e-05 9.99353151e-01 -4.65136544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15587156000001 meters 0.026928595776425125 Centerline is valid? [True, True] Translation: X:110.94, Y:-14.03, Z:-4.65 [[ 9.77500834e-01 2.08053707e-01 3.47242739e-02 1.10936029e+02] [-2.07924556e-01 9.78117402e-01 -7.32986858e-03 -1.40309999e+01] [-3.54894229e-02 -5.50765957e-05 9.99370050e-01 -4.65383772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18587156000001 meters 0.011418617440932153 Centerline is valid? [True, True] Translation: X:110.97, Y:-14.04, Z:-4.66 [[ 9.77409688e-01 2.08523185e-01 3.44729246e-02 1.10968403e+02] [-2.08395971e-01 9.78017422e-01 -7.28303156e-03 -1.40371508e+01] [-3.52338017e-02 -6.55129645e-05 9.99379095e-01 -4.65535859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21587156000001 meters 0.011453352418011147 Centerline is valid? [True, True] Translation: X:111.00, Y:-14.04, Z:-4.66 [[ 9.77290239e-01 2.09076477e-01 3.45081898e-02 1.11000448e+02] [-2.08949107e-01 9.77899290e-01 -7.29728572e-03 -1.40435720e+01] [-3.52712251e-02 -7.88893214e-05 9.99377774e-01 -4.65691769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24587156000001 meters 0.011368067858147713 Centerline is valid? [True, True] Translation: X:111.03, Y:-14.05, Z:-4.66 [[ 9.77222778e-01 2.09336911e-01 3.48382065e-02 1.11032131e+02] [-2.09207009e-01 9.77843572e-01 -7.37403746e-03 -1.40509777e+01] [-3.56099745e-02 -8.23196205e-05 9.99365760e-01 -4.65805038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27587156000001 meters 0.011533536283902485 Centerline is valid? [True, True] Translation: X:111.06, Y:-14.06, Z:-4.66 [[ 9.77180429e-01 2.09512088e-01 3.49727494e-02 1.11063668e+02] [-2.09381040e-01 9.77806053e-01 -7.40959559e-03 -1.40585796e+01] [-3.57489659e-02 -8.21188309e-05 9.99360798e-01 -4.66005767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30587156000001 meters 0.028259707780093218 Centerline is valid? [True, True] Translation: X:111.09, Y:-14.07, Z:-4.66 [[ 9.77133858e-01 2.09865289e-01 3.41465018e-02 1.11094973e+02] [-2.09740360e-01 9.77730307e-01 -7.24075394e-03 -1.40666603e+01] [-3.49056526e-02 -8.67137410e-05 9.99390608e-01 -4.66145896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33587156 meters 0.011736245276256347 Centerline is valid? [True, True] Translation: X:111.13, Y:-14.07, Z:-4.66 [[ 9.77126599e-01 2.09949680e-01 3.38340353e-02 1.11126587e+02] [-2.09826861e-01 9.77712189e-01 -7.18076651e-03 -1.40735547e+01] [-3.45875484e-02 -8.27714632e-05 9.99401668e-01 -4.66398329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36587156 meters 0.01193845246736957 Centerline is valid? [True, True] Translation: X:111.16, Y:-14.08, Z:-4.67 [[ 9.77061857e-01 2.10302876e-01 3.35086097e-02 1.11158084e+02] [-2.10182499e-01 9.77636278e-01 -7.11513087e-03 -1.40798101e+01] [-3.42555649e-02 -9.10003335e-05 9.99413102e-01 -4.66665725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39587156 meters 0.011843039403628266 Centerline is valid? [True, True] Translation: X:111.19, Y:-14.09, Z:-4.67 [[ 9.76987053e-01 2.10644842e-01 3.35417414e-02 1.11189875e+02] [-2.10524224e-01 9.77562653e-01 -7.12813891e-03 -1.40868813e+01] [-3.42906594e-02 -9.72496330e-05 9.99411898e-01 -4.66753182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42587156 meters 0.012054675149811171 Centerline is valid? [True, True] Translation: X:111.22, Y:-14.09, Z:-4.67 [[ 9.76826219e-01 2.11365101e-01 3.36946890e-02 1.11221015e+02] [-2.11243548e-01 9.77407172e-01 -7.16817503e-03 -1.40943198e+01] [-3.44485328e-02 -1.15724337e-04 9.99406466e-01 -4.66916260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45587156 meters 0.029687368768972117 Centerline is valid? [True, True] Translation: X:111.25, Y:-14.10, Z:-4.67 [[ 9.76630903e-01 2.12304814e-01 3.34476466e-02 1.11252936e+02] [-2.12185475e-01 9.77203482e-01 -7.11892947e-03 -1.41007644e+01] [-3.41965397e-02 -1.44538256e-04 9.99415117e-01 -4.67042377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48587156 meters 0.012655000218535684 Centerline is valid? [True, True] Translation: X:111.28, Y:-14.11, Z:-4.67 [[ 9.76435848e-01 2.13217905e-01 3.33340618e-02 1.11284922e+02] [-2.13099684e-01 9.77004655e-01 -7.10129017e-03 -1.41067722e+01] [-3.40816558e-02 -1.69523772e-04 9.99419037e-01 -4.67089537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51587156000001 meters 0.014150606601535144 Centerline is valid? [True, True] Translation: X:111.32, Y:-14.11, Z:-4.67 [[ 9.75917869e-01 2.15631341e-01 3.29763290e-02 1.11316229e+02] [-2.15516787e-01 9.76474815e-01 -7.03202370e-03 -1.41096314e+01] [-3.37168795e-02 -2.44274889e-04 9.99431395e-01 -4.67340254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54587156000001 meters 0.015132419420631078 Centerline is valid? [True, True] Translation: X:111.35, Y:-14.11, Z:-4.67 [[ 9.75625166e-01 2.16946725e-01 3.30099147e-02 1.11347080e+02] [-2.16832509e-01 9.76183404e-01 -7.04454841e-03 -1.41142461e+01] [-3.37520225e-02 -2.84783897e-04 9.99430198e-01 -4.67461412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57587156000001 meters 0.015788071245916045 Centerline is valid? [True, True] Translation: X:111.38, Y:-14.12, Z:-4.68 [[ 9.75315563e-01 2.18295065e-01 3.32688516e-02 1.11380082e+02] [-2.18179663e-01 9.75882758e-01 -7.10478635e-03 -1.41197418e+01] [-3.40174384e-02 -3.29178137e-04 9.99421185e-01 -4.67526186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60587156000001 meters 0.016723979902855814 Centerline is valid? [True, True] Translation: X:111.41, Y:-14.12, Z:-4.68 [[ 9.74980443e-01 2.19731786e-01 3.36315151e-02 1.11411767e+02] [-2.19614468e-01 9.75560250e-01 -7.18921869e-03 -1.41241326e+01] [-3.43892691e-02 -3.76619667e-04 9.99408443e-01 -4.67586315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63587156000001 meters 0.01825247051609157 Centerline is valid? [True, True] Translation: X:111.44, Y:-14.13, Z:-4.68 [[ 9.74614306e-01 2.21412852e-01 3.32160173e-02 1.11443818e+02] [-2.21299201e-01 9.75180070e-01 -7.10602604e-03 -1.41271481e+01] [-3.39649636e-02 -4.25043447e-04 9.99422934e-01 -4.67825258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66587156000001 meters 0.019091277416762864 Centerline is valid? [True, True] Translation: X:111.47, Y:-14.13, Z:-4.68 [[ 9.74485409e-01 2.22023801e-01 3.29183698e-02 1.11474368e+02] [-2.21912310e-01 9.75041149e-01 -7.04875979e-03 -1.41324220e+01] [-3.36617575e-02 -4.36077910e-04 9.99433187e-01 -4.68088385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69587156000001 meters 0.018888863176851334 Centerline is valid? [True, True] Translation: X:111.51, Y:-14.14, Z:-4.68 [[ 9.74419218e-01 2.22330905e-01 3.28048227e-02 1.11507075e+02] [-2.22220292e-01 9.74971165e-01 -7.02635192e-03 -1.41391216e+01] [-3.35459314e-02 -4.43284915e-04 9.99437079e-01 -4.68268978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72587156 meters 0.01836771661938523 Centerline is valid? [True, True] Translation: X:111.54, Y:-14.15, Z:-4.68 [[ 9.74409678e-01 2.22393937e-01 3.26606167e-02 1.11539047e+02] [-2.22284120e-01 9.74956792e-01 -7.00177261e-03 -1.41460388e+01] [-3.33998419e-02 -4.37341443e-04 9.99441974e-01 -4.68348235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75587156 meters 0.017142955442100906 Centerline is valid? [True, True] Translation: X:111.57, Y:-14.15, Z:-4.69 [[ 9.74728215e-01 2.21078589e-01 3.20805876e-02 1.11569889e+02] [-2.20971711e-01 9.75255922e-01 -6.88397290e-03 -1.41542725e+01] [-3.28086821e-02 -3.78899721e-04 9.99461578e-01 -4.68637404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78587156 meters 0.01731034782086273 Centerline is valid? [True, True] Translation: X:111.60, Y:-14.16, Z:-4.69 [[ 9.75018886e-01 2.19812118e-01 3.19500272e-02 1.11599949e+02] [-2.19705241e-01 9.75542169e-01 -6.86168611e-03 -1.41610879e+01] [-3.26768806e-02 -3.29314883e-04 9.99465914e-01 -4.69002652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81587156 meters 0.015279500658742493 Centerline is valid? [True, True] Translation: X:111.63, Y:-14.17, Z:-4.69 [[ 9.75313288e-01 2.18461282e-01 3.22282236e-02 1.11630792e+02] [-2.18351627e-01 9.75845576e-01 -6.92659850e-03 -1.41707193e+01] [-3.29629630e-02 -2.81481505e-04 9.99456534e-01 -4.68958690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84587156 meters 0.014376589624196296 Centerline is valid? [True, True] Translation: X:111.66, Y:-14.18, Z:-4.69 [[ 9.75656705e-01 2.16909574e-01 3.23145565e-02 1.11660958e+02] [-2.16798291e-01 9.76191675e-01 -6.95085949e-03 -1.41789174e+01] [-3.30529090e-02 -2.24087970e-04 9.99453578e-01 -4.69125273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87587156000001 meters 0.011797556889145142 Centerline is valid? [True, True] Translation: X:111.69, Y:-14.19, Z:-4.69 [[ 9.76423315e-01 2.13310562e-01 3.31076099e-02 1.11690936e+02] [-2.13191503e-01 9.76984439e-01 -7.12663519e-03 -1.41919731e+01] [-3.38658063e-02 -9.96483616e-05 9.99426384e-01 -4.68984441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90587156000001 meters 0.016283251449442024 Centerline is valid? [True, True] Translation: X:111.72, Y:-14.20, Z:-4.69 [[ 9.76781292e-01 2.11650722e-01 3.32005897e-02 1.11721041e+02] [-2.11529836e-01 9.77345369e-01 -7.15245657e-03 -1.42018742e+01] [-3.39622652e-02 -3.65295464e-05 9.99423115e-01 -4.69105128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93587156000001 meters 0.011419144582888702 Centerline is valid? [True, True] Translation: X:111.75, Y:-14.21, Z:-4.69 [[ 9.77081007e-01 2.10201655e-01 3.35852789e-02 1.11752481e+02] [-2.10076875e-01 9.77658051e-01 -7.24173156e-03 -1.42112891e+01] [-3.43571423e-02 2.02679216e-05 9.99409619e-01 -4.69154897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96587156000001 meters 0.011702506452107533 Centerline is valid? [True, True] Translation: X:111.78, Y:-14.22, Z:-4.69 [[ 9.77313345e-01 2.09085663e-01 3.37906989e-02 1.11783272e+02] [-2.08958441e-01 9.77897327e-01 -7.29307158e-03 -1.42196858e+01] [-3.45687108e-02 6.67644408e-05 9.99402321e-01 -4.69312125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99587156000001 meters 0.020431098782583687 Centerline is valid? [True, True] Translation: X:111.81, Y:-14.23, Z:-4.70 [[ 9.77618223e-01 2.07710337e-01 3.34518523e-02 1.11813985e+02] [-2.07584629e-01 9.78190371e-01 -7.22635458e-03 -1.42293809e+01] [-3.42232683e-02 1.20525573e-04 9.99414205e-01 -4.69500547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02587156000001 meters 0.014783168556450564 Centerline is valid? [True, True] Translation: X:111.85, Y:-14.24, Z:-4.70 [[ 9.77595665e-01 2.07832979e-01 3.33491902e-02 1.11845622e+02] [-2.07707925e-01 9.78164321e-01 -7.20971563e-03 -1.42370952e+01] [-3.41194046e-02 1.21295659e-04 9.99417756e-01 -4.69608059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05587156000001 meters 0.012159880673741318 Centerline is valid? [True, True] Translation: X:111.88, Y:-14.24, Z:-4.70 [[ 9.77473215e-01 2.08387115e-01 3.34802136e-02 1.11877283e+02] [-2.08261160e-01 9.78046419e-01 -7.24506174e-03 -1.42438027e+01] [-3.42549805e-02 1.09225668e-04 9.99413120e-01 -4.69697764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08587156 meters 0.012078248337022365 Centerline is valid? [True, True] Translation: X:111.91, Y:-14.25, Z:-4.70 [[ 9.77286428e-01 2.09271530e-01 3.34165328e-02 1.11908989e+02] [-2.09146352e-01 9.77857566e-01 -7.23764570e-03 -1.42497462e+01] [-3.41912426e-02 8.43069794e-05 9.99415305e-01 -4.69937443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11587156 meters 0.012078248337022365 Centerline is valid? [True, True] Translation: X:111.94, Y:-14.26, Z:-4.70 [[ 9.77246683e-01 2.09457254e-01 3.34152457e-02 1.11940679e+02] [-2.09331982e-01 9.77817801e-01 -7.24358197e-03 -1.42568183e+01] [-3.41912429e-02 8.38868342e-05 9.99415305e-01 -4.70083894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14587156 meters 0.01868065536289569 Centerline is valid? [True, True] Translation: X:111.97, Y:-14.26, Z:-4.70 [[ 9.76829056e-01 2.11517354e-01 3.26405232e-02 1.11972985e+02] [-2.11398764e-01 9.77374242e-01 -7.08193335e-03 -1.42612235e+01] [-3.33999584e-02 1.76720072e-05 9.99442066e-01 -4.70312862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17587156 meters 0.01193607642865286 Centerline is valid? [True, True] Translation: X:112.01, Y:-14.27, Z:-4.70 [[ 9.76662995e-01 2.12303817e-01 3.25036038e-02 1.12005558e+02] [-2.12186442e-01 9.77203709e-01 -7.05865467e-03 -1.42676691e+01] [-3.32612215e-02 -2.89724010e-06 9.99446692e-01 -4.70456564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20587156 meters 0.011933064972611377 Centerline is valid? [True, True] Translation: X:112.04, Y:-14.27, Z:-4.71 [[ 9.76496026e-01 2.13069622e-01 3.25091847e-02 1.12037924e+02] [-2.12952416e-01 9.77037019e-01 -7.06631790e-03 -1.42743343e+01] [-3.32682946e-02 -2.26780707e-05 9.99446457e-01 -4.70616671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23587156 meters 0.012028643278531778 Centerline is valid? [True, True] Translation: X:112.07, Y:-14.28, Z:-4.71 [[ 9.76457107e-01 2.13222266e-01 3.26769540e-02 1.12069383e+02] [-2.13103710e-01 9.77003718e-01 -7.10943337e-03 -1.42818406e+01] [-3.34413950e-02 -2.15233838e-05 9.99440680e-01 -4.70832920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26587156000001 meters 0.01174238953947988 Centerline is valid? [True, True] Translation: X:112.10, Y:-14.29, Z:-4.71 [[ 9.76655346e-01 2.12236044e-01 3.31692206e-02 1.12100366e+02] [-2.12113112e-01 9.77218431e-01 -7.22262278e-03 -1.42929383e+01] [-3.39464746e-02 1.83865208e-05 9.99423652e-01 -4.70836189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29587156000001 meters 0.01218640860116814 Centerline is valid? [True, True] Translation: X:112.13, Y:-14.30, Z:-4.71 [[ 9.76896348e-01 2.11159405e-01 3.29428448e-02 1.12130930e+02] [-2.11037312e-01 9.77451637e-01 -7.17991097e-03 -1.43030727e+01] [-3.37161433e-02 6.18593840e-05 9.99431447e-01 -4.71016202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32587156000001 meters 0.029057267718449936 Centerline is valid? [True, True] Translation: X:112.16, Y:-14.32, Z:-4.71 [[ 9.77388064e-01 2.08903561e-01 3.27395023e-02 1.12161250e+02] [-2.08781501e-01 9.77936236e-01 -7.14168962e-03 -1.43157354e+01] [-3.35090701e-02 1.44799748e-04 9.99438403e-01 -4.71205735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35587156000001 meters 0.022840436642368622 Centerline is valid? [True, True] Translation: X:112.19, Y:-14.33, Z:-4.71 [[ 9.77525804e-01 2.08200418e-01 3.31042012e-02 1.12192886e+02] [-2.08075035e-01 9.78086169e-01 -7.22668480e-03 -1.43253000e+01] [-3.38833602e-02 1.76113042e-04 9.99425779e-01 -4.71275796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38587156000001 meters 0.013913226751601386 Centerline is valid? [True, True] Translation: X:112.22, Y:-14.33, Z:-4.71 [[ 9.77541495e-01 2.08048437e-01 3.35927616e-02 1.12224427e+02] [-2.07919006e-01 9.78118506e-01 -7.33998454e-03 -1.43346486e+01] [-3.43847741e-02 1.90565862e-04 9.99408651e-01 -4.71383604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41587156000001 meters 0.02139473943592626 Centerline is valid? [True, True] Translation: X:112.26, Y:-14.34, Z:-4.72 [[ 9.77559975e-01 2.07922413e-01 3.38343817e-02 1.12255947e+02] [-2.07790809e-01 9.78145301e-01 -7.39938035e-03 -1.43432291e+01] [-3.46334384e-02 2.02864540e-04 9.99400062e-01 -4.71501481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44587156000001 meters 0.013637937327229253 Centerline is valid? [True, True] Translation: X:112.29, Y:-14.35, Z:-4.72 [[ 9.77369799e-01 2.08756833e-01 3.41886004e-02 1.12286302e+02] [-2.08622721e-01 9.77967562e-01 -7.48389582e-03 -1.43517818e+01] [-3.49976565e-02 1.82014909e-04 9.99387378e-01 -4.71571400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47587156 meters 0.013476204233381132 Centerline is valid? [True, True] Translation: X:112.32, Y:-14.36, Z:-4.72 [[ 9.77252461e-01 2.09364479e-01 3.38251711e-02 1.12317962e+02] [-2.09233400e-01 9.77837659e-01 -7.40918744e-03 -1.43590826e+01] [-3.46267468e-02 1.63291108e-04 9.99400301e-01 -4.71811090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50587156 meters 0.013251825795444807 Centerline is valid? [True, True] Translation: X:112.35, Y:-14.37, Z:-4.72 [[ 9.77126256e-01 2.10004875e-01 3.34997310e-02 1.12349591e+02] [-2.09876467e-01 9.77700328e-01 -7.34418499e-03 -1.43668915e+01] [-3.42950127e-02 1.45390774e-04 9.99411742e-01 -4.72002116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53587156 meters 0.013159251513160686 Centerline is valid? [True, True] Translation: X:112.38, Y:-14.37, Z:-4.72 [[ 9.77012531e-01 2.10490037e-01 3.37706852e-02 1.12380973e+02] [-2.10359603e-01 9.77595993e-01 -7.41020882e-03 -1.43749077e+01] [-3.45738617e-02 1.35878923e-04 9.99402136e-01 -4.72136437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56587156 meters 0.012885110562997733 Centerline is valid? [True, True] Translation: X:112.41, Y:-14.38, Z:-4.72 [[ 9.76879448e-01 2.11077308e-01 3.39545953e-02 1.12413183e+02] [-2.10945597e-01 9.77469363e-01 -7.45653665e-03 -1.43830807e+01] [-3.47634824e-02 1.21565036e-04 9.99395560e-01 -4.72234171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59587156 meters 0.013076944381478828 Centerline is valid? [True, True] Translation: X:112.44, Y:-14.39, Z:-4.73 [[ 9.76846808e-01 2.11297968e-01 3.35184051e-02 1.12444002e+02] [-2.11169533e-01 9.77421687e-01 -7.36705221e-03 -1.43901458e+01] [-3.43182592e-02 1.18415480e-04 9.99410948e-01 -4.72515754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62587156000001 meters 0.013315541040966385 Centerline is valid? [True, True] Translation: X:112.48, Y:-14.40, Z:-4.73 [[ 9.76850261e-01 2.11382625e-01 3.28778432e-02 1.12476237e+02] [-2.11258917e-01 9.77403382e-01 -7.23174115e-03 -1.43986172e+01] [-3.36635796e-02 1.18590667e-04 9.99433214e-01 -4.72754991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65587156000001 meters 0.01303047623081315 Centerline is valid? [True, True] Translation: X:112.51, Y:-14.41, Z:-4.73 [[ 9.76978159e-01 2.10782739e-01 3.29289316e-02 1.12508100e+02] [-2.10658104e-01 9.77532923e-01 -7.24895889e-03 -1.44077465e+01] [-3.37170702e-02 1.45328193e-04 9.99431407e-01 -4.72708934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68587156000001 meters 0.013449264067869917 Centerline is valid? [True, True] Translation: X:112.54, Y:-14.42, Z:-4.73 [[ 9.77007598e-01 2.10638860e-01 3.29761070e-02 1.12538682e+02] [-2.10513556e-01 9.77563934e-01 -7.26613570e-03 -1.44152350e+01] [-3.37667834e-02 1.57152237e-04 9.99429727e-01 -4.72922761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71587156000001 meters 0.012774675430373882 Centerline is valid? [True, True] Translation: X:112.57, Y:-14.42, Z:-4.73 [[ 9.76947557e-01 2.10846466e-01 3.34251073e-02 1.12570573e+02] [-2.10717635e-01 9.77519178e-01 -7.37124660e-03 -1.44221897e+01] [-3.42278847e-02 1.58061794e-04 9.99414042e-01 -4.72882897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74587156000001 meters 0.012768043462283881 Centerline is valid? [True, True] Translation: X:112.60, Y:-14.43, Z:-4.73 [[ 9.76815761e-01 2.11147332e-01 3.53238436e-02 1.12600602e+02] [-2.11003346e-01 9.77454233e-01 -7.79811822e-03 -1.44320902e+01] [-3.61739924e-02 1.63875583e-04 9.99345494e-01 -4.72879691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77587156000001 meters 0.022007005279176987 Centerline is valid? [True, True] Translation: X:112.63, Y:-14.44, Z:-4.73 [[ 9.76759755e-01 2.11395178e-01 3.53901195e-02 1.12632320e+02] [-2.11250610e-01 9.77400661e-01 -7.81837541e-03 -1.44401039e+01] [-3.62430931e-02 1.60490119e-04 9.99342990e-01 -4.72932622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80587156000001 meters 0.01340093965231706 Centerline is valid? [True, True] Translation: X:112.66, Y:-14.45, Z:-4.73 [[ 9.76737273e-01 2.11540941e-01 3.51387315e-02 1.12663477e+02] [-2.11398248e-01 9.77369124e-01 -7.77021208e-03 -1.44488751e+01] [-3.59872292e-02 1.61189467e-04 9.99352237e-01 -4.73331145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83587156 meters 0.013850936150455437 Centerline is valid? [True, True] Translation: X:112.69, Y:-14.46, Z:-4.74 [[ 9.76709836e-01 2.11890960e-01 3.37656167e-02 1.12693734e+02] [-2.11759289e-01 9.77293303e-01 -7.47018400e-03 -1.44559025e+01] [-3.45817756e-02 1.46019201e-04 9.99401861e-01 -4.73837223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86587156 meters 0.014114367259637845 Centerline is valid? [True, True] Translation: X:112.72, Y:-14.46, Z:-4.74 [[ 9.76686078e-01 2.12098663e-01 3.31430537e-02 1.12724087e+02] [-2.11971743e-01 9.77248247e-01 -7.33778923e-03 -1.44627590e+01] [-3.39453265e-02 1.41325720e-04 9.99423681e-01 -4.74090793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89587156 meters 0.02425378984317513 Centerline is valid? [True, True] Translation: X:112.76, Y:-14.47, Z:-4.74 [[ 9.76607677e-01 2.12572880e-01 3.24070477e-02 1.12755228e+02] [-2.12451733e-01 9.77145207e-01 -7.17675185e-03 -1.44698756e+01] [-3.31919742e-02 1.23937504e-04 9.99448987e-01 -4.74453593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92587156 meters 0.023917760949856856 Centerline is valid? [True, True] Translation: X:112.79, Y:-14.48, Z:-4.74 [[ 9.76401029e-01 2.13742447e-01 3.09062592e-02 1.12786998e+02] [-2.13632716e-01 9.76890045e-01 -6.84862784e-03 -1.44764220e+01] [-3.16558594e-02 8.44191977e-05 9.99498824e-01 -4.74475947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95587156 meters 0.012902542676801142 Centerline is valid? [True, True] Translation: X:112.82, Y:-14.48, Z:-4.75 [[ 9.76293038e-01 2.14231459e-01 3.09319467e-02 1.12819413e+02] [-2.14121632e-01 9.76782922e-01 -6.85930471e-03 -1.44837104e+01] [-3.16832761e-02 7.34925349e-05 9.99497956e-01 -4.74630728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98587156 meters 0.012656821039434734 Centerline is valid? [True, True] Translation: X:112.85, Y:-14.49, Z:-4.75 [[ 9.76121020e-01 2.14968865e-01 3.12432733e-02 1.12849945e+02] [-2.14856974e-01 9.76620901e-01 -6.93519271e-03 -1.44906926e+01] [-3.20036843e-02 5.67522187e-05 9.99487749e-01 -4.74688221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01587156000001 meters 0.02469788175716082 Centerline is valid? [True, True] Translation: X:112.88, Y:-14.50, Z:-4.75 [[ 9.75840969e-01 2.16213920e-01 3.13997296e-02 1.12881908e+02] [-2.16101399e-01 9.76346015e-01 -6.97460107e-03 -1.44972777e+01] [-3.21650067e-02 2.05759775e-05 9.99482572e-01 -4.74696779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04587156000001 meters 0.020268900971252984 Centerline is valid? [True, True] Translation: X:112.92, Y:-14.50, Z:-4.75 [[ 9.75259865e-01 2.18755522e-01 3.18467940e-02 1.12915083e+02] [-2.18640916e-01 9.75779698e-01 -7.08034733e-03 -1.45015958e+01] [-3.26243201e-02 -5.78336540e-05 9.99467684e-01 -4.74751753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07587156000001 meters 0.014791804111309188 Centerline is valid? [True, True] Translation: X:112.95, Y:-14.51, Z:-4.75 [[ 9.74913455e-01 2.20252424e-01 3.21344820e-02 1.12947289e+02] [-2.20136338e-01 9.75442904e-01 -7.15076715e-03 -1.45072566e+01] [-3.29203262e-02 -1.02588086e-04 9.99457974e-01 -4.74785324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10587156000001 meters 0.01729994362211094 Centerline is valid? [True, True] Translation: X:112.98, Y:-14.51, Z:-4.75 [[ 9.74479437e-01 2.22125066e-01 3.24080529e-02 1.12979378e+02] [-2.22007805e-01 9.75018169e-01 -7.21840571e-03 -1.45122616e+01] [-3.32018292e-02 -1.60652738e-04 9.99448654e-01 -4.74937378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13587156000001 meters 0.018914097702598935 Centerline is valid? [True, True] Translation: X:113.01, Y:-14.52, Z:-4.75 [[ 9.73618213e-01 2.25834344e-01 3.26561469e-02 1.13011201e+02] [-2.25717151e-01 9.74165678e-01 -7.28002385e-03 -1.45156217e+01] [-3.34565769e-02 -2.83088621e-04 9.99440132e-01 -4.75031661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16587156000001 meters 0.016036386697159764 Centerline is valid? [True, True] Translation: X:113.04, Y:-14.52, Z:-4.75 [[ 9.73206559e-01 2.27548178e-01 3.30275568e-02 1.13043261e+02] [-2.27429093e-01 9.73766764e-01 -7.36863534e-03 -1.45210141e+01] [-3.38378566e-02 -3.40223040e-04 9.99427278e-01 -4.75083168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19587156000001 meters 0.017091744190155165 Centerline is valid? [True, True] Translation: X:113.08, Y:-14.53, Z:-4.75 [[ 9.72780962e-01 2.29276943e-01 3.36048292e-02 1.13075574e+02] [-2.29154482e-01 9.73361147e-01 -7.50338626e-03 -1.45252654e+01] [-3.44299886e-02 -4.01545942e-04 9.99407032e-01 -4.75097515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22587156 meters 0.02021646468879561 Centerline is valid? [True, True] Translation: X:113.11, Y:-14.53, Z:-4.75 [[ 9.72332516e-01 2.31095863e-01 3.41200810e-02 1.13106681e+02] [-2.30970511e-01 9.72930873e-01 -7.62485618e-03 -1.45263637e+01] [-3.49585529e-02 -4.66836969e-04 9.99388654e-01 -4.75343764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25587156 meters 0.022306342716032136 Centerline is valid? [True, True] Translation: X:113.14, Y:-14.53, Z:-4.75 [[ 9.71517137e-01 2.34446166e-01 3.44883570e-02 1.13138986e+02] [-2.34320044e-01 9.72128925e-01 -7.71162706e-03 -1.45282364e+01] [-3.53350909e-02 -5.89335494e-04 9.99375347e-01 -4.75342322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28587156 meters 0.022731885400708234 Centerline is valid? [True, True] Translation: X:113.17, Y:-14.53, Z:-4.75 [[ 9.71116214e-01 2.36091237e-01 3.45575870e-02 1.13170235e+02] [-2.35965438e-01 9.71730679e-01 -7.73305311e-03 -1.45339815e+01] [-3.54063735e-02 -6.44702883e-04 9.99372790e-01 -4.75406858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31587156 meters 0.03650439691325749 Centerline is valid? [True, True] Translation: X:113.20, Y:-14.54, Z:-4.76 [[ 9.70746326e-01 2.37658704e-01 3.42039732e-02 1.13202170e+02] [-2.37536250e-01 9.71348478e-01 -7.65928200e-03 -1.45379959e+01] [-3.50442723e-02 -6.89463671e-04 9.99385523e-01 -4.75577970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34587156 meters 0.034874356644721806 Centerline is valid? [True, True] Translation: X:113.23, Y:-14.54, Z:-4.76 [[ 9.70392506e-01 2.39123686e-01 3.40330374e-02 1.13232841e+02] [-2.39003118e-01 9.70988840e-01 -7.62776800e-03 -1.45411844e+01] [-3.48696795e-02 -7.32073157e-04 9.99391600e-01 -4.75835095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37587156000001 meters 0.02902518399651659 Centerline is valid? [True, True] Translation: X:113.26, Y:-14.54, Z:-4.76 [[ 9.70118868e-01 2.40326469e-01 3.33552241e-02 1.13264523e+02] [-2.40211273e-01 9.70691823e-01 -7.47860577e-03 -1.45431540e+01] [-3.41749502e-02 -7.57164261e-04 9.99415579e-01 -4.76164474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40587156000001 meters 0.033520652577896416 Centerline is valid? [True, True] Translation: X:113.30, Y:-14.55, Z:-4.76 [[ 9.69620769e-01 2.42485285e-01 3.21939548e-02 1.13295498e+02] [-2.42379067e-01 9.70154753e-01 -7.22106321e-03 -1.45490952e+01] [-3.29841198e-02 -8.01447857e-04 9.99455555e-01 -4.76354370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43587156000001 meters 0.030244537703728477 Centerline is valid? [True, True] Translation: X:113.33, Y:-14.55, Z:-4.77 [[ 9.69486167e-01 2.43046689e-01 3.20137199e-02 1.13326706e+02] [-2.42941899e-01 9.70014250e-01 -7.18257800e-03 -1.45519199e+01] [-3.27994663e-02 -8.14063883e-04 9.99461621e-01 -4.76654248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46587156000001 meters 0.03294984834944033 Centerline is valid? [True, True] Translation: X:113.36, Y:-14.55, Z:-4.77 [[ 9.69422643e-01 2.43335800e-01 3.17400123e-02 1.13356740e+02] [-2.43232743e-01 9.69941767e-01 -7.12751847e-03 -1.45537188e+01] [-3.25203441e-02 -8.10632468e-04 9.99470745e-01 -4.76991455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49587156000001 meters 0.029620207256078935 Centerline is valid? [True, True] Translation: X:113.39, Y:-14.56, Z:-4.77 [[ 9.69433097e-01 2.43312924e-01 3.15957493e-02 1.13386789e+02] [-2.43210713e-01 9.69947511e-01 -7.09748560e-03 -1.45631135e+01] [-3.23731284e-02 -8.03887257e-04 9.99475530e-01 -4.76918257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52587156000001 meters 0.031497913550128036 Centerline is valid? [True, True] Translation: X:113.42, Y:-14.57, Z:-4.77 [[ 9.69413017e-01 2.43283724e-01 3.24258091e-02 1.13418528e+02] [-2.43176027e-01 9.69954820e-01 -7.28478073e-03 -1.45667856e+01] [-3.32238384e-02 -8.23218156e-04 9.99447597e-01 -4.76909012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55587156000001 meters 0.03171606288395039 Centerline is valid? [True, True] Translation: X:113.45, Y:-14.57, Z:-4.77 [[ 9.69464330e-01 2.43008614e-01 3.29503590e-02 1.13449209e+02] [-2.42897211e-01 9.70023779e-01 -7.40360506e-03 -1.45677507e+01] [-3.37617715e-02 -8.26019288e-04 9.99429568e-01 -4.77130183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58587156 meters 0.029656971391045662 Centerline is valid? [True, True] Translation: X:113.48, Y:-14.58, Z:-4.77 [[ 9.69540654e-01 2.42714305e-01 3.28738038e-02 1.13478573e+02] [-2.42603232e-01 9.70097472e-01 -7.38694883e-03 -1.45750396e+01] [-3.36837121e-02 -8.13343850e-04 9.99432212e-01 -4.77219186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61587156 meters 0.029078106254227812 Centerline is valid? [True, True] Translation: X:113.51, Y:-14.58, Z:-4.77 [[ 9.69688657e-01 2.42192476e-01 3.23529399e-02 1.13508604e+02] [-2.42084606e-01 9.70227907e-01 -7.26990747e-03 -1.45801234e+01] [-3.31504420e-02 -7.82601880e-04 9.99450067e-01 -4.77488565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64587156 meters 0.03306325602534407 Centerline is valid? [True, True] Translation: X:113.54, Y:-14.58, Z:-4.78 [[ 9.69700944e-01 2.42125123e-01 3.24885320e-02 1.13538364e+02] [-2.42016309e-01 9.70244717e-01 -7.30037587e-03 -1.45846957e+01] [-3.32894310e-02 -7.83573221e-04 9.99445446e-01 -4.77539172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67587156 meters 0.02953275011043004 Centerline is valid? [True, True] Translation: X:113.57, Y:-14.59, Z:-4.78 [[ 9.69745402e-01 2.41904237e-01 3.28054162e-02 1.13567127e+02] [-2.41793149e-01 9.70299813e-01 -7.37199465e-03 -1.45873872e+01] [-3.36144059e-02 -7.83166986e-04 9.99434569e-01 -4.77679060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70587156 meters 0.029058937774874758 Centerline is valid? [True, True] Translation: X:113.60, Y:-14.59, Z:-4.78 [[ 9.69860889e-01 2.41427057e-01 3.29064026e-02 1.13596929e+02] [-2.41315060e-01 9.70418663e-01 -7.39318781e-03 -1.45921256e+01] [-3.37179028e-02 -7.70446814e-04 9.99431093e-01 -4.77826875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73587156 meters 0.03815414732255843 Centerline is valid? [True, True] Translation: X:113.63, Y:-14.60, Z:-4.78 [[ 9.70097876e-01 2.40457441e-01 3.30201409e-02 1.13626042e+02] [-2.40344116e-01 9.70659401e-01 -7.41847517e-03 -1.45977442e+01] [-3.38351378e-02 -7.39549585e-04 9.99427154e-01 -4.77849023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76587156000001 meters 0.02653171526565662 Centerline is valid? [True, True] Translation: X:113.65, Y:-14.60, Z:-4.78 [[ 9.70363827e-01 2.39422237e-01 3.27266916e-02 1.13654736e+02] [-2.39310351e-01 9.70915293e-01 -7.35187887e-03 -1.46021827e+01] [-3.35350486e-02 -6.97838749e-04 9.99437298e-01 -4.78086898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79587156000001 meters 0.026081613081184576 Centerline is valid? [True, True] Translation: X:113.68, Y:-14.61, Z:-4.78 [[ 9.70581119e-01 2.38594336e-01 3.23269976e-02 1.13683221e+02] [-2.38484747e-01 9.71119099e-01 -7.26091775e-03 -1.46072224e+01] [-3.31257787e-02 -6.62186190e-04 9.99450971e-01 -4.78306649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82587156000001 meters 0.02482417229900379 Centerline is valid? [True, True] Translation: X:113.71, Y:-14.61, Z:-4.79 [[ 9.70900785e-01 2.37308310e-01 3.21936561e-02 1.13711755e+02] [-2.37198960e-01 9.71434190e-01 -7.22965042e-03 -1.46137886e+01] [-3.29896744e-02 -6.17028498e-04 9.99455502e-01 -4.78500518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85587156000001 meters 0.022382887583342923 Centerline is valid? [True, True] Translation: X:113.74, Y:-14.62, Z:-4.78 [[ 9.71438408e-01 2.34985469e-01 3.30037574e-02 1.13740576e+02] [-2.34869233e-01 9.71998726e-01 -7.41074186e-03 -1.46208677e+01] [-3.38210268e-02 -5.52487926e-04 9.99427753e-01 -4.78499582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88587156000001 meters 0.028057830848671025 Centerline is valid? [True, True] Translation: X:113.77, Y:-14.63, Z:-4.79 [[ 9.71677245e-01 2.33945642e-01 3.33581734e-02 1.13769367e+02] [-2.33826312e-01 9.72249538e-01 -7.48949741e-03 -1.46266950e+01] [-3.41846039e-02 -5.22644442e-04 9.99415399e-01 -4.78585390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91587156000001 meters 0.019943728068862628 Centerline is valid? [True, True] Translation: X:113.80, Y:-14.63, Z:-4.79 [[ 9.71903725e-01 2.32982493e-01 3.35008572e-02 1.13799269e+02] [-2.32861604e-01 9.72480805e-01 -7.52045771e-03 -1.46334394e+01] [-3.43310755e-02 -4.91902492e-04 9.99410394e-01 -4.78600679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94587156000001 meters 0.02092829199533483 Centerline is valid? [True, True] Translation: X:113.83, Y:-14.64, Z:-4.79 [[ 9.72067294e-01 2.32438928e-01 3.25164593e-02 1.13828446e+02] [-2.32324723e-01 9.72610886e-01 -7.29989718e-03 -1.46351457e+01] [-3.33226426e-02 -4.58386110e-04 9.99444541e-01 -4.79109623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97587156 meters 0.020312310998136546 Centerline is valid? [True, True] Translation: X:113.86, Y:-14.64, Z:-4.79 [[ 9.72118346e-01 2.32372264e-01 3.14491993e-02 1.13857179e+02] [-2.32265441e-01 9.72626822e-01 -7.05903226e-03 -1.46405000e+01] [-3.22286581e-02 -4.42347360e-04 9.99480424e-01 -4.79322071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00587156 meters 0.020312310998136546 Centerline is valid? [True, True] Translation: X:113.89, Y:-14.65, Z:-4.79 [[ 9.72123773e-01 2.32349538e-01 3.14493634e-02 1.13885623e+02] [-2.32242726e-01 9.72632252e-01 -7.05830099e-03 -1.46468375e+01] [-3.22286581e-02 -4.42343692e-04 9.99480424e-01 -4.79453438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03587156 meters 0.020198380831408316 Centerline is valid? [True, True] Translation: X:113.91, Y:-14.65, Z:-4.80 [[ 9.72174046e-01 2.32198100e-01 3.10107521e-02 1.13914690e+02] [-2.32094194e-01 9.72668420e-01 -6.95911631e-03 -1.46512672e+01] [-3.17790729e-02 -4.31943256e-04 9.99494824e-01 -4.79708678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06587156 meters 0.029617150857544107 Centerline is valid? [True, True] Translation: X:113.94, Y:-14.66, Z:-4.80 [[ 9.72201745e-01 2.32051265e-01 3.12406218e-02 1.13942216e+02] [-2.31945747e-01 9.72703462e-01 -7.01039003e-03 -1.46550261e+01] [-3.20146309e-02 -4.30615938e-04 9.99487308e-01 -4.79866418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09587156 meters 0.01941028929221497 Centerline is valid? [True, True] Translation: X:113.97, Y:-14.66, Z:-4.80 [[ 9.72320404e-01 2.31514219e-01 3.15308966e-02 1.13971643e+02] [-2.31406526e-01 9.72831430e-01 -7.07311918e-03 -1.46608429e+01] [-3.23117749e-02 -4.19117141e-04 9.99477750e-01 -4.79887109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12587156000001 meters 0.01902418870788884 Centerline is valid? [True, True] Translation: X:114.00, Y:-14.66, Z:-4.80 [[ 9.72549427e-01 2.30450973e-01 3.22484164e-02 1.13999319e+02] [-2.30337750e-01 9.73083858e-01 -7.23368774e-03 -1.46626257e+01] [-3.30474239e-02 -3.92908819e-04 9.99453707e-01 -4.80013005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15587156000001 meters 0.017495862232935342 Centerline is valid? [True, True] Translation: X:114.03, Y:-14.67, Z:-4.80 [[ 9.72761436e-01 2.29534005e-01 3.23933604e-02 1.14027859e+02] [-2.29419334e-01 9.73300574e-01 -7.26377607e-03 -1.46694086e+01] [-3.31957599e-02 -3.65741930e-04 9.99448802e-01 -4.80034103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18587156000001 meters 0.017023852191660544 Centerline is valid? [True, True] Translation: X:114.06, Y:-14.68, Z:-4.80 [[ 9.72891713e-01 2.28972304e-01 3.24561089e-02 1.14056593e+02] [-2.28856903e-01 9.73432875e-01 -7.27703667e-03 -1.46753471e+01] [-3.32600833e-02 -3.48035900e-04 9.99446670e-01 -4.80178881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21587156000001 meters 0.016246099664058326 Centerline is valid? [True, True] Translation: X:114.09, Y:-14.68, Z:-4.80 [[ 9.73175830e-01 2.27747174e-01 3.25580718e-02 1.14085095e+02] [-2.27630388e-01 9.73720252e-01 -7.29908350e-03 -1.46812543e+01] [-3.33647996e-02 -3.07914875e-04 9.99443193e-01 -4.80320041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24587156000001 meters 0.015077489074860123 Centerline is valid? [True, True] Translation: X:114.11, Y:-14.69, Z:-4.81 [[ 9.73628469e-01 2.25784787e-01 3.26930281e-02 1.14113446e+02] [-2.25665951e-01 9.74177177e-01 -7.32852431e-03 -1.46876771e+01] [-3.35034711e-02 -2.42443355e-04 9.99438572e-01 -4.80570688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27587156000001 meters 0.014428445815895143 Centerline is valid? [True, True] Translation: X:114.14, Y:-14.69, Z:-4.81 [[ 9.73919562e-01 2.24512032e-01 3.27877244e-02 1.14141221e+02] [-2.24391808e-01 9.74471296e-01 -7.34907649e-03 -1.46949532e+01] [-3.36006524e-02 -1.99887404e-04 9.99435319e-01 -4.80722037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30587156000001 meters 0.013147564379169242 Centerline is valid? [True, True] Translation: X:114.17, Y:-14.70, Z:-4.81 [[ 9.74269621e-01 2.22906891e-01 3.33350242e-02 1.14170017e+02] [-2.22781726e-01 9.74839728e-01 -7.47038421e-03 -1.47039770e+01] [-3.41615061e-02 -1.48265836e-04 9.99416314e-01 -4.80692949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33587156000002 meters 0.012503878972918997 Centerline is valid? [True, True] Translation: X:114.20, Y:-14.71, Z:-4.81 [[ 9.74708692e-01 2.20967163e-01 3.34137462e-02 1.14198698e+02] [-2.20840294e-01 9.75281245e-01 -7.48720968e-03 -1.47126446e+01] [-3.42422275e-02 -8.12531933e-05 9.99413560e-01 -4.80842111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36587156 meters 0.01255125545838711 Centerline is valid? [True, True] Translation: X:114.23, Y:-14.72, Z:-4.81 [[ 9.75592906e-01 2.17091292e-01 3.30129223e-02 1.14226902e+02] [-2.16965269e-01 9.76151304e-01 -7.39621424e-03 -1.47242524e+01] [-3.38312609e-02 5.30365745e-05 9.99427558e-01 -4.81099210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39587156 meters 0.013319260826424442 Centerline is valid? [True, True] Translation: X:114.26, Y:-14.73, Z:-4.81 [[ 9.75949454e-01 2.15493470e-01 3.29427795e-02 1.14255424e+02] [-2.15367058e-01 9.76505275e-01 -7.38089719e-03 -1.47345202e+01] [-3.37593331e-02 1.08593087e-04 9.99429985e-01 -4.81347523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42587156 meters 0.01408801327980761 Centerline is valid? [True, True] Translation: X:114.29, Y:-14.75, Z:-4.81 [[ 9.76374372e-01 2.13519160e-01 3.32062278e-02 1.14285213e+02] [-2.13389566e-01 9.76938860e-01 -7.44019704e-03 -1.47460280e+01] [-3.40290790e-02 1.78555159e-04 9.99420827e-01 -4.81419989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45587156 meters 0.015237977826386464 Centerline is valid? [True, True] Translation: X:114.32, Y:-14.76, Z:-4.81 [[ 9.77078448e-01 2.10312909e-01 3.29573400e-02 1.14315621e+02] [-2.10183458e-01 9.77634082e-01 -7.38348246e-03 -1.47588635e+01] [-3.37730605e-02 2.87153872e-04 9.99429486e-01 -4.81335019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48587156 meters 0.01749186360012437 Centerline is valid? [True, True] Translation: X:114.35, Y:-14.77, Z:-4.82 [[ 9.77210305e-01 2.09708396e-01 3.28999734e-02 1.14345562e+02] [-2.09578858e-01 9.77763924e-01 -7.37643490e-03 -1.47697191e+01] [-3.37153074e-02 3.13189360e-04 9.99431428e-01 -4.81714745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51587156000001 meters 0.01803747321735009 Centerline is valid? [True, True] Translation: X:114.38, Y:-14.78, Z:-4.82 [[ 9.77296241e-01 2.09255323e-01 3.32305234e-02 1.14377407e+02] [-2.09122683e-01 9.77860980e-01 -7.45708141e-03 -1.47789156e+01] [-3.40552661e-02 3.38521423e-04 9.99419894e-01 -4.81829969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54587156000001 meters 0.019681624614273748 Centerline is valid? [True, True] Translation: X:114.41, Y:-14.79, Z:-4.82 [[ 9.77252058e-01 2.09456397e-01 3.32630846e-02 1.14409023e+02] [-2.09323400e-01 9.77817930e-01 -7.47066901e-03 -1.47880468e+01] [-3.40900199e-02 3.37984718e-04 9.99418709e-01 -4.82002915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57587156000001 meters 0.01659518284649481 Centerline is valid? [True, True] Translation: X:114.44, Y:-14.80, Z:-4.82 [[ 9.77085551e-01 2.10192003e-01 3.35133878e-02 1.14439610e+02] [-2.10057204e-01 9.77660073e-01 -7.53340772e-03 -1.47970159e+01] [-3.43481632e-02 3.21055300e-04 9.99409876e-01 -4.81953126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60587156000001 meters 0.015026730722834166 Centerline is valid? [True, True] Translation: X:114.47, Y:-14.80, Z:-4.82 [[ 9.76774145e-01 2.11608782e-01 3.36748186e-02 1.14471128e+02] [-2.11473323e-01 9.77354412e-01 -7.57545633e-03 -1.48030376e+01] [-3.45152656e-02 2.78184089e-04 9.99404132e-01 -4.81929579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63587156000001 meters 0.014349465832596652 Centerline is valid? [True, True] Translation: X:114.50, Y:-14.81, Z:-4.82 [[ 9.76388354e-01 2.13360807e-01 3.38075116e-02 1.14501558e+02] [-2.13225114e-01 9.76973447e-01 -7.61148240e-03 -1.48097494e+01] [-3.46530331e-02 2.23152274e-04 9.99399378e-01 -4.82102828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66587156000001 meters 0.022136853251806882 Centerline is valid? [True, True] Translation: X:114.53, Y:-14.82, Z:-4.82 [[ 9.75908610e-01 2.15491390e-01 3.41444940e-02 1.14533034e+02] [-2.15354086e-01 9.76505728e-01 -7.69289344e-03 -1.48151081e+01] [-3.50000463e-02 1.54404642e-04 9.99387299e-01 -4.82115450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69587156000001 meters 0.016568596487583968 Centerline is valid? [True, True] Translation: X:114.56, Y:-14.82, Z:-4.82 [[ 9.75398721e-01 2.17728162e-01 3.45222001e-02 1.14563828e+02] [-2.17588958e-01 9.76009447e-01 -7.78488302e-03 -1.48211331e+01] [-3.53889817e-02 8.17153918e-05 9.99373610e-01 -4.82234740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72587156 meters 0.026025408884245406 Centerline is valid? [True, True] Translation: X:114.60, Y:-14.82, Z:-4.82 [[ 9.74223967e-01 2.22895052e-01 3.47196920e-02 1.14595751e+02] [-2.22757378e-01 9.74842441e-01 -7.83360063e-03 -1.48220427e+01] [-3.55923002e-02 -1.02386072e-04 9.99366388e-01 -4.82294054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75587156 meters 0.013393303350617721 Centerline is valid? [True, True] Translation: X:114.63, Y:-14.83, Z:-4.83 [[ 9.73625639e-01 2.25495017e-01 3.47147226e-02 1.14625720e+02] [-2.25358999e-01 9.74244301e-01 -7.83345375e-03 -1.48250924e+01] [-3.55870254e-02 -1.96423717e-04 9.99366562e-01 -4.82514020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78587156 meters 0.014302170663781854 Centerline is valid? [True, True] Translation: X:114.66, Y:-14.83, Z:-4.83 [[ 9.73056556e-01 2.27901456e-01 3.49551885e-02 1.14657122e+02] [-2.27765134e-01 9.73684160e-01 -7.88668257e-03 -1.48311453e+01] [-3.58326998e-02 -2.87385021e-04 9.99357761e-01 -4.82507003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81587156 meters 0.016139920283921423 Centerline is valid? [True, True] Translation: X:114.69, Y:-14.84, Z:-4.83 [[ 9.72530640e-01 2.30089844e-01 3.52536101e-02 1.14686470e+02] [-2.29952339e-01 9.73169323e-01 -7.96180651e-03 -1.48365825e+01] [-3.61396627e-02 -3.63549315e-04 9.99346683e-01 -4.82611471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84587156 meters 0.020004127596704446 Centerline is valid? [True, True] Translation: X:114.72, Y:-14.84, Z:-4.83 [[ 9.71544169e-01 2.34196911e-01 3.54081080e-02 1.14716043e+02] [-2.34060917e-01 9.72189044e-01 -7.99680385e-03 -1.48383242e+01] [-3.62962014e-02 -5.18406090e-04 9.99340941e-01 -4.82689985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87587156000001 meters 0.028728168299088863 Centerline is valid? [True, True] Translation: X:114.75, Y:-14.84, Z:-4.83 [[ 9.71054761e-01 2.36240443e-01 3.52576731e-02 1.14746081e+02] [-2.36106960e-01 9.71694449e-01 -7.96250289e-03 -1.48412762e+01] [-3.61407504e-02 -5.92555662e-04 9.99346534e-01 -4.82919420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90587156000001 meters 0.025292109491354374 Centerline is valid? [True, True] Translation: X:114.78, Y:-14.84, Z:-4.83 [[ 9.70618394e-01 2.38055868e-01 3.50618953e-02 1.14775131e+02] [-2.37925074e-01 9.71251240e-01 -7.91752074e-03 -1.48426564e+01] [-3.59387216e-02 -6.57212776e-04 9.99353779e-01 -4.83200446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93587156000001 meters 0.02653900432239916 Centerline is valid? [True, True] Translation: X:114.80, Y:-14.85, Z:-4.83 [[ 9.70166589e-01 2.39966672e-01 3.45367297e-02 1.14803837e+02] [-2.39841018e-01 9.70780861e-01 -7.79778029e-03 -1.48478498e+01] [-3.53988036e-02 -7.18178502e-04 9.99373008e-01 -4.83368101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96587156000001 meters 0.043806665970715156 Centerline is valid? [True, True] Translation: X:114.83, Y:-14.85, Z:-4.84 [[ 9.69358871e-01 2.43309593e-01 3.38204199e-02 1.14833529e+02] [-2.43191176e-01 9.69948330e-01 -7.63472829e-03 -1.48505779e+01] [-3.46616624e-02 -8.24036091e-04 9.99398764e-01 -4.83586497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99587156000001 meters 0.0324240431726741 Centerline is valid? [True, True] Translation: X:114.86, Y:-14.85, Z:-4.84 [[ 9.68959871e-01 2.44916290e-01 3.36567899e-02 1.14861013e+02] [-2.44800000e-01 9.69543831e-01 -7.59734198e-03 -1.48526188e+01] [-3.44924458e-02 -8.77662661e-04 9.99404573e-01 -4.83846659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02587156000001 meters 0.0310984082762203 Centerline is valid? [True, True] Translation: X:114.89, Y:-14.86, Z:-4.84 [[ 9.68599427e-01 2.46324688e-01 3.37534918e-02 1.14889108e+02] [-2.46208658e-01 9.69186916e-01 -7.61697356e-03 -1.48602150e+01] [-3.45896912e-02 -9.32605680e-04 9.99401162e-01 -4.83801255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05587156000001 meters 0.038810921702477824 Centerline is valid? [True, True] Translation: X:114.92, Y:-14.85, Z:-4.84 [[ 9.67843268e-01 2.49234161e-01 3.40843331e-02 1.14920040e+02] [-2.49117711e-01 9.68442685e-01 -7.68976769e-03 -1.48543677e+01] [-3.49252759e-02 -1.04852115e-03 9.99389376e-01 -4.84039469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08587156000002 meters 0.035242888080659576 Centerline is valid? [True, True] Translation: X:114.95, Y:-14.86, Z:-4.84 [[ 9.67678346e-01 2.49803715e-01 3.45936786e-02 1.14947274e+02] [-2.49684164e-01 9.68295887e-01 -7.80347478e-03 -1.48630015e+01] [-3.54462537e-02 -1.08624014e-03 9.99370994e-01 -4.83910752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11587156 meters 0.040980213847014266 Centerline is valid? [True, True] Translation: X:114.98, Y:-14.86, Z:-4.84 [[ 9.67643285e-01 2.49894801e-01 3.49150609e-02 1.14975864e+02] [-2.49773137e-01 9.68272366e-01 -7.87431393e-03 -1.48622549e+01] [-3.57750388e-02 -1.10131729e-03 9.99359262e-01 -4.84162695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14587156 meters 0.03559413687393063 Centerline is valid? [True, True] Translation: X:115.00, Y:-14.87, Z:-4.84 [[ 9.67690922e-01 2.49642644e-01 3.53953277e-02 1.15003661e+02] [-2.49517529e-01 9.68337400e-01 -7.98017679e-03 -1.48725635e+01] [-3.62668120e-02 -1.10941007e-03 9.99341527e-01 -4.84086247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17587156 meters 0.03476840469698611 Centerline is valid? [True, True] Translation: X:115.03, Y:-14.88, Z:-4.84 [[ 9.67877117e-01 2.48875502e-01 3.57053293e-02 1.15031952e+02] [-2.48747709e-01 9.68534870e-01 -8.04882986e-03 -1.48791326e+01] [-3.65850130e-02 -1.09134063e-03 9.99329948e-01 -4.84095264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20587156 meters 0.03239584875133412 Centerline is valid? [True, True] Translation: X:115.06, Y:-14.89, Z:-4.84 [[ 9.68320219e-01 2.47032153e-01 3.64838271e-02 1.15060762e+02] [-2.46897491e-01 9.69006719e-01 -8.22237758e-03 -1.48852209e+01] [-3.73842652e-02 -1.04587091e-03 9.99300417e-01 -4.84089299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23587156 meters 0.03181778532212292 Centerline is valid? [True, True] Translation: X:115.09, Y:-14.89, Z:-4.84 [[ 9.68534085e-01 2.46211483e-01 3.63542639e-02 1.15088853e+02] [-2.46077245e-01 9.69215601e-01 -8.19191740e-03 -1.48902789e+01] [-3.72520639e-02 -1.01180589e-03 9.99305389e-01 -4.84307705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26587156000001 meters 0.03426381037598249 Centerline is valid? [True, True] Translation: X:115.12, Y:-14.89, Z:-4.85 [[ 9.68707752e-01 2.45632783e-01 3.56346256e-02 1.15116783e+02] [-2.45503477e-01 9.69362467e-01 -8.02812548e-03 -1.48912885e+01] [-3.65148393e-02 -9.71517096e-04 9.99332639e-01 -4.84645229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29587156000001 meters 0.031079935151843794 Centerline is valid? [True, True] Translation: X:115.14, Y:-14.90, Z:-4.85 [[ 9.68891776e-01 2.44985498e-01 3.50832238e-02 1.15144076e+02] [-2.44859820e-01 9.69526293e-01 -7.90166112e-03 -1.48993497e+01] [-3.59499003e-02 -9.34617413e-04 9.99353156e-01 -4.84839431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32587156000001 meters 0.03101761450417104 Centerline is valid? [True, True] Translation: X:115.17, Y:-14.90, Z:-4.85 [[ 9.69076140e-01 2.44319144e-01 3.46350958e-02 1.15171663e+02] [-2.44196288e-01 9.69694460e-01 -7.79915758e-03 -1.49034472e+01] [-3.54909440e-02 -8.99784306e-04 9.99369593e-01 -4.85082239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35587156000001 meters 0.029456654130029996 Centerline is valid? [True, True] Translation: X:115.20, Y:-14.91, Z:-4.85 [[ 9.69643062e-01 2.42183518e-01 3.37561268e-02 1.15199383e+02] [-2.42065600e-01 9.70230127e-01 -7.59908446e-03 -1.49087072e+01] [-3.45915842e-02 -8.02797574e-04 9.99401210e-01 -4.85388619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38587156000001 meters 0.029472888030714506 Centerline is valid? [True, True] Translation: X:115.23, Y:-14.92, Z:-4.86 [[ 9.69995509e-01 2.40776156e-01 3.36980168e-02 1.15227217e+02] [-2.40657852e-01 9.70580381e-01 -7.58435038e-03 -1.49156281e+01] [-3.45327647e-02 -7.52906533e-04 9.99403283e-01 -4.85586949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41587156000001 meters 0.025890014092986066 Centerline is valid? [True, True] Translation: X:115.25, Y:-14.92, Z:-4.86 [[ 9.70451435e-01 2.38964410e-01 3.34667587e-02 1.15254775e+02] [-2.38846702e-01 9.71028085e-01 -7.53070172e-03 -1.49237446e+01] [-3.42967323e-02 -6.85244674e-04 9.99411459e-01 -4.85682900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44587156000001 meters 0.022481911685241694 Centerline is valid? [True, True] Translation: X:115.28, Y:-14.93, Z:-4.86 [[ 9.71463054e-01 2.34730750e-01 3.40735976e-02 1.15282699e+02] [-2.34606197e-01 9.72060274e-01 -7.66529669e-03 -1.49311823e+01] [-3.49208714e-02 -5.47324624e-04 9.99389930e-01 -4.85788860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47587156 meters 0.018920148393117595 Centerline is valid? [True, True] Translation: X:115.31, Y:-14.94, Z:-4.86 [[ 9.72071276e-01 2.32146795e-01 3.44281782e-02 1.15310656e+02] [-2.32018041e-01 9.72680654e-01 -7.74432972e-03 -1.49405788e+01] [-3.52854442e-02 -4.59917980e-04 9.99377169e-01 -4.85761857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50587156 meters 0.021917589085634116 Centerline is valid? [True, True] Translation: X:115.34, Y:-14.95, Z:-4.86 [[ 9.72638026e-01 2.29721183e-01 3.46907561e-02 1.15337234e+02] [-2.29588952e-01 9.73256409e-01 -7.80232153e-03 -1.49482409e+01] [-3.55553593e-02 -3.75779716e-04 9.99367638e-01 -4.85895706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53587156 meters 0.014968043360714747 Centerline is valid? [True, True] Translation: X:115.36, Y:-14.96, Z:-4.86 [[ 9.73191899e-01 2.27352320e-01 3.47627774e-02 1.15364628e+02] [-2.27218109e-01 9.73812527e-01 -7.81625968e-03 -1.49572081e+01] [-3.56294729e-02 -2.92011933e-04 9.99365026e-01 -4.86026371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56587156 meters 0.012882709306271348 Centerline is valid? [True, True] Translation: X:115.39, Y:-14.97, Z:-4.86 [[ 9.73961847e-01 2.24096896e-01 3.43351377e-02 1.15393391e+02] [-2.23964015e-01 9.74566853e-01 -7.71808947e-03 -1.49664566e+01] [-3.51914870e-02 -1.72710610e-04 9.99380573e-01 -4.86241393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59587156 meters 0.0125144407777395 Centerline is valid? [True, True] Translation: X:115.42, Y:-14.97, Z:-4.86 [[ 9.74180844e-01 2.23209367e-01 3.39007662e-02 1.15422573e+02] [-2.23079300e-01 9.74770516e-01 -7.62016360e-03 -1.49733743e+01] [-3.47463593e-02 -1.39141792e-04 9.99396153e-01 -4.86403050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62587156000001 meters 0.012604497136199292 Centerline is valid? [True, True] Translation: X:115.45, Y:-14.98, Z:-4.87 [[ 9.74335702e-01 2.22617902e-01 3.33348247e-02 1.15450464e+02] [-2.22491822e-01 9.74905768e-01 -7.49217958e-03 -1.49795238e+01] [-3.41662062e-02 -1.16827851e-04 9.99416158e-01 -4.86677159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65587156000001 meters 0.012529365452115642 Centerline is valid? [True, True] Translation: X:115.48, Y:-14.99, Z:-4.87 [[ 9.74415398e-01 2.22317138e-01 3.30109318e-02 1.15479573e+02] [-2.22193360e-01 9.74974399e-01 -7.41835805e-03 -1.49855488e+01] [-3.38340415e-02 -1.06247539e-04 9.99427459e-01 -4.86876169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68587156000001 meters 0.017296677983387482 Centerline is valid? [True, True] Translation: X:115.51, Y:-14.99, Z:-4.87 [[ 9.74338213e-01 2.22709389e-01 3.26431322e-02 1.15507124e+02] [-2.22588587e-01 9.74884872e-01 -7.33532318e-03 -1.49883702e+01] [-3.34569411e-02 -1.18902974e-04 9.99440153e-01 -4.87089315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71587156000001 meters 0.02227481814725904 Centerline is valid? [True, True] Translation: X:115.54, Y:-14.99, Z:-4.87 [[ 9.74246219e-01 2.23091135e-01 3.27818628e-02 1.15535412e+02] [-2.22969593e-01 9.74797583e-01 -7.36432304e-03 -1.49925052e+01] [-3.35985958e-02 -1.34694739e-04 9.99435399e-01 -4.87239924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74587156000001 meters 0.01277420719826283 Centerline is valid? [True, True] Translation: X:115.56, Y:-15.00, Z:-4.87 [[ 9.74208726e-01 2.23248065e-01 3.28277255e-02 1.15563919e+02] [-2.23126325e-01 9.74761654e-01 -7.37302842e-03 -1.49976996e+01] [-3.36452223e-02 -1.41861142e-04 9.99433829e-01 -4.87226983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77587156000001 meters 0.015281489881082765 Centerline is valid? [True, True] Translation: X:115.59, Y:-15.00, Z:-4.87 [[ 9.74149606e-01 2.23468726e-01 3.30797968e-02 1.15591835e+02] [-2.23345294e-01 9.74711088e-01 -7.42794228e-03 -1.50027127e+01] [-3.39031575e-02 -1.52289878e-04 9.99425111e-01 -4.87347133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80587156000001 meters 0.013291458987001832 Centerline is valid? [True, True] Translation: X:115.62, Y:-15.01, Z:-4.88 [[ 9.74128578e-01 2.23550386e-01 3.31472156e-02 1.15619042e+02] [-2.23426551e-01 9.74692362e-01 -7.44151950e-03 -1.50068824e+01] [-3.39718924e-02 -1.56971244e-04 9.99422776e-01 -4.87574923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83587156000002 meters 0.013482456872487112 Centerline is valid? [True, True] Translation: X:115.65, Y:-15.01, Z:-4.88 [[ 9.73972051e-01 2.24217691e-01 3.32396002e-02 1.15647806e+02] [-2.24093630e-01 9.74539067e-01 -7.46000060e-03 -1.50106846e+01] [-3.40659531e-02 -1.82950575e-04 9.99419570e-01 -4.87685495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86587156 meters 0.02911724736292243 Centerline is valid? [True, True] Translation: X:115.68, Y:-15.02, Z:-4.88 [[ 9.73858409e-01 2.24724411e-01 3.31472270e-02 1.15676110e+02] [-2.24601387e-01 9.74422341e-01 -7.43763130e-03 -1.50160617e+01] [-3.39708159e-02 -2.01713394e-04 9.99422805e-01 -4.87775101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89587156 meters 0.014171553746461946 Centerline is valid? [True, True] Translation: X:115.70, Y:-15.02, Z:-4.88 [[ 9.73805062e-01 2.24960896e-01 3.31103826e-02 1.15703160e+02] [-2.24838333e-01 9.74367770e-01 -7.42786651e-03 -1.50204505e+01] [-3.39326692e-02 -2.11189218e-04 9.99424099e-01 -4.87986619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92587156 meters 0.015244853277059909 Centerline is valid? [True, True] Translation: X:115.73, Y:-15.02, Z:-4.88 [[ 9.73576709e-01 2.26074710e-01 3.22275736e-02 1.15731550e+02] [-2.25959278e-01 9.74109935e-01 -7.22767228e-03 -1.50226966e+01] [-3.30271935e-02 -2.45425859e-04 9.99454423e-01 -4.88254207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95587156 meters 0.015244853277059909 Centerline is valid? [True, True] Translation: X:115.76, Y:-15.03, Z:-4.88 [[ 9.73587308e-01 2.26028996e-01 3.22280271e-02 1.15759188e+02] [-2.25913607e-01 9.74120543e-01 -7.22564932e-03 -1.50287999e+01] [-3.30271895e-02 -2.45949370e-04 9.99454423e-01 -4.88381800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98587156 meters 0.017534452077372174 Centerline is valid? [True, True] Translation: X:115.79, Y:-15.03, Z:-4.88 [[ 9.73421162e-01 2.26699459e-01 3.25360730e-02 1.15788325e+02] [-2.26582281e-01 9.73964723e-01 -7.29309411e-03 -1.50326397e+01] [-3.33423278e-02 -2.72845476e-04 9.99443953e-01 -4.88452567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01587156000001 meters 0.016144011852828478 Centerline is valid? [True, True] Translation: X:115.82, Y:-15.04, Z:-4.89 [[ 9.73197100e-01 2.27676877e-01 3.24136492e-02 1.15817221e+02] [-2.27561174e-01 9.73736692e-01 -7.26406146e-03 -1.50368281e+01] [-3.32162184e-02 -3.06724514e-04 9.99448142e-01 -4.88546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04587156000001 meters 0.01683327818838176 Centerline is valid? [True, True] Translation: X:115.85, Y:-15.04, Z:-4.89 [[ 9.73014655e-01 2.28490772e-01 3.21628396e-02 1.15845948e+02] [-2.28377349e-01 9.73546022e-01 -7.20626030e-03 -1.50414108e+01] [-3.29585685e-02 -3.33467170e-04 9.99456663e-01 -4.88711094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07587156000001 meters 0.018805487649636358 Centerline is valid? [True, True] Translation: X:115.87, Y:-15.04, Z:-4.89 [[ 9.72775368e-01 2.29521388e-01 3.20626890e-02 1.15873278e+02] [-2.29409278e-01 9.73303548e-01 -7.18236420e-03 -1.50441566e+01] [-3.28552352e-02 -3.68651367e-04 9.99460053e-01 -4.89038211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10587156000001 meters 0.020137917419376403 Centerline is valid? [True, True] Translation: X:115.90, Y:-15.05, Z:-4.89 [[ 9.72524931e-01 2.30533911e-01 3.23940537e-02 1.15901751e+02] [-2.30420102e-01 9.73064206e-01 -7.25450951e-03 -1.50463032e+01] [-3.31939046e-02 -4.09049780e-04 9.99448847e-01 -4.89114829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13587156000001 meters 0.019487883596273688 Centerline is valid? [True, True] Translation: X:115.93, Y:-15.05, Z:-4.89 [[ 9.72510952e-01 2.30551993e-01 3.26837461e-02 1.15930427e+02] [-2.30436220e-01 9.73059919e-01 -7.31728020e-03 -1.50524443e+01] [-3.34902569e-02 -4.15383775e-04 9.99438958e-01 -4.89145768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16587156000001 meters 0.01926486792236066 Centerline is valid? [True, True] Translation: X:115.96, Y:-15.06, Z:-4.89 [[ 9.72565832e-01 2.30343742e-01 3.25186422e-02 1.15958244e+02] [-2.30229062e-01 9.73109241e-01 -7.27903630e-03 -1.50582722e+01] [-3.33208717e-02 -4.07394508e-04 9.99444623e-01 -4.89273255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19587156000001 meters 0.02545620448672716 Centerline is valid? [True, True] Translation: X:115.99, Y:-15.07, Z:-4.89 [[ 9.72616745e-01 2.30081934e-01 3.28476992e-02 1.15986077e+02] [-2.29964862e-01 9.73171177e-01 -7.35000000e-03 -1.50655109e+01] [-3.36575363e-02 -4.05083542e-04 9.99433343e-01 -4.89284446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22587156 meters 0.018532088057468067 Centerline is valid? [True, True] Translation: X:116.01, Y:-15.07, Z:-4.89 [[ 9.72803428e-01 2.29244758e-01 3.31712327e-02 1.16013506e+02] [-2.29124935e-01 9.73368736e-01 -7.42083202e-03 -1.50710793e+01] [-3.39890277e-02 -3.81345710e-04 9.99422133e-01 -4.89442127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25587156 meters 0.01743230516115743 Centerline is valid? [True, True] Translation: X:116.04, Y:-15.08, Z:-4.89 [[ 9.73106782e-01 2.27856341e-01 3.38331129e-02 1.16040744e+02] [-2.27730929e-01 9.73694701e-01 -7.56658169e-03 -1.50789386e+01] [-3.46672163e-02 -3.41754257e-04 9.99398853e-01 -4.89491142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28587156 meters 0.016007597941884125 Centerline is valid? [True, True] Translation: X:116.07, Y:-15.09, Z:-4.89 [[ 9.73251566e-01 2.27261026e-01 3.36721845e-02 1.16067788e+02] [-2.27136502e-01 9.73833827e-01 -7.52901164e-03 -1.50881824e+01] [-3.45021633e-02 -3.20559853e-04 9.99404572e-01 -4.89462879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31587156 meters 0.015641073449150233 Centerline is valid? [True, True] Translation: X:116.09, Y:-15.10, Z:-4.90 [[ 9.73394694e-01 2.26621650e-01 3.38437179e-02 1.16094746e+02] [-2.26495522e-01 9.73982822e-01 -7.56578510e-03 -1.50954642e+01] [-3.46777706e-02 -3.00955488e-04 9.99398500e-01 -4.89621877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34587156 meters 0.014940165711371647 Centerline is valid? [True, True] Translation: X:116.12, Y:-15.10, Z:-4.90 [[ 9.73486212e-01 2.26192192e-01 3.40835300e-02 1.16122360e+02] [-2.26064085e-01 9.74082650e-01 -7.61714950e-03 -1.51027065e+01] [-3.49231149e-02 -2.89872014e-04 9.99389960e-01 -4.89629902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37587156000001 meters 0.01895004920599676 Centerline is valid? [True, True] Translation: X:116.15, Y:-15.11, Z:-4.90 [[ 9.73337006e-01 2.26843010e-01 3.40194173e-02 1.16151118e+02] [-2.26715842e-01 9.73931286e-01 -7.60111774e-03 -1.51083061e+01] [-3.48568353e-02 -3.14291657e-04 9.99392266e-01 -4.89704395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40587156000001 meters 0.01676255587065744 Centerline is valid? [True, True] Translation: X:116.18, Y:-15.11, Z:-4.90 [[ 9.73162769e-01 2.27636147e-01 3.37047460e-02 1.16178511e+02] [-2.27511851e-01 9.73746203e-01 -7.52921982e-03 -1.51123921e+01] [-3.45337911e-02 -3.41072749e-04 9.99403473e-01 -4.90029767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43587156000001 meters 0.017669815582103086 Centerline is valid? [True, True] Translation: X:116.21, Y:-15.12, Z:-4.90 [[ 9.72881143e-01 2.28843962e-01 3.36559556e-02 1.16206562e+02] [-2.28720828e-01 9.73463041e-01 -7.51600799e-03 -1.51173454e+01] [-3.44828219e-02 -3.85635599e-04 9.99405216e-01 -4.90087936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46587156000001 meters 0.019355531856421512 Centerline is valid? [True, True] Translation: X:116.23, Y:-15.12, Z:-4.90 [[ 9.72520429e-01 2.30353805e-01 3.37807766e-02 1.16234839e+02] [-2.30230720e-01 9.73106844e-01 -7.54232008e-03 -1.51200536e+01] [-3.46097070e-02 -4.42312147e-04 9.99400807e-01 -4.90215371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49587156000001 meters 0.022166363099124866 Centerline is valid? [True, True] Translation: X:116.27, Y:-15.12, Z:-4.90 [[ 9.71612026e-01 2.34245979e-01 3.31495582e-02 1.16265043e+02] [-2.34129795e-01 9.72177193e-01 -7.39898837e-03 -1.51204419e+01] [-3.39604277e-02 -5.72353193e-04 9.99423014e-01 -4.90318963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52587156000001 meters 0.028419882539500285 Centerline is valid? [True, True] Translation: X:116.29, Y:-15.12, Z:-4.91 [[ 9.71146326e-01 2.36174723e-01 3.31106399e-02 1.16292693e+02] [-2.36059942e-01 9.71710395e-01 -7.39000707e-03 -1.51222270e+01] [-3.39192858e-02 -6.39317523e-04 9.99424371e-01 -4.90512659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55587156000001 meters 0.025554721612768075 Centerline is valid? [True, True] Translation: X:116.32, Y:-15.13, Z:-4.91 [[ 9.70727007e-01 2.37897519e-01 3.30733907e-02 1.16321542e+02] [-2.37784090e-01 9.71290007e-01 -7.37891482e-03 -1.51263239e+01] [-3.38792795e-02 -7.01414207e-04 9.99425686e-01 -4.90560847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58587156000002 meters 0.029701461761325588 Centerline is valid? [True, True] Translation: X:116.35, Y:-15.12, Z:-4.91 [[ 9.70056442e-01 2.40641864e-01 3.28936513e-02 1.16350813e+02] [-2.40531296e-01 9.70613652e-01 -7.33714194e-03 -1.51234629e+01] [-3.36926505e-02 -7.94510758e-04 9.99431926e-01 -4.90821584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61587156 meters 0.031905070174000794 Centerline is valid? [True, True] Translation: X:116.38, Y:-15.12, Z:-4.91 [[ 9.69880199e-01 2.41326679e-01 3.30731437e-02 1.16379499e+02] [-2.41215351e-01 9.70443587e-01 -7.37560638e-03 -1.51244832e+01] [-3.38755508e-02 -8.24295387e-04 9.99425719e-01 -4.91002110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64587156 meters 0.031086658995131983 Centerline is valid? [True, True] Translation: X:116.41, Y:-15.13, Z:-4.91 [[ 9.69813704e-01 2.41524371e-01 3.35761485e-02 1.16407534e+02] [-2.41409817e-01 9.70394385e-01 -7.48579999e-03 -1.51298096e+01] [-3.43901092e-02 -8.45780460e-04 9.99408127e-01 -4.90991822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67587156 meters 0.029563542900403875 Centerline is valid? [True, True] Translation: X:116.44, Y:-15.14, Z:-4.91 [[ 9.69904531e-01 2.41153463e-01 3.36185813e-02 1.16435881e+02] [-2.41038491e-01 9.70486635e-01 -7.49253338e-03 -1.51362622e+01] [-3.44332342e-02 -8.36330027e-04 9.99406650e-01 -4.90976076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70587156 meters 0.02913674520743912 Centerline is valid? [True, True] Translation: X:116.46, Y:-15.14, Z:-4.91 [[ 9.70286433e-01 2.39603368e-01 3.36818171e-02 1.16463476e+02] [-2.39487084e-01 9.70870543e-01 -7.50505813e-03 -1.51392849e+01] [-3.44989213e-02 -7.84304079e-04 9.99404427e-01 -4.91161362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73587156 meters 0.027295801035086494 Centerline is valid? [True, True] Translation: X:116.49, Y:-15.15, Z:-4.91 [[ 9.70586117e-01 2.38396645e-01 3.36099603e-02 1.16491450e+02] [-2.38280209e-01 9.71167591e-01 -7.48683149e-03 -1.51463926e+01] [-3.44257397e-02 -7.41973678e-04 9.99406983e-01 -4.91292143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76587156000001 meters 0.025453771578306795 Centerline is valid? [True, True] Translation: X:116.52, Y:-15.15, Z:-4.91 [[ 9.70963640e-01 2.36828075e-01 3.37945780e-02 1.16519212e+02] [-2.36709465e-01 9.71551329e-01 -7.52627250e-03 -1.51536105e+01] [-3.46155998e-02 -6.91759562e-04 9.99400461e-01 -4.91421957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79587156000001 meters 0.024785046714269912 Centerline is valid? [True, True] Translation: X:116.55, Y:-15.16, Z:-4.92 [[ 9.71343619e-01 2.35236657e-01 3.39895553e-02 1.16546335e+02] [-2.35115746e-01 9.71937913e-01 -7.56837701e-03 -1.51587823e+01] [-3.48160972e-02 -6.39984942e-04 9.99393531e-01 -4.91598869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82587156000001 meters 0.03163293326967989 Centerline is valid? [True, True] Translation: X:116.57, Y:-15.16, Z:-4.92 [[ 9.72053433e-01 2.32331523e-01 3.36776874e-02 1.16574213e+02] [-2.32211195e-01 9.72636509e-01 -7.49553614e-03 -1.51647070e+01] [-3.44975977e-02 -5.34274401e-04 9.99404638e-01 -4.91815525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85587156000001 meters 0.020543377868272466 Centerline is valid? [True, True] Translation: X:116.60, Y:-15.17, Z:-4.92 [[ 9.72455416e-01 2.30722976e-01 3.31266006e-02 1.16601331e+02] [-2.30605661e-01 9.73019366e-01 -7.37172131e-03 -1.51703321e+01] [-3.39336494e-02 -4.70511295e-04 9.99423977e-01 -4.92075669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88587156000001 meters 0.01822021813890721 Centerline is valid? [True, True] Translation: X:116.63, Y:-15.18, Z:-4.92 [[ 9.72843524e-01 2.29126897e-01 3.28076685e-02 1.16628900e+02] [-2.29011035e-01 9.73396473e-01 -7.29740469e-03 -1.51785634e+01] [-3.36069005e-02 -4.14085227e-04 9.99435043e-01 -4.92130807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91587156000001 meters 0.017191163927177597 Centerline is valid? [True, True] Translation: X:116.66, Y:-15.19, Z:-4.92 [[ 9.73243984e-01 2.27428065e-01 3.27509356e-02 1.16655946e+02] [-2.27311693e-01 9.73794818e-01 -7.28326640e-03 -1.51853029e+01] [-3.35491106e-02 -3.56275420e-04 9.99437007e-01 -4.92307776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94587156000001 meters 0.01633388017080835 Centerline is valid? [True, True] Translation: X:116.68, Y:-15.19, Z:-4.93 [[ 9.73695242e-01 2.25536081e-01 3.24199354e-02 1.16683159e+02] [-2.25421069e-01 9.74234773e-01 -7.20762011e-03 -1.51923376e+01] [-3.32102068e-02 -2.90111076e-04 9.99448347e-01 -4.92604206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97587156 meters 0.013194698293517935 Centerline is valid? [True, True] Translation: X:116.71, Y:-15.20, Z:-4.93 [[ 9.74682845e-01 2.21376828e-01 3.13951023e-02 1.16710745e+02] [-2.21266880e-01 9.75188330e-01 -6.97777555e-03 -1.52025989e+01] [-3.21608552e-02 -1.45578191e-04 9.99482695e-01 -4.92659595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00587156 meters 0.012509543196960812 Centerline is valid? [True, True] Translation: X:116.74, Y:-15.21, Z:-4.93 [[ 9.75156163e-01 2.19204210e-01 3.19369918e-02 1.16737233e+02] [-2.19089316e-01 9.75678999e-01 -7.09667427e-03 -1.52096526e+01] [-3.27158731e-02 -7.66880464e-05 9.99464690e-01 -4.92767172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03587156 meters 0.011787084412359643 Centerline is valid? [True, True] Translation: X:116.77, Y:-15.22, Z:-4.93 [[ 9.75553163e-01 2.17293810e-01 3.28546179e-02 1.16765517e+02] [-2.17171218e-01 9.76106244e-01 -7.29810269e-03 -1.52176428e+01] [-3.36554302e-02 -1.53902113e-05 9.99433495e-01 -4.92717494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06587156 meters 0.011910620967591722 Centerline is valid? [True, True] Translation: X:116.79, Y:-15.23, Z:-4.93 [[ 9.76203229e-01 2.14303395e-01 3.31859957e-02 1.16792839e+02] [-2.14176627e-01 9.76767141e-01 -7.37056761e-03 -1.52275384e+01] [-3.39945278e-02 8.75072632e-05 9.99422015e-01 -4.92747571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09587156 meters 0.012050041653882923 Centerline is valid? [True, True] Translation: X:116.82, Y:-15.24, Z:-4.93 [[ 9.76403281e-01 2.13302895e-01 3.37417729e-02 1.16820836e+02] [-2.13171308e-01 9.76986110e-01 -7.49223017e-03 -1.52350163e+01] [-3.45633578e-02 1.22660271e-04 9.99402501e-01 -4.92808156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12587156000001 meters 0.012357960626733706 Centerline is valid? [True, True] Translation: X:116.85, Y:-15.24, Z:-4.93 [[ 9.76502443e-01 2.12798674e-01 3.40544126e-02 1.16847399e+02] [-2.12664387e-01 9.77096057e-01 -7.56001369e-03 -1.52413673e+01] [-3.48831932e-02 1.40211037e-04 9.99391386e-01 -4.92944584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15587156000001 meters 0.016894414565408043 Centerline is valid? [True, True] Translation: X:116.88, Y:-15.25, Z:-4.93 [[ 9.76505457e-01 2.12826281e-01 3.37944732e-02 1.16875246e+02] [-2.12694132e-01 9.77090045e-01 -7.50005372e-03 -1.52475005e+01] [-3.46164518e-02 1.35957254e-04 9.99400662e-01 -4.93112035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18587156000001 meters 0.01202670512500164 Centerline is valid? [True, True] Translation: X:116.90, Y:-15.25, Z:-4.93 [[ 9.76263073e-01 2.13979179e-01 3.35160266e-02 1.16903470e+02] [-2.13849935e-01 9.76838217e-01 -7.43659809e-03 -1.52518331e+01] [-3.43310128e-02 9.26760064e-05 9.99410513e-01 -4.93245759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21587156000001 meters 0.024742107715678346 Centerline is valid? [True, True] Translation: X:116.93, Y:-15.25, Z:-4.93 [[ 9.76001969e-01 2.15192104e-01 3.33543963e-02 1.16930897e+02] [-2.15064855e-01 9.76571736e-01 -7.39946354e-03 -1.52548581e+01] [-3.41652668e-02 4.85325776e-05 9.99416196e-01 -4.93421342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24587156000001 meters 0.011905771818962983 Centerline is valid? [True, True] Translation: X:116.96, Y:-15.26, Z:-4.94 [[ 9.75648527e-01 2.16820008e-01 3.31516971e-02 1.16958988e+02] [-2.16695344e-01 9.76211598e-01 -7.35146013e-03 -1.52572563e+01] [-3.39570148e-02 -1.13771440e-05 9.99423294e-01 -4.93579177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27587156000001 meters 0.02367947349709271 Centerline is valid? [True, True] Translation: X:116.99, Y:-15.26, Z:-4.94 [[ 9.75191140e-01 2.19182849e-01 3.10019071e-02 1.16987409e+02] [-2.19075091e-01 9.75683796e-01 -6.87268830e-03 -1.52591759e+01] [-3.17544339e-02 -8.95608927e-05 9.99495697e-01 -4.94031945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30587156000001 meters 0.013673871408604946 Centerline is valid? [True, True] Translation: X:117.02, Y:-15.26, Z:-4.94 [[ 9.74899061e-01 2.20475618e-01 3.10213234e-02 1.17015477e+02] [-2.20368463e-01 9.75392477e-01 -6.87435943e-03 -1.52628197e+01] [-3.17735941e-02 -1.34314799e-04 9.99495083e-01 -4.94319276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33587156000002 meters 0.014324665380106702 Centerline is valid? [True, True] Translation: X:117.04, Y:-15.27, Z:-4.94 [[ 9.74629285e-01 2.21663698e-01 3.10316330e-02 1.17043798e+02] [-2.21557142e-01 9.75123158e-01 -6.87447744e-03 -1.52666527e+01] [-3.17834861e-02 -1.75212897e-04 9.99494762e-01 -4.94458492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36587156 meters 0.025953610198256857 Centerline is valid? [True, True] Translation: X:117.07, Y:-15.27, Z:-4.95 [[ 9.74410502e-01 2.22616177e-01 3.10839306e-02 1.17072007e+02] [-2.22509795e-01 9.74906147e-01 -6.88453646e-03 -1.52709368e+01] [-3.18365242e-02 -2.08114384e-04 9.99493068e-01 -4.94500757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39587156 meters 0.016348694638275114 Centerline is valid? [True, True] Translation: X:117.10, Y:-15.27, Z:-4.95 [[ 9.73947188e-01 2.24564288e-01 3.15872703e-02 1.17099936e+02] [-2.24455503e-01 9.74459236e-01 -6.99455112e-03 -1.52717332e+01] [-3.23512337e-02 -2.77613269e-04 9.99476523e-01 -4.94640815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42587156 meters 0.016564759820900228 Centerline is valid? [True, True] Translation: X:117.13, Y:-15.28, Z:-4.95 [[ 9.73804225e-01 2.25180285e-01 3.16096500e-02 1.17127884e+02] [-2.25071739e-01 9.74317068e-01 -6.99736725e-03 -1.52768108e+01] [-3.23734907e-02 -3.00373105e-04 9.99475796e-01 -4.94768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45587156 meters 0.01708715521452194 Centerline is valid? [True, True] Translation: X:117.16, Y:-15.28, Z:-4.95 [[ 9.73730329e-01 2.25533854e-01 3.13644331e-02 1.17155202e+02] [-2.25427215e-01 9.74235282e-01 -6.94169489e-03 -1.52817691e+01] [-3.21219245e-02 -3.11057944e-04 9.99483909e-01 -4.94974974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48587156 meters 0.016143742725638094 Centerline is valid? [True, True] Translation: X:117.18, Y:-15.29, Z:-4.95 [[ 9.73755024e-01 2.25414472e-01 3.14558131e-02 1.17182532e+02] [-2.25307205e-01 9.74262911e-01 -6.96016255e-03 -1.52881428e+01] [-3.22151534e-02 -3.09728056e-04 9.99480909e-01 -4.94926805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51587156000001 meters 0.015665588547080018 Centerline is valid? [True, True] Translation: X:117.21, Y:-15.29, Z:-4.95 [[ 9.73997193e-01 2.24332936e-01 3.16891367e-02 1.17209376e+02] [-2.24223584e-01 9.74512522e-01 -7.00914540e-03 -1.52947644e+01] [-3.24538427e-02 -2.78563861e-04 9.99473196e-01 -4.95113005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54587156000001 meters 0.01553317994628096 Centerline is valid? [True, True] Translation: X:117.24, Y:-15.30, Z:-4.95 [[ 9.74232521e-01 2.23341837e-01 3.14550160e-02 1.17236678e+02] [-2.23233643e-01 9.74740152e-01 -6.95535668e-03 -1.53014956e+01] [-3.22138892e-02 -2.45683154e-04 9.99480968e-01 -4.95336354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57587156000001 meters 0.014101741230203513 Centerline is valid? [True, True] Translation: X:117.26, Y:-15.31, Z:-4.95 [[ 9.74530527e-01 2.22035939e-01 3.14689378e-02 1.17264544e+02] [-2.21927038e-01 9.75038461e-01 -6.95628304e-03 -1.53104486e+01] [-3.22279695e-02 -2.04697994e-04 9.99480523e-01 -4.95327291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60587156000001 meters 0.01277588315021998 Centerline is valid? [True, True] Translation: X:117.29, Y:-15.32, Z:-4.95 [[ 9.75344075e-01 2.18289805e-01 3.24576183e-02 1.17290101e+02] [-2.18171928e-01 9.75883986e-01 -7.17329836e-03 -1.53219743e+01] [-3.32407279e-02 -8.49071167e-05 9.99447371e-01 -4.95498724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63587156000001 meters 0.012060138369618893 Centerline is valid? [True, True] Translation: X:117.32, Y:-15.33, Z:-4.95 [[ 9.75817546e-01 2.16096183e-01 3.29022281e-02 1.17317826e+02] [-2.15973895e-01 9.76372080e-01 -7.26893202e-03 -1.53323638e+01] [-3.36956053e-02 -1.28709386e-05 9.99432142e-01 -4.95457241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66587156000001 meters 0.011992990256965042 Centerline is valid? [True, True] Translation: X:117.34, Y:-15.34, Z:-4.95 [[ 9.76312513e-01 2.13846468e-01 3.29175390e-02 1.17344886e+02] [-2.13722841e-01 9.76867281e-01 -7.27069816e-03 -1.53423873e+01] [-3.37108799e-02 6.32436515e-05 9.99431625e-01 -4.95462953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69587156000001 meters 0.012508883226508954 Centerline is valid? [True, True] Translation: X:117.37, Y:-15.35, Z:-4.96 [[ 9.76724217e-01 2.11960655e-01 3.29011353e-02 1.17371442e+02] [-2.11836134e-01 9.77278192e-01 -7.26552433e-03 -1.53519527e+01] [-3.36935673e-02 1.26764265e-04 9.99432203e-01 -4.95601061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72587156 meters 0.013451515623371244 Centerline is valid? [True, True] Translation: X:117.40, Y:-15.36, Z:-4.96 [[ 9.77060599e-01 2.10432601e-01 3.27216318e-02 1.17397481e+02] [-2.10308648e-01 9.77608352e-01 -7.22380931e-03 -1.53611761e+01] [-3.35090655e-02 1.76457307e-04 9.99438398e-01 -4.95797923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75587156 meters 0.0151012005417763 Centerline is valid? [True, True] Translation: X:117.42, Y:-15.37, Z:-4.96 [[ 9.77617745e-01 2.07805870e-01 3.28673870e-02 1.17424302e+02] [-2.07679401e-01 9.78170052e-01 -7.25373239e-03 -1.53738306e+01] [-3.36572618e-02 2.65498259e-04 9.99433399e-01 -4.95901894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78587156 meters 0.019104471146106288 Centerline is valid? [True, True] Translation: X:117.45, Y:-15.38, Z:-4.96 [[ 9.77783451e-01 2.06955233e-01 3.33024778e-02 1.17452155e+02] [-2.06824956e-01 9.78350368e-01 -7.34808643e-03 -1.53830544e+01] [-3.41022163e-02 2.97053804e-04 9.99418306e-01 -4.95962650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81587156 meters 0.015481289750837117 Centerline is valid? [True, True] Translation: X:117.48, Y:-15.39, Z:-4.96 [[ 9.77936643e-01 2.06176215e-01 3.36346754e-02 1.17480923e+02] [-2.06042932e-01 9.78514825e-01 -7.41941832e-03 -1.53919252e+01] [-3.44417361e-02 3.25533894e-04 9.99406654e-01 -4.95989975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84587156 meters 0.015481289750837117 Centerline is valid? [True, True] Translation: X:117.51, Y:-15.40, Z:-4.96 [[ 9.77941697e-01 2.06152210e-01 3.36348568e-02 1.17509387e+02] [-2.06018941e-01 9.78519882e-01 -7.41859620e-03 -1.53981586e+01] [-3.44417361e-02 3.25536985e-04 9.99406654e-01 -4.96121332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87587156000001 meters 0.02576543741994249 Centerline is valid? [True, True] Translation: X:117.54, Y:-15.41, Z:-4.96 [[ 9.77999443e-01 2.05897274e-01 3.35171787e-02 1.17536864e+02] [-2.05764816e-01 9.78573555e-01 -7.39178968e-03 -1.54064909e+01] [-3.43209740e-02 3.32510098e-04 9.99410807e-01 -4.96282367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90587156000001 meters 0.01550027156605002 Centerline is valid? [True, True] Translation: X:117.57, Y:-15.41, Z:-4.96 [[ 9.77966415e-01 2.05973933e-01 3.40063220e-02 1.17565870e+02] [-2.05837658e-01 9.78557422e-01 -7.49873759e-03 -1.54147048e+01] [-3.48216833e-02 3.33731833e-04 9.99393486e-01 -4.96310993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93587156000001 meters 0.015630842372382197 Centerline is valid? [True, True] Translation: X:117.59, Y:-15.42, Z:-4.96 [[ 9.77881929e-01 2.06309048e-01 3.44021876e-02 1.17593049e+02] [-2.06169815e-01 9.78486827e-01 -7.58526675e-03 -1.54224627e+01] [-3.52269965e-02 3.24802633e-04 9.99379284e-01 -4.96460286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96587156000001 meters 0.01744439832451961 Centerline is valid? [True, True] Translation: X:117.62, Y:-15.43, Z:-4.97 [[ 9.77786808e-01 2.06798055e-01 3.41690180e-02 1.17620363e+02] [-2.06661047e-01 9.78383602e-01 -7.53256982e-03 -1.54296665e+01] [-3.49881277e-02 3.03842356e-04 9.99387682e-01 -4.96640558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99587156000001 meters 0.015036239193744364 Centerline is valid? [True, True] Translation: X:117.65, Y:-15.44, Z:-4.97 [[ 9.77679080e-01 2.07370790e-01 3.37782680e-02 1.17648585e+02] [-2.07237278e-01 9.78262377e-01 -7.44532705e-03 -1.54363442e+01] [-3.45879521e-02 2.79024174e-04 9.99401619e-01 -4.96832551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02587156000001 meters 0.013799490523627929 Centerline is valid? [True, True] Translation: X:117.68, Y:-15.44, Z:-4.97 [[ 9.77443856e-01 2.08664984e-01 3.25949711e-02 1.17677068e+02] [-2.08541444e-01 9.77987155e-01 -7.18272335e-03 -1.54432861e+01] [-3.33762459e-02 2.23306448e-04 9.99442833e-01 -4.97043238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05587156000001 meters 0.013917533518163735 Centerline is valid? [True, True] Translation: X:117.71, Y:-15.45, Z:-4.97 [[ 9.77236899e-01 2.09669237e-01 3.23551419e-02 1.17705052e+02] [-2.09548081e-01 9.77772354e-01 -7.12920125e-03 -1.54508761e+01] [-3.31307374e-02 1.86960632e-04 9.99451009e-01 -4.97378252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08587156000002 meters 0.012943572275280809 Centerline is valid? [True, True] Translation: X:117.73, Y:-15.46, Z:-4.97 [[ 9.77035864e-01 2.10600062e-01 3.23810824e-02 1.17733757e+02] [-2.10479260e-01 9.77572294e-01 -7.13381596e-03 -1.54568369e+01] [-3.31572311e-02 1.54447789e-04 9.99450136e-01 -4.97359408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11587156 meters 0.012716685983236078 Centerline is valid? [True, True] Translation: X:117.76, Y:-15.46, Z:-4.98 [[ 9.76778332e-01 2.11760287e-01 3.25832976e-02 1.17761047e+02] [-2.11638667e-01 9.77321630e-01 -7.17684250e-03 -1.54623973e+01] [-3.33641318e-02 1.14298573e-04 9.99443256e-01 -4.97581946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14587156 meters 0.012067392004100893 Centerline is valid? [True, True] Translation: X:117.79, Y:-15.47, Z:-4.98 [[ 9.76197940e-01 2.14379451e-01 3.28486307e-02 1.17789479e+02] [-2.14257399e-01 9.76750454e-01 -7.23302619e-03 -1.54664683e+01] [-3.36355271e-02 2.28031016e-05 9.99434165e-01 -4.97664726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17587156 meters 0.026093294297897907 Centerline is valid? [True, True] Translation: X:117.82, Y:-15.47, Z:-4.98 [[ 9.75934374e-01 2.15603330e-01 3.26695862e-02 1.17818001e+02] [-2.15483343e-01 9.76481031e-01 -7.19202218e-03 -1.54727402e+01] [-3.34518551e-02 -2.08099745e-05 9.99440330e-01 -4.97770041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20587156 meters 0.012277157071098561 Centerline is valid? [True, True] Translation: X:117.84, Y:-15.48, Z:-4.98 [[ 9.75656712e-01 2.16849919e-01 3.27122657e-02 1.17844994e+02] [-2.16730368e-01 9.76204952e-01 -7.19993075e-03 -1.54782435e+01] [-3.34951802e-02 -6.50806244e-05 9.99438877e-01 -4.97932584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23587156 meters 0.013090857704439417 Centerline is valid? [True, True] Translation: X:117.87, Y:-15.48, Z:-4.98 [[ 9.75030418e-01 2.19664440e-01 3.26070222e-02 1.17873819e+02] [-2.19547313e-01 9.75575475e-01 -7.17430358e-03 -1.54804340e+01] [-3.33865506e-02 -1.63619886e-04 9.99442500e-01 -4.98038726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26587156000001 meters 0.014324684609769113 Centerline is valid? [True, True] Translation: X:117.90, Y:-15.48, Z:-4.98 [[ 9.74742461e-01 2.21005356e-01 3.21522488e-02 1.17901503e+02] [-2.20892251e-01 9.75272572e-01 -7.07278570e-03 -1.54836403e+01] [-3.29203299e-02 -2.08038058e-04 9.99457957e-01 -4.98315699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29587156000001 meters 0.015110669473421533 Centerline is valid? [True, True] Translation: X:117.93, Y:-15.49, Z:-4.99 [[ 9.74453762e-01 2.22315241e-01 3.18716131e-02 1.17929469e+02] [-2.22204873e-01 9.74974805e-01 -7.00889479e-03 -1.54885354e+01] [-3.26322039e-02 -2.52183831e-04 9.99467396e-01 -4.98525059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32587156000001 meters 0.015404211557389984 Centerline is valid? [True, True] Translation: X:117.96, Y:-15.49, Z:-4.99 [[ 9.74252087e-01 2.23222666e-01 3.16940283e-02 1.17957309e+02] [-2.23114055e-01 9.74767440e-01 -6.96827968e-03 -1.54944589e+01] [-3.24497848e-02 -2.82522151e-04 9.99473327e-01 -4.98564396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35587156000001 meters 0.022653163036437732 Centerline is valid? [True, True] Translation: X:117.99, Y:-15.50, Z:-4.99 [[ 9.74032833e-01 2.24132164e-01 3.20127156e-02 1.17986009e+02] [-2.24021903e-01 9.74558706e-01 -7.03666686e-03 -1.54983737e+01] [-3.27754140e-02 -3.17604923e-04 9.99462691e-01 -4.98693305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38587156000001 meters 0.016334736924120352 Centerline is valid? [True, True] Translation: X:118.01, Y:-15.50, Z:-4.99 [[ 9.73946563e-01 2.24486195e-01 3.21564904e-02 1.18013778e+02] [-2.24375189e-01 9.74477212e-01 -7.06660663e-03 -1.55040257e+01] [-3.29221227e-02 -3.32621384e-04 9.99457865e-01 -4.98845551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41587156000001 meters 0.017042381035745954 Centerline is valid? [True, True] Translation: X:118.04, Y:-15.51, Z:-4.99 [[ 9.73932436e-01 2.24539655e-01 3.22110843e-02 1.18040709e+02] [-2.24428351e-01 9.74464894e-01 -7.07709947e-03 -1.55097470e+01] [-3.29776603e-02 -3.36463802e-04 9.99456032e-01 -4.99086310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44587156000001 meters 0.017170007153229735 Centerline is valid? [True, True] Translation: X:118.07, Y:-15.52, Z:-4.99 [[ 9.73983474e-01 2.24355749e-01 3.19482600e-02 1.18067741e+02] [-2.24246222e-01 9.74507255e-01 -7.01730892e-03 -1.55167043e+01] [-3.27081847e-02 -3.29533673e-04 9.99464890e-01 -4.99249534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47587156 meters 0.01713925750026674 Centerline is valid? [True, True] Translation: X:118.10, Y:-15.52, Z:-4.99 [[ 9.74049871e-01 2.24038512e-01 3.21495573e-02 1.18095226e+02] [-2.23927494e-01 9.74580238e-01 -7.05951674e-03 -1.55232368e+01] [-3.29139269e-02 -3.22848430e-04 9.99458138e-01 -4.99397391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50587156 meters 0.016228056868599895 Centerline is valid? [True, True] Translation: X:118.12, Y:-15.53, Z:-4.99 [[ 9.74074398e-01 2.23880217e-01 3.25071622e-02 1.18123676e+02] [-2.23766697e-01 9.74616614e-01 -7.13589410e-03 -1.55301894e+01] [-3.32796059e-02 -3.23128568e-04 9.99446028e-01 -4.99313244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53587156 meters 0.016102435182785552 Centerline is valid? [True, True] Translation: X:118.15, Y:-15.54, Z:-4.99 [[ 9.74069342e-01 2.23896907e-01 3.25436785e-02 1.18152124e+02] [-2.23783197e-01 9.74612779e-01 -7.14226498e-03 -1.55366718e+01] [-3.33166160e-02 -3.25667070e-04 9.99444794e-01 -4.99418915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56587156 meters 0.03049734709152672 Centerline is valid? [True, True] Translation: X:118.18, Y:-15.54, Z:-5.00 [[ 9.74057913e-01 2.24001801e-01 3.21617079e-02 1.18180359e+02] [-2.23890856e-01 9.74588675e-01 -7.05681260e-03 -1.55431431e+01] [-3.29251750e-02 -3.26968148e-04 9.99457766e-01 -4.99630368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59587156 meters 0.016547244460582942 Centerline is valid? [True, True] Translation: X:118.21, Y:-15.55, Z:-5.00 [[ 9.73930756e-01 2.24467398e-01 3.27607864e-02 1.18208756e+02] [-2.24352600e-01 9.74481536e-01 -7.18655558e-03 -1.55498001e+01] [-3.35379289e-02 -3.50760089e-04 9.99437384e-01 -4.99591638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62587156000001 meters 0.01706328913077625 Centerline is valid? [True, True] Translation: X:118.24, Y:-15.55, Z:-5.00 [[ 9.73778705e-01 2.25039552e-01 3.33501564e-02 1.18236305e+02] [-2.24920976e-01 9.74349556e-01 -7.31422126e-03 -1.55539812e+01] [-3.41406991e-02 -3.78716833e-04 9.99416965e-01 -4.99674058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65587156000001 meters 0.018543831456934112 Centerline is valid? [True, True] Translation: X:118.26, Y:-15.56, Z:-5.00 [[ 9.73561485e-01 2.25966035e-01 3.34273344e-02 1.18263711e+02] [-2.25847529e-01 9.74135093e-01 -7.32899825e-03 -1.55572046e+01] [-3.42188442e-02 -4.14250454e-04 9.99414278e-01 -4.99852409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68587156000001 meters 0.019343263860643757 Centerline is valid? [True, True] Translation: X:118.29, Y:-15.56, Z:-5.00 [[ 9.73298906e-01 2.27083580e-01 3.35005522e-02 1.18292570e+02] [-2.26965294e-01 9.73875166e-01 -7.34279098e-03 -1.55621094e+01] [-3.42927831e-02 -4.56732240e-04 9.99411725e-01 -4.99985330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71587156000001 meters 0.023738334173989083 Centerline is valid? [True, True] Translation: X:118.32, Y:-15.56, Z:-5.00 [[ 9.72618769e-01 2.30087861e-01 3.27460971e-02 1.18320676e+02] [-2.29976588e-01 9.73169704e-01 -7.17611489e-03 -1.55616050e+01] [-3.35186465e-02 -5.51211638e-04 9.99437940e-01 -5.00345869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74587156000001 meters 0.02373121459549267 Centerline is valid? [True, True] Translation: X:118.35, Y:-15.57, Z:-5.00 [[ 9.72249886e-01 2.31698096e-01 3.23442568e-02 1.18349299e+02] [-2.31590514e-01 9.72787557e-01 -7.08542933e-03 -1.55667311e+01] [-3.31057710e-02 -6.01815207e-04 9.99451673e-01 -5.00407981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77587156000001 meters 0.02621080371818822 Centerline is valid? [True, True] Translation: X:118.38, Y:-15.57, Z:-5.01 [[ 9.71887460e-01 2.33258840e-01 3.20168405e-02 1.18377025e+02] [-2.33154319e-01 9.72414465e-01 -7.01226312e-03 -1.55682818e+01] [-3.27693112e-02 -6.49734067e-04 9.99462731e-01 -5.00648381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80587156000001 meters 0.027530878242061192 Centerline is valid? [True, True] Translation: X:118.41, Y:-15.57, Z:-5.01 [[ 9.71518539e-01 2.34815206e-01 3.18362521e-02 1.18406224e+02] [-2.34712765e-01 9.72039777e-01 -6.97060311e-03 -1.55714019e+01] [-3.25829070e-02 -7.00304597e-04 9.99468791e-01 -5.00782676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83587156000002 meters 0.02862663674345419 Centerline is valid? [True, True] Translation: X:118.44, Y:-15.57, Z:-5.01 [[ 9.70895762e-01 2.37411597e-01 3.15777387e-02 1.18435894e+02] [-2.37312234e-01 9.71408833e-01 -6.91247671e-03 -1.55725893e+01] [-3.23159964e-02 -7.82489359e-04 9.99477395e-01 -5.00830120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86587156 meters 0.03277637777900528 Centerline is valid? [True, True] Translation: X:118.46, Y:-15.57, Z:-5.01 [[ 9.70656226e-01 2.38428062e-01 3.12817737e-02 1.18464872e+02] [-2.38331126e-01 9.71159824e-01 -6.84626219e-03 -1.55715937e+01] [-3.20119429e-02 -8.10053329e-04 9.99487158e-01 -5.01202649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89587156 meters 0.033750917109030644 Centerline is valid? [True, True] Translation: X:118.49, Y:-15.57, Z:-5.01 [[ 9.70459090e-01 2.39246117e-01 3.11520365e-02 1.18493168e+02] [-2.39150469e-01 9.70958597e-01 -6.81584928e-03 -1.55749036e+01] [-3.18780031e-02 -8.35521240e-04 9.99491418e-01 -5.01323355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92587156 meters 0.0393299626931421 Centerline is valid? [True, True] Translation: X:118.52, Y:-15.58, Z:-5.01 [[ 9.70198045e-01 2.40310026e-01 3.10941345e-02 1.18521172e+02] [-2.40215325e-01 9.70695799e-01 -6.80174634e-03 -1.55793671e+01] [-3.18174736e-02 -8.70246612e-04 9.99493317e-01 -5.01321012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95587156 meters 0.03626653071207878 Centerline is valid? [True, True] Translation: X:118.55, Y:-15.58, Z:-5.02 [[ 9.70188999e-01 2.40380450e-01 3.08309206e-02 1.18549297e+02] [-2.40287480e-01 9.70678364e-01 -6.74102867e-03 -1.55780202e+01] [-3.15473190e-02 -8.68212354e-04 9.99501882e-01 -5.01696303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98587156 meters 0.03728396641458145 Centerline is valid? [True, True] Translation: X:118.58, Y:-15.58, Z:-5.02 [[ 9.70128095e-01 2.40641034e-01 3.07143641e-02 1.18576863e+02] [-2.40548976e-01 9.70613788e-01 -6.71299186e-03 -1.55805308e+01] [-3.14272066e-02 -8.75846831e-04 9.99505660e-01 -5.01846308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01587156000001 meters 0.034462611266734944 Centerline is valid? [True, True] Translation: X:118.60, Y:-15.59, Z:-5.02 [[ 9.70161226e-01 2.40496381e-01 3.08007496e-02 1.18604756e+02] [-2.40403794e-01 9.70649640e-01 -6.72990690e-03 -1.55878765e+01] [-3.15152547e-02 -8.75522327e-04 9.99502888e-01 -5.01827310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04587156000001 meters 0.03389103963273815 Centerline is valid? [True, True] Translation: X:118.63, Y:-15.59, Z:-5.02 [[ 9.70392879e-01 2.39496009e-01 3.12941363e-02 1.18632387e+02] [-2.39399945e-01 9.70896970e-01 -6.83665851e-03 -1.55906635e+01] [-3.20207345e-02 -8.57569777e-04 9.99486837e-01 -5.01888056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07587156000001 meters 0.03034061069036323 Centerline is valid? [True, True] Translation: X:118.66, Y:-15.60, Z:-5.02 [[ 9.70646247e-01 2.38373914e-01 3.19959401e-02 1.18660537e+02] [-2.38272980e-01 9.71173089e-01 -6.98702523e-03 -1.55998773e+01] [-3.27391206e-02 -8.41838182e-04 9.99463577e-01 -5.01786252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10587156000001 meters 0.030609678763072818 Centerline is valid? [True, True] Translation: X:118.69, Y:-15.60, Z:-5.02 [[ 9.71002946e-01 2.36838365e-01 3.25709673e-02 1.18688086e+02] [-2.36733009e-01 9.71548731e-01 -7.10950853e-03 -1.56038762e+01] [-3.33280863e-02 -8.07269376e-04 9.99444139e-01 -5.01914020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13587156000001 meters 0.02763949613908449 Centerline is valid? [True, True] Translation: X:118.72, Y:-15.61, Z:-5.02 [[ 9.71861893e-01 2.33248925e-01 3.28542157e-02 1.18716708e+02] [-2.33139806e-01 9.72416813e-01 -7.16749282e-03 -1.56099196e+01] [-3.36198017e-02 -6.93812339e-04 9.99434454e-01 -5.02008359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16587156000001 meters 0.025677782386848882 Centerline is valid? [True, True] Translation: X:118.74, Y:-15.62, Z:-5.02 [[ 9.72333933e-01 2.31286659e-01 3.27598033e-02 1.18744559e+02] [-2.31177071e-01 9.72885446e-01 -7.14636187e-03 -1.56167413e+01] [-3.35243940e-02 -6.24665244e-04 9.99437704e-01 -5.02178744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19587156000001 meters 0.023648558136396703 Centerline is valid? [True, True] Translation: X:118.77, Y:-15.62, Z:-5.02 [[ 9.72747499e-01 2.29586933e-01 3.24367603e-02 1.18772004e+02] [-2.29478603e-01 9.73287997e-01 -7.07434783e-03 -1.56247017e+01] [-3.31944873e-02 -5.61988267e-04 9.99448753e-01 -5.02364401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22587156 meters 0.027559186709680973 Centerline is valid? [True, True] Translation: X:118.80, Y:-15.63, Z:-5.03 [[ 9.73054621e-01 2.28355199e-01 3.19156442e-02 1.18799876e+02] [-2.28249710e-01 9.73577752e-01 -6.95916704e-03 -1.56324671e+01] [-3.26615231e-02 -5.13086901e-04 9.99466338e-01 -5.02624718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25587156 meters 0.02132090954300967 Centerline is valid? [True, True] Translation: X:118.83, Y:-15.64, Z:-5.03 [[ 9.73659826e-01 2.25845255e-01 3.13123537e-02 1.18828085e+02] [-2.25742473e-01 9.74163098e-01 -6.82597192e-03 -1.56407446e+01] [-3.20449528e-02 -4.22353507e-04 9.99486339e-01 -5.02789689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28587156 meters 0.01800639139258714 Centerline is valid? [True, True] Translation: X:118.86, Y:-15.65, Z:-5.03 [[ 9.73941767e-01 2.24665468e-01 3.10300262e-02 1.18856130e+02] [-2.24563962e-01 9.74435879e-01 -6.76345691e-03 -1.56480093e+01] [-3.17562861e-02 -3.81012471e-04 9.99495569e-01 -5.02855281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31587156 meters 0.018400656967827344 Centerline is valid? [True, True] Translation: X:118.88, Y:-15.65, Z:-5.03 [[ 9.74161385e-01 2.23711683e-01 3.10270550e-02 1.18883061e+02] [-2.23609759e-01 9.74655303e-01 -6.76136866e-03 -1.56528826e+01] [-3.17532809e-02 -3.51288029e-04 9.99495676e-01 -5.03148190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34587156 meters 0.016728761058417873 Centerline is valid? [True, True] Translation: X:118.91, Y:-15.66, Z:-5.03 [[ 9.74357792e-01 2.22875951e-01 3.08740069e-02 1.18910634e+02] [-2.22774679e-01 9.74846760e-01 -6.72588375e-03 -1.56609002e+01] [-3.15964634e-02 -3.24529734e-04 9.99500654e-01 -5.03092703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37587156000001 meters 0.016712484174404556 Centerline is valid? [True, True] Translation: X:118.94, Y:-15.67, Z:-5.03 [[ 9.74677152e-01 2.21495754e-01 3.07258805e-02 1.18937468e+02] [-2.21394798e-01 9.75161296e-01 -6.69255961e-03 -1.56664507e+01] [-3.14450630e-02 -2.79465166e-04 9.99505443e-01 -5.03465314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40587156000001 meters 0.022651145878850167 Centerline is valid? [True, True] Translation: X:118.96, Y:-15.67, Z:-5.03 [[ 9.74759112e-01 2.21153614e-01 3.05900839e-02 1.18964426e+02] [-2.21053473e-01 9.75238948e-01 -6.66003971e-03 -1.56731415e+01] [-3.13055331e-02 -2.70109878e-04 9.99509825e-01 -5.03487397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43587156000001 meters 0.0162381407940756 Centerline is valid? [True, True] Translation: X:118.99, Y:-15.68, Z:-5.04 [[ 9.74870349e-01 2.20707641e-01 3.02644902e-02 1.18991362e+02] [-2.20609472e-01 9.75339978e-01 -6.58702103e-03 -1.56778830e+01] [-3.09719731e-02 -2.55141706e-04 9.99520221e-01 -5.03727011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46587156000001 meters 0.031805501433273355 Centerline is valid? [True, True] Translation: X:119.02, Y:-15.68, Z:-5.04 [[ 9.74955200e-01 2.20306355e-01 3.04543508e-02 1.19019473e+02] [-2.20206856e-01 9.75430699e-01 -6.62507462e-03 -1.56840245e+01] [-3.11656547e-02 -2.47105899e-04 9.99514202e-01 -5.03781486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49587156000001 meters 0.02585186595637752 Centerline is valid? [True, True] Translation: X:119.05, Y:-15.69, Z:-5.04 [[ 9.75078745e-01 2.19713947e-01 3.07769902e-02 1.19047888e+02] [-2.19612083e-01 9.75564312e-01 -6.69368714e-03 -1.56905272e+01] [-3.14956297e-02 -2.32126869e-04 9.99503863e-01 -5.03745349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52587156000001 meters 0.01489501136452941 Centerline is valid? [True, True] Translation: X:119.07, Y:-15.70, Z:-5.04 [[ 9.75177489e-01 2.19253040e-01 3.09349122e-02 1.19074715e+02] [-2.19149942e-01 9.75668005e-01 -6.72657394e-03 -1.56957129e+01] [-3.16570258e-02 -2.19780706e-04 9.99498767e-01 -5.03857699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55587156000001 meters 0.016871879717514093 Centerline is valid? [True, True] Translation: X:119.10, Y:-15.70, Z:-5.04 [[ 9.75281210e-01 2.18764341e-01 3.11243480e-02 1.19102347e+02] [-2.18659798e-01 9.75777700e-01 -6.76555521e-03 -1.57017320e+01] [-3.18505069e-02 -2.07324778e-04 9.99492622e-01 -5.04034073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58587156000002 meters 0.020099894885370017 Centerline is valid? [True, True] Translation: X:119.13, Y:-15.71, Z:-5.04 [[ 9.75418646e-01 2.18160095e-01 3.10586343e-02 1.19128491e+02] [-2.18055721e-01 9.75912976e-01 -6.75018726e-03 -1.57081732e+01] [-3.17831458e-02 -1.88254396e-04 9.99494770e-01 -5.04117049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61587156 meters 0.014747067265084693 Centerline is valid? [True, True] Translation: X:119.16, Y:-15.71, Z:-5.04 [[ 9.75554084e-01 2.17495622e-01 3.14624213e-02 1.19155429e+02] [-2.17388269e-01 9.76061281e-01 -6.83487551e-03 -1.57141327e+01] [-3.21958067e-02 -1.71770583e-04 9.99481566e-01 -5.04279989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64587156 meters 0.013513636857588017 Centerline is valid? [True, True] Translation: X:119.18, Y:-15.72, Z:-5.04 [[ 9.75642791e-01 2.17102609e-01 3.14261179e-02 1.19182556e+02] [-2.16995355e-01 9.76148775e-01 -6.82527564e-03 -1.57220584e+01] [-3.21583516e-02 -1.60290632e-04 9.99482774e-01 -5.04067936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67587156 meters 0.0210952199196985 Centerline is valid? [True, True] Translation: X:119.21, Y:-15.73, Z:-5.04 [[ 9.75848127e-01 2.16224483e-01 3.11031399e-02 1.19208775e+02] [-2.16119047e-01 9.76343667e-01 -6.75293788e-03 -1.57287695e+01] [-3.18275041e-02 -1.32139167e-04 9.99493368e-01 -5.04418718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70587156 meters 0.013664149804944339 Centerline is valid? [True, True] Translation: X:119.24, Y:-15.74, Z:-5.05 [[ 9.76109611e-01 2.15052603e-01 3.10226641e-02 1.19235225e+02] [-2.14947217e-01 9.76602462e-01 -6.73239169e-03 -1.57358627e+01] [-3.17446285e-02 -9.66831000e-05 9.99496008e-01 -5.04614687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73587156 meters 0.012572494764772353 Centerline is valid? [True, True] Translation: X:119.26, Y:-15.74, Z:-5.04 [[ 9.76319454e-01 2.14061552e-01 3.12726124e-02 1.19263055e+02] [-2.13954019e-01 9.76820172e-01 -6.78454811e-03 -1.57444777e+01] [-3.20000295e-02 -6.70148148e-05 9.99487866e-01 -5.04467736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76587156000001 meters 0.012572494764772353 Centerline is valid? [True, True] Translation: X:119.29, Y:-15.75, Z:-5.05 [[ 9.76335026e-01 2.13990477e-01 3.12728762e-02 1.19289925e+02] [-2.13882947e-01 9.76835744e-01 -6.78333209e-03 -1.57501714e+01] [-3.20000318e-02 -6.59301977e-05 9.99487866e-01 -5.04591564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79587156000001 meters 0.02479347264438129 Centerline is valid? [True, True] Translation: X:119.32, Y:-15.76, Z:-5.05 [[ 9.76499168e-01 2.13237999e-01 3.12878712e-02 1.19316942e+02] [-2.13130056e-01 9.77000284e-01 -6.78419731e-03 -1.57580867e+01] [-3.20149077e-02 -4.36227088e-05 9.99487391e-01 -5.04729252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82587156000001 meters 0.012510490224781356 Centerline is valid? [True, True] Translation: X:119.34, Y:-15.77, Z:-5.05 [[ 9.76863358e-01 2.11562524e-01 3.12934158e-02 1.19342498e+02] [-2.11453755e-01 9.77364465e-01 -6.78317033e-03 -1.57673412e+01] [-3.20201372e-02 9.12028673e-06 9.99487224e-01 -5.04859522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85587156000001 meters 0.012550002601161155 Centerline is valid? [True, True] Translation: X:119.37, Y:-15.77, Z:-5.05 [[ 9.76931668e-01 2.11213649e-01 3.15168224e-02 1.19369701e+02] [-2.11103236e-01 9.77439918e-01 -6.82857554e-03 -1.57742238e+01] [-3.22480886e-02 1.77484986e-05 9.99479895e-01 -5.04967135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88587156000001 meters 0.01229993850156599 Centerline is valid? [True, True] Translation: X:119.40, Y:-15.78, Z:-5.05 [[ 9.76989563e-01 2.10931199e-01 3.16136620e-02 1.19397310e+02] [-2.10820031e-01 9.77500910e-01 -6.84732459e-03 -1.57809053e+01] [-3.23466978e-02 2.49714651e-05 9.99476708e-01 -5.04965882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91587156000001 meters 0.02992251203967515 Centerline is valid? [True, True] Translation: X:119.42, Y:-15.79, Z:-5.05 [[ 9.77004641e-01 2.10934564e-01 3.11213908e-02 1.19424198e+02] [-2.10826913e-01 9.77500184e-01 -6.73822227e-03 -1.57874624e+01] [-3.18424892e-02 2.20476787e-05 9.99492899e-01 -5.05330044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94587156000001 meters 0.015605754601619106 Centerline is valid? [True, True] Translation: X:119.45, Y:-15.79, Z:-5.06 [[ 9.76836511e-01 2.11896589e-01 2.98373163e-02 1.19452818e+02] [-2.11798149e-01 9.77292093e-01 -6.45824038e-03 -1.57927856e+01] [-3.05282524e-02 -1.08433463e-05 9.99533904e-01 -5.05630308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97587156 meters 0.020520179091724843 Centerline is valid? [True, True] Translation: X:119.48, Y:-15.80, Z:-5.06 [[ 9.76642225e-01 2.12901355e-01 2.90340664e-02 1.19481435e+02] [-2.12808628e-01 9.77073698e-01 -6.28303698e-03 -1.57981919e+01] [-2.97060897e-02 -4.24206148e-05 9.99558676e-01 -5.05724129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00587156 meters 0.014337293837845424 Centerline is valid? [True, True] Translation: X:119.51, Y:-15.80, Z:-5.06 [[ 9.76450811e-01 2.13887981e-01 2.82089551e-02 1.19508224e+02] [-2.13800890e-01 9.76858192e-01 -6.10350238e-03 -1.58030045e+01] [-2.88616147e-02 -7.13298746e-05 9.99583414e-01 -5.06164055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03587156 meters 0.014984628614989084 Centerline is valid? [True, True] Translation: X:119.54, Y:-15.81, Z:-5.06 [[ 9.76190656e-01 2.15150503e-01 2.76054944e-02 1.19536325e+02] [-2.15067674e-01 9.76580897e-01 -5.97046575e-03 -1.58075609e+01] [-2.82435472e-02 -1.08736605e-04 9.99601066e-01 -5.06382352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06587156 meters 0.016591538968693628 Centerline is valid? [True, True] Translation: X:119.56, Y:-15.81, Z:-5.07 [[ 9.75602559e-01 2.17783803e-01 2.77464000e-02 1.19564493e+02] [-2.17701210e-01 9.75997019e-01 -6.00024551e-03 -1.58076688e+01] [-2.83871600e-02 -1.86569991e-04 9.99596986e-01 -5.06546888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09587156 meters 0.016916089292634447 Centerline is valid? [True, True] Translation: X:119.59, Y:-15.81, Z:-5.06 [[ 9.75303799e-01 2.19134808e-01 2.76122521e-02 1.19593223e+02] [-2.19053642e-01 9.75694565e-01 -5.96807496e-03 -1.58113065e+01] [-2.82489373e-02 -2.27878203e-04 9.99600893e-01 -5.06440327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12587156000001 meters 0.016901572938081474 Centerline is valid? [True, True] Translation: X:119.62, Y:-15.82, Z:-5.06 [[ 9.75029387e-01 2.20256190e-01 2.83708548e-02 1.19621560e+02] [-2.20171007e-01 9.75442022e-01 -6.13099418e-03 -1.58152246e+01] [-2.90245134e-02 -2.68540172e-04 9.99578664e-01 -5.06326183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15587156000001 meters 0.0185819729826222 Centerline is valid? [True, True] Translation: X:119.65, Y:-15.82, Z:-5.06 [[ 9.74428389e-01 2.22703150e-01 2.98767806e-02 1.19649756e+02] [-2.22609912e-01 9.74886237e-01 -6.45377253e-03 -1.58162459e+01] [-3.05637377e-02 -3.62128329e-04 9.99532754e-01 -5.06126259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18587156000001 meters 0.028326030308037396 Centerline is valid? [True, True] Translation: X:119.68, Y:-15.82, Z:-5.07 [[ 9.74201948e-01 2.23641983e-01 3.02461165e-02 1.19677966e+02] [-2.23546925e-01 9.74671281e-01 -6.53200544e-03 -1.58177855e+01] [-3.09408518e-02 -3.97933916e-04 9.99521138e-01 -5.06555800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21587156000001 meters 0.020104673244590608 Centerline is valid? [True, True] Translation: X:119.71, Y:-15.83, Z:-5.06 [[ 9.74036363e-01 2.24377196e-01 3.01336736e-02 1.19705532e+02] [-2.24283301e-01 9.74502281e-01 -6.50430113e-03 -1.58255650e+01] [-3.08247505e-02 -4.23053959e-04 9.99524715e-01 -5.06371691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24587156000001 meters 0.02069974656562848 Centerline is valid? [True, True] Translation: X:119.73, Y:-15.83, Z:-5.07 [[ 9.73980379e-01 2.24603629e-01 3.02561062e-02 1.19732388e+02] [-2.24509090e-01 9.74450113e-01 -6.53035678e-03 -1.58300717e+01] [-3.09498079e-02 -4.32331507e-04 9.99520846e-01 -5.06501226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27587156000001 meters 0.023605398258296318 Centerline is valid? [True, True] Translation: X:119.76, Y:-15.83, Z:-5.07 [[ 9.73897477e-01 2.24993320e-01 3.00284880e-02 1.19760481e+02] [-2.24900534e-01 9.74360204e-01 -6.47633558e-03 -1.58286359e+01] [-3.07156960e-02 -4.46136102e-04 9.99528062e-01 -5.06902850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30587156000001 meters 0.02303106831522622 Centerline is valid? [True, True] Translation: X:119.79, Y:-15.84, Z:-5.07 [[ 9.73855425e-01 2.25182660e-01 2.99730151e-02 1.19788702e+02] [-2.25090385e-01 9.74316460e-01 -6.46179000e-03 -1.58350345e+01] [-3.06582850e-02 -4.53788259e-04 9.99529821e-01 -5.06740373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33587156000002 meters 0.021221065094644737 Centerline is valid? [True, True] Translation: X:119.82, Y:-15.84, Z:-5.07 [[ 9.73874459e-01 2.25061812e-01 3.02608413e-02 1.19817110e+02] [-2.24967745e-01 9.74344381e-01 -6.52231731e-03 -1.58400277e+01] [-3.09524052e-02 -4.55794969e-04 9.99520756e-01 -5.06777379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36587156 meters 0.020913930985194985 Centerline is valid? [True, True] Translation: X:119.85, Y:-15.84, Z:-5.07 [[ 9.74005469e-01 2.24333123e-01 3.14324092e-02 1.19845249e+02] [-2.24231300e-01 9.74512415e-01 -6.77332010e-03 -1.58430404e+01] [-3.21507531e-02 -4.50879155e-04 9.99482929e-01 -5.06765465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39587156 meters 0.020222640117009576 Centerline is valid? [True, True] Translation: X:119.87, Y:-15.85, Z:-5.07 [[ 9.74088116e-01 2.23942557e-01 3.16555337e-02 1.19873343e+02] [-2.23839146e-01 9.74602244e-01 -6.81924333e-03 -1.58476541e+01] [-3.23786730e-02 -4.43203739e-04 9.99475575e-01 -5.06779479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42587156 meters 0.019236348924437357 Centerline is valid? [True, True] Translation: X:119.90, Y:-15.85, Z:-5.07 [[ 9.74147883e-01 2.23720052e-01 3.13885382e-02 1.19901095e+02] [-2.23618301e-01 9.74653349e-01 -6.76053562e-03 -1.58524593e+01] [-3.21054112e-02 -4.33290112e-04 9.99484394e-01 -5.06812507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45587156 meters 0.02004471663745331 Centerline is valid? [True, True] Translation: X:119.93, Y:-15.85, Z:-5.07 [[ 9.74167803e-01 2.23749628e-01 3.05482642e-02 1.19929433e+02] [-2.23653331e-01 9.74646563e-01 -6.57753330e-03 -1.58516914e+01] [-3.12454813e-02 -4.24599878e-04 9.99511651e-01 -5.07100951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48587156 meters 0.02052397038869066 Centerline is valid? [True, True] Translation: X:119.96, Y:-15.85, Z:-5.07 [[ 9.74251689e-01 2.23437339e-01 3.01562899e-02 1.19956397e+02] [-2.23343417e-01 9.74718209e-01 -6.49090363e-03 -1.58542462e+01] [-3.08441951e-02 -4.11434999e-04 9.99524120e-01 -5.07342953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51587156000001 meters 0.020465256398175785 Centerline is valid? [True, True] Translation: X:119.98, Y:-15.86, Z:-5.08 [[ 9.74370444e-01 2.22934017e-01 3.00443376e-02 1.19984309e+02] [-2.22840712e-01 9.74833455e-01 -6.46163202e-03 -1.58576801e+01] [-3.07287430e-02 -3.99078307e-04 9.99527681e-01 -5.07594727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54587156000001 meters 0.030358921405743693 Centerline is valid? [True, True] Translation: X:120.01, Y:-15.86, Z:-5.08 [[ 9.74523729e-01 2.22343091e-01 2.94457265e-02 1.20012282e+02] [-2.22253256e-01 9.74968415e-01 -6.33094270e-03 -1.58631402e+01] [-3.01162947e-02 -3.74754713e-04 9.99546331e-01 -5.07841361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57587156000001 meters 0.017317971445089102 Centerline is valid? [True, True] Translation: X:120.04, Y:-15.87, Z:-5.08 [[ 9.75312414e-01 2.18885880e-01 2.92346798e-02 1.20039697e+02] [-2.18795817e-01 9.75750429e-01 -6.28414998e-03 -1.58711593e+01] [-2.99012631e-02 -2.67416168e-04 9.99552821e-01 -5.07991667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60587156000001 meters 0.015280650395302771 Centerline is valid? [True, True] Translation: X:120.07, Y:-15.88, Z:-5.08 [[ 9.75848537e-01 2.16453322e-01 2.94549183e-02 1.20067303e+02] [-2.16360831e-01 9.76292948e-01 -6.33004211e-03 -1.58795852e+01] [-3.01267877e-02 -1.95728277e-04 9.99546066e-01 -5.07952134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63587156000001 meters 0.01358730512874476 Centerline is valid? [True, True] Translation: X:120.10, Y:-15.89, Z:-5.08 [[ 9.76433565e-01 2.13774973e-01 2.96269116e-02 1.20095005e+02] [-2.13680211e-01 9.76882924e-01 -6.36553892e-03 -1.58877649e+01] [-3.03028170e-02 -1.15158857e-04 9.99540758e-01 -5.07968451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66587156000001 meters 0.02507479693764884 Centerline is valid? [True, True] Translation: X:120.12, Y:-15.90, Z:-5.08 [[ 9.77560855e-01 2.08573367e-01 2.95283798e-02 1.20121045e+02] [-2.08476898e-01 9.78006722e-01 -6.34305972e-03 -1.58978298e+01] [-3.02019473e-02 4.47418543e-05 9.99543816e-01 -5.08084138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69587156000001 meters 0.013368003448327007 Centerline is valid? [True, True] Translation: X:120.15, Y:-15.90, Z:-5.08 [[ 9.77993797e-01 2.06462207e-01 3.00248368e-02 1.20146766e+02] [-2.06361505e-01 9.78454570e-01 -6.44860163e-03 -1.59048978e+01] [-3.07093313e-02 1.10721888e-04 9.99528351e-01 -5.08094356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72587156 meters 0.013311173810077749 Centerline is valid? [True, True] Translation: X:120.17, Y:-15.91, Z:-5.08 [[ 9.78238456e-01 2.05240040e-01 3.04310385e-02 1.20174007e+02] [-2.05136141e-01 9.78711655e-01 -6.53141474e-03 -1.59111438e+01] [-3.11237199e-02 1.46775267e-04 9.99515529e-01 -5.08019552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75587156 meters 0.013966466659903575 Centerline is valid? [True, True] Translation: X:120.20, Y:-15.92, Z:-5.08 [[ 9.78347018e-01 2.04716733e-01 3.04659119e-02 1.20200420e+02] [-2.04612408e-01 9.78821247e-01 -6.53674625e-03 -1.59171224e+01] [-3.11588632e-02 1.61502607e-04 9.99514432e-01 -5.08284508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78587156 meters 0.023477700296191756 Centerline is valid? [True, True] Translation: X:120.23, Y:-15.92, Z:-5.08 [[ 9.77981702e-01 2.06404438e-01 3.08058085e-02 1.20229439e+02] [-2.06298712e-01 9.78466758e-01 -6.60641777e-03 -1.59195714e+01] [-3.15060536e-02 1.05757072e-04 9.99503555e-01 -5.08207498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81587156 meters 0.02628093006186484 Centerline is valid? [True, True] Translation: X:120.26, Y:-15.92, Z:-5.08 [[ 9.77653065e-01 2.07995090e-01 3.05373141e-02 1.20256253e+02] [-2.07892006e-01 9.78129868e-01 -6.54783046e-03 -1.59213338e+01] [-3.12313757e-02 5.30430132e-05 9.99512180e-01 -5.08382032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84587156 meters 0.012813690705402721 Centerline is valid? [True, True] Translation: X:120.29, Y:-15.92, Z:-5.09 [[ 9.77252219e-01 2.09920891e-01 3.01880832e-02 1.20285863e+02] [-2.09821167e-01 9.77718374e-01 -6.46981066e-03 -1.59220411e+01] [-3.08735920e-02 -1.14620196e-05 9.99523297e-01 -5.08595662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87587156000001 meters 0.013395345328141009 Centerline is valid? [True, True] Translation: X:120.31, Y:-15.92, Z:-5.09 [[ 9.76879026e-01 2.11683239e-01 2.99595600e-02 1.20313780e+02] [-2.11585887e-01 9.77338325e-01 -6.41954283e-03 -1.59220002e+01] [-3.06395358e-02 -6.79033451e-05 9.99530497e-01 -5.08839274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90587156000001 meters 0.014229307359476546 Centerline is valid? [True, True] Translation: X:120.34, Y:-15.92, Z:-5.09 [[ 9.76186009e-01 2.14850615e-01 3.00014887e-02 1.20343549e+02] [-2.14754498e-01 9.76646909e-01 -6.42811513e-03 -1.59193199e+01] [-3.06819457e-02 -1.67918607e-04 9.99529184e-01 -5.08797986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93587156000001 meters 0.015384667676356477 Centerline is valid? [True, True] Translation: X:120.37, Y:-15.92, Z:-5.09 [[ 9.75957064e-01 2.15920394e-01 2.97690049e-02 1.20371732e+02] [-2.15826449e-01 9.76410949e-01 -6.37202238e-03 -1.59216648e+01] [-3.04426319e-02 -2.06118378e-04 9.99536494e-01 -5.09112772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96587156000001 meters 0.015385380246696093 Centerline is valid? [True, True] Translation: X:120.40, Y:-15.93, Z:-5.09 [[ 9.75920905e-01 2.16150947e-01 2.92771983e-02 1.20400453e+02] [-2.16060190e-01 9.76359936e-01 -6.26661486e-03 -1.59259034e+01] [-2.99396182e-02 -2.09916581e-04 9.99551687e-01 -5.09276113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99587156000001 meters 0.015798385978848632 Centerline is valid? [True, True] Translation: X:120.43, Y:-15.93, Z:-5.10 [[ 9.76032838e-01 2.15708467e-01 2.88054895e-02 1.20428135e+02] [-2.15620616e-01 9.76457791e-01 -6.15896818e-03 -1.59283897e+01] [-2.94558862e-02 -1.99702180e-04 9.99566061e-01 -5.09644534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02587156000001 meters 0.023123238892015417 Centerline is valid? [True, True] Translation: X:120.46, Y:-15.94, Z:-5.10 [[ 9.76208200e-01 2.14978730e-01 2.83142293e-02 1.20455774e+02] [-2.14893598e-01 9.76618715e-01 -6.05202968e-03 -1.59352358e+01] [-2.89532639e-02 -1.76505620e-04 9.99580751e-01 -5.09621513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05587156000001 meters 0.014544475776272006 Centerline is valid? [True, True] Translation: X:120.48, Y:-15.94, Z:-5.10 [[ 9.76452092e-01 2.13924313e-01 2.78872782e-02 1.20482437e+02] [-2.13841322e-01 9.76850228e-01 -5.95997907e-03 -1.59403659e+01] [-2.85166785e-02 -1.43818402e-04 9.99593306e-01 -5.09828110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08587156000002 meters 0.014113493863862738 Centerline is valid? [True, True] Translation: X:120.51, Y:-15.94, Z:-5.10 [[ 9.76874712e-01 2.12049534e-01 2.74005811e-02 1.20510496e+02] [-2.11968750e-01 9.77258915e-01 -5.85337087e-03 -1.59446003e+01] [-2.80186667e-02 -9.00569454e-05 9.99607396e-01 -5.10002906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11587156 meters 0.014372020718897288 Centerline is valid? [True, True] Translation: X:120.54, Y:-15.95, Z:-5.10 [[ 9.77073929e-01 2.11066078e-01 2.78863198e-02 1.20537805e+02] [-2.10982072e-01 9.77471793e-01 -5.95475515e-03 -1.59500237e+01] [-2.85149379e-02 -6.52775166e-05 9.99593364e-01 -5.10338282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14587156 meters 0.013638979913805286 Centerline is valid? [True, True] Translation: X:120.57, Y:-15.96, Z:-5.10 [[ 9.77258593e-01 2.10138375e-01 2.84166575e-02 1.20565966e+02] [-2.10050753e-01 9.77671653e-01 -6.06788811e-03 -1.59568823e+01] [-2.90572567e-02 -3.90445139e-05 9.99577748e-01 -5.10282014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17587156 meters 0.01327976557453599 Centerline is valid? [True, True] Translation: X:120.59, Y:-15.96, Z:-5.10 [[ 9.77415173e-01 2.09386143e-01 2.85836214e-02 1.20593569e+02] [-2.09297369e-01 9.77833034e-01 -6.09662884e-03 -1.59636638e+01] [-2.92265588e-02 -2.35392179e-05 9.99572813e-01 -5.10277539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20587156 meters 0.013504776517868737 Centerline is valid? [True, True] Translation: X:120.62, Y:-15.97, Z:-5.10 [[ 9.77550191e-01 2.08716183e-01 2.88648504e-02 1.20620321e+02] [-2.08625399e-01 9.77976255e-01 -6.15532298e-03 -1.59692528e+01] [-2.95138538e-02 -4.80377100e-06 9.99564371e-01 -5.10487057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23587156 meters 0.013252061949144979 Centerline is valid? [True, True] Translation: X:120.65, Y:-15.97, Z:-5.10 [[ 9.77789079e-01 2.07512350e-01 2.94472551e-02 1.20648922e+02] [-2.07417382e-01 9.78232398e-01 -6.27740530e-03 -1.59747098e+01] [-3.01088981e-02 3.01057768e-05 9.99546624e-01 -5.10440994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26587156000001 meters 0.013187975610692486 Centerline is valid? [True, True] Translation: X:120.68, Y:-15.98, Z:-5.11 [[ 9.77899350e-01 2.06989260e-01 2.94670600e-02 1.20676586e+02] [-2.06893960e-01 9.78343214e-01 -6.28055244e-03 -1.59807277e+01] [-3.01289051e-02 4.51914232e-05 9.99546020e-01 -5.10543308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29587156000001 meters 0.013300737361998756 Centerline is valid? [True, True] Translation: X:120.70, Y:-15.99, Z:-5.11 [[ 9.77967821e-01 2.06682550e-01 2.93473007e-02 1.20704528e+02] [-2.06587960e-01 9.78408054e-01 -6.25251642e-03 -1.59864794e+01] [-3.00059214e-02 5.19608839e-05 9.99549720e-01 -5.10684570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32587156000001 meters 0.02871556968044325 Centerline is valid? [True, True] Translation: X:120.73, Y:-15.99, Z:-5.11 [[ 9.77954446e-01 2.06758892e-01 2.92551055e-02 1.20730879e+02] [-2.06664956e-01 9.78391925e-01 -6.23198684e-03 -1.59899157e+01] [-2.99114776e-02 4.85941469e-05 9.99552550e-01 -5.10829930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35587156000001 meters 0.013352100347414318 Centerline is valid? [True, True] Translation: X:120.76, Y:-15.99, Z:-5.11 [[ 9.77857922e-01 2.07198056e-01 2.93743133e-02 1.20758461e+02] [-2.07103633e-01 9.78299016e-01 -6.25467685e-03 -1.59940507e+01] [-3.00328186e-02 3.26583283e-05 9.99548913e-01 -5.10910870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38587156000001 meters 0.013565212086975295 Centerline is valid? [True, True] Translation: X:120.79, Y:-16.00, Z:-5.11 [[ 9.77629710e-01 2.08314968e-01 2.90693096e-02 1.20786222e+02] [-2.08223042e-01 9.78061795e-01 -6.18792758e-03 -1.59981478e+01] [-2.97206190e-02 -3.39822992e-06 9.99558245e-01 -5.11159855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41587156000001 meters 0.014494800834933309 Centerline is valid? [True, True] Translation: X:120.82, Y:-16.00, Z:-5.11 [[ 9.77043940e-01 2.11254164e-01 2.75103072e-02 1.20815882e+02] [-2.11173026e-01 9.77431159e-01 -5.85511689e-03 -1.59969266e+01] [-2.81263492e-02 -8.87283444e-05 9.99604372e-01 -5.11487666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44587156000001 meters 0.02445555771678422 Centerline is valid? [True, True] Translation: X:120.84, Y:-16.00, Z:-5.12 [[ 9.76734709e-01 2.12739929e-01 2.70375886e-02 1.20844350e+02] [-2.12662248e-01 9.77108850e-01 -5.75008560e-03 -1.60000836e+01] [-2.76419399e-02 -1.33566179e-04 9.99617880e-01 -5.11501605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47587156 meters 0.027369215731992295 Centerline is valid? [True, True] Translation: X:120.87, Y:-16.00, Z:-5.12 [[ 9.76436550e-01 2.14106076e-01 2.70231749e-02 1.20873456e+02] [-2.14029137e-01 9.76810400e-01 -5.74209748e-03 -1.60026844e+01] [-2.76259363e-02 -1.76952951e-04 9.99618315e-01 -5.11622013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50587156 meters 0.01681545601011712 Centerline is valid? [True, True] Translation: X:120.90, Y:-16.00, Z:-5.12 [[ 9.76160846e-01 2.15333103e-01 2.72333779e-02 1.20901498e+02] [-2.15255633e-01 9.76540632e-01 -5.77978473e-03 -1.60044664e+01] [-2.78390790e-02 -2.20138447e-04 9.99612393e-01 -5.11931748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53587156 meters 0.019858290649816993 Centerline is valid? [True, True] Translation: X:120.93, Y:-16.00, Z:-5.12 [[ 9.75651200e-01 2.17477217e-01 2.84322984e-02 1.20929546e+02] [-2.17393732e-01 9.76065353e-01 -6.03261785e-03 -1.60040615e+01] [-2.90637383e-02 -2.95272612e-04 9.99577517e-01 -5.11943331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56587156 meters 0.017960344419249846 Centerline is valid? [True, True] Translation: X:120.96, Y:-16.01, Z:-5.12 [[ 9.75615701e-01 2.17530232e-01 2.92335738e-02 1.20958281e+02] [-2.17442038e-01 9.76053535e-01 -6.20128602e-03 -1.60083083e+01] [-2.98825003e-02 -3.06535876e-04 9.99553371e-01 -5.11915848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59587156 meters 0.017383901962624612 Centerline is valid? [True, True] Translation: X:120.99, Y:-16.01, Z:-5.12 [[ 9.75671324e-01 2.17223363e-01 2.96559935e-02 1.20986114e+02] [-2.17132617e-01 9.76121876e-01 -6.28569649e-03 -1.60137968e+01] [-3.03132641e-02 -3.06509668e-04 9.99540400e-01 -5.11922178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62587156000001 meters 0.020886781466503513 Centerline is valid? [True, True] Translation: X:121.01, Y:-16.02, Z:-5.12 [[ 9.76130281e-01 2.15158483e-01 2.96057702e-02 1.21014315e+02] [-2.15067252e-01 9.76579114e-01 -6.26985474e-03 -1.60207878e+01] [-3.02613893e-02 -2.47036557e-04 9.99541989e-01 -5.12031754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65587156000001 meters 0.020886781466503513 Centerline is valid? [True, True] Translation: X:121.04, Y:-16.03, Z:-5.12 [[ 9.76171611e-01 2.14970755e-01 2.96067541e-02 1.21041194e+02] [-2.14879578e-01 9.76620455e-01 -6.26520433e-03 -1.60262874e+01] [-3.02613974e-02 -2.45972240e-04 9.99541989e-01 -5.12155530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68587156000001 meters 0.02938939361829932 Centerline is valid? [True, True] Translation: X:121.07, Y:-16.03, Z:-5.12 [[ 9.76442961e-01 2.13686695e-01 2.99522970e-02 1.21068995e+02] [-2.13592971e-01 9.76902221e-01 -6.33184090e-03 -1.60325743e+01] [-3.06134957e-02 -2.14918648e-04 9.99531274e-01 -5.12278757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71587156000001 meters 0.014888368281261485 Centerline is valid? [True, True] Translation: X:121.10, Y:-16.04, Z:-5.13 [[ 9.76710208e-01 2.12474889e-01 2.98595133e-02 1.21096348e+02] [-2.12381387e-01 9.77166510e-01 -6.30542508e-03 -1.60389827e+01] [-3.05174609e-02 -1.83031798e-04 9.99534217e-01 -5.12537253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74587156000001 meters 0.014255767253788047 Centerline is valid? [True, True] Translation: X:121.12, Y:-16.05, Z:-5.13 [[ 9.77070979e-01 2.10834543e-01 2.96832742e-02 1.21123013e+02] [-2.10741382e-01 9.77521753e-01 -6.26831207e-03 -1.60468027e+01] [-3.03376229e-02 -1.30908411e-04 9.99539700e-01 -5.12771527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77587156000001 meters 0.022134006515613328 Centerline is valid? [True, True] Translation: X:121.15, Y:-16.06, Z:-5.13 [[ 9.77562115e-01 2.08588154e-01 2.93818415e-02 1.21150168e+02] [-2.08496029e-01 9.78003567e-01 -6.19903938e-03 -1.60556908e+01] [-3.00285920e-02 -6.60512327e-05 9.99549038e-01 -5.12760602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80587156000001 meters 0.019139272062618288 Centerline is valid? [True, True] Translation: X:121.18, Y:-16.06, Z:-5.13 [[ 9.77673969e-01 2.08029205e-01 2.96219518e-02 1.21177182e+02] [-2.07935494e-01 9.78122613e-01 -6.24366315e-03 -1.60611939e+01] [-3.02727652e-02 -5.51882464e-05 9.99541673e-01 -5.12867028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83587156000002 meters 0.01291921869310071 Centerline is valid? [True, True] Translation: X:121.21, Y:-16.07, Z:-5.13 [[ 9.77793894e-01 2.07386603e-01 3.01645032e-02 1.21206026e+02] [-2.07289328e-01 9.78259063e-01 -6.35132269e-03 -1.60664312e+01] [-3.08258779e-02 -4.24950636e-05 9.99524769e-01 -5.12920508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86587156 meters 0.012595567290013933 Centerline is valid? [True, True] Translation: X:121.23, Y:-16.07, Z:-5.13 [[ 9.78018646e-01 2.06214707e-01 3.09034399e-02 1.21234136e+02] [-2.06112180e-01 9.78506768e-01 -6.50189126e-03 -1.60723706e+01] [-3.15800107e-02 -1.06044754e-05 9.99501227e-01 -5.12880893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89587156 meters 0.012246140250837239 Centerline is valid? [True, True] Translation: X:121.26, Y:-16.08, Z:-5.13 [[ 9.78136062e-01 2.05567234e-01 3.14953307e-02 1.21262317e+02] [-2.05460584e-01 9.78642995e-01 -6.62088357e-03 -1.60788162e+01] [-3.21837215e-02 5.07594569e-06 9.99481970e-01 -5.12871867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92587156 meters 0.012132456059888762 Centerline is valid? [True, True] Translation: X:121.29, Y:-16.09, Z:-5.13 [[ 9.78202658e-01 2.05194042e-01 3.18585095e-02 1.21289853e+02] [-2.05084951e-01 9.78721311e-01 -6.69012089e-03 -1.60851879e+01] [-3.25533752e-02 1.05931675e-05 9.99469998e-01 -5.13008872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95587156 meters 0.012156804912032717 Centerline is valid? [True, True] Translation: X:121.32, Y:-16.09, Z:-5.13 [[ 9.78309239e-01 2.04652351e-01 3.20694282e-02 1.21317199e+02] [-2.04541533e-01 9.78834723e-01 -6.73399953e-03 -1.60908021e+01] [-3.27687987e-02 2.84039337e-05 9.99462958e-01 -5.13130913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98587156 meters 0.021856174005915826 Centerline is valid? [True, True] Translation: X:121.34, Y:-16.10, Z:-5.13 [[ 9.78171795e-01 2.05385553e-01 3.15707658e-02 1.21344581e+02] [-2.05278790e-01 9.78681140e-01 -6.62145659e-03 -1.60951892e+01] [-3.22576646e-02 -3.88652043e-06 9.99479586e-01 -5.13314472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01587156000001 meters 0.012375321806211311 Centerline is valid? [True, True] Translation: X:121.37, Y:-16.10, Z:-5.13 [[ 9.78125642e-01 2.05582064e-01 3.17213330e-02 1.21371897e+02] [-2.05474393e-01 9.78639880e-01 -6.65273403e-03 -1.60986053e+01] [-3.24114443e-02 -1.07118921e-05 9.99474611e-01 -5.13471410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04587156000001 meters 0.012430737211348738 Centerline is valid? [True, True] Translation: X:121.40, Y:-16.10, Z:-5.14 [[ 9.78060497e-01 2.05919981e-01 3.15376919e-02 1.21399980e+02] [-2.05813927e-01 9.78568833e-01 -6.60808208e-03 -1.61024512e+01] [-3.22225385e-02 -2.77921890e-05 9.99480719e-01 -5.13636821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07587156000001 meters 0.012688641981441524 Centerline is valid? [True, True] Translation: X:121.43, Y:-16.11, Z:-5.14 [[ 9.77923560e-01 2.06578210e-01 3.14794190e-02 1.21427841e+02] [-2.06473088e-01 9.78430090e-01 -6.58968119e-03 -1.61058122e+01] [-3.21616953e-02 -5.54483503e-05 9.99482677e-01 -5.13863546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10587156000001 meters 0.012470569994378438 Centerline is valid? [True, True] Translation: X:121.46, Y:-16.11, Z:-5.14 [[ 9.77940314e-01 2.06518064e-01 3.13533164e-02 1.21455449e+02] [-2.06413946e-01 9.78442786e-01 -6.55722550e-03 -1.61110161e+01] [-3.20316118e-02 -5.91865922e-05 9.99486855e-01 -5.13981449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13587156000001 meters 0.01712030530439878 Centerline is valid? [True, True] Translation: X:121.48, Y:-16.12, Z:-5.14 [[ 9.77993532e-01 2.06353927e-01 3.07686255e-02 1.21482522e+02] [-2.06253825e-01 9.78477416e-01 -6.42701591e-03 -1.61167543e+01] [-3.14326451e-02 -6.05666955e-05 9.99505870e-01 -5.14313446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16587156000001 meters 0.012764111825021369 Centerline is valid? [True, True] Translation: X:121.51, Y:-16.12, Z:-5.14 [[ 9.78062643e-01 2.06022093e-01 3.07955031e-02 1.21509577e+02] [-2.05921656e-01 9.78547339e-01 -6.43248385e-03 -1.61222683e+01] [-3.14600914e-02 -5.00888379e-05 9.99505008e-01 -5.14436501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19587156000001 meters 0.012077267301193607 Centerline is valid? [True, True] Translation: X:121.54, Y:-16.13, Z:-5.14 [[ 9.78456662e-01 2.03972022e-01 3.19057211e-02 1.21536307e+02] [-2.03863390e-01 9.78976718e-01 -6.65612327e-03 -1.61299632e+01] [-3.25926210e-02 8.31968131e-06 9.99468719e-01 -5.14450760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22587156000002 meters 0.012006075362851198 Centerline is valid? [True, True] Translation: X:121.56, Y:-16.14, Z:-5.15 [[ 9.78676854e-01 2.02842580e-01 3.23497097e-02 1.21563963e+02] [-2.02730357e-01 9.79211359e-01 -6.74658314e-03 -1.61374796e+01] [-3.30456975e-02 4.44565605e-05 9.99453841e-01 -5.14507060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25587156 meters 0.012275543776129019 Centerline is valid? [True, True] Translation: X:121.59, Y:-16.14, Z:-5.15 [[ 9.78919125e-01 2.01624481e-01 3.26330393e-02 1.21589823e+02] [-2.01509646e-01 9.79462894e-01 -6.80446892e-03 -1.61448386e+01] [-3.33347986e-02 8.51525556e-05 9.99444238e-01 -5.14594775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28587156 meters 0.012576849110514206 Centerline is valid? [True, True] Translation: X:121.62, Y:-16.15, Z:-5.15 [[ 9.79170057e-01 2.00414605e-01 3.25574273e-02 1.21617604e+02] [-2.00299741e-01 9.79711167e-01 -6.78550032e-03 -1.61520721e+01] [-3.32567884e-02 1.22914487e-04 9.99446832e-01 -5.14651052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31587156 meters 0.023308932041413172 Centerline is valid? [True, True] Translation: X:121.65, Y:-16.16, Z:-5.15 [[ 9.79562550e-01 1.98497210e-01 3.24972104e-02 1.21645328e+02] [-1.98381724e-01 9.80101435e-01 -6.77267665e-03 -1.61612799e+01] [-3.31949200e-02 1.87407775e-04 9.99448879e-01 -5.14766278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34587156 meters 0.013578974153710848 Centerline is valid? [True, True] Translation: X:121.67, Y:-16.17, Z:-5.15 [[ 9.79650069e-01 1.98020580e-01 3.27657078e-02 1.21671595e+02] [-1.97903118e-01 9.80197842e-01 -6.82244668e-03 -1.61687480e+01] [-3.34678609e-02 1.99174639e-04 9.99439774e-01 -5.14973917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37587156000001 meters 0.02649386493154984 Centerline is valid? [True, True] Translation: X:121.70, Y:-16.18, Z:-5.15 [[ 9.79777486e-01 1.97358153e-01 3.29520590e-02 1.21699077e+02] [-1.97239077e-01 9.80331429e-01 -6.85823186e-03 -1.61752387e+01] [-3.36574671e-02 2.20107457e-04 9.99433403e-01 -5.14928580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40587156000001 meters 0.014656683580246986 Centerline is valid? [True, True] Translation: X:121.73, Y:-16.18, Z:-5.15 [[ 9.79821506e-01 1.97163098e-01 3.28105135e-02 1.21726301e+02] [-1.97045021e-01 9.80370676e-01 -6.82619118e-03 -1.61820779e+01] [-3.35123383e-02 2.23300605e-04 9.99438279e-01 -5.15373833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43587156000001 meters 0.013646920099056204 Centerline is valid? [True, True] Translation: X:121.75, Y:-16.19, Z:-5.15 [[ 9.79787036e-01 1.97377247e-01 3.25513004e-02 1.21754439e+02] [-1.97261209e-01 9.80327587e-01 -6.77040521e-03 -1.61861987e+01] [-3.32472617e-02 2.12446391e-04 9.99447134e-01 -5.15351394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46587156000001 meters 0.014092702926842454 Centerline is valid? [True, True] Translation: X:121.78, Y:-16.19, Z:-5.16 [[ 9.79764844e-01 1.97521041e-01 3.23463935e-02 1.21780631e+02] [-1.97406593e-01 9.80298626e-01 -6.72610876e-03 -1.61924868e+01] [-3.30376732e-02 2.04613551e-04 9.99454086e-01 -5.15668443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49587156000001 meters 0.0266201689079061 Centerline is valid? [True, True] Translation: X:121.81, Y:-16.20, Z:-5.16 [[ 9.79755269e-01 1.97575643e-01 3.23029202e-02 1.21807736e+02] [-1.97461697e-01 9.80287624e-01 -6.71207904e-03 -1.61976839e+01] [-3.29922962e-02 1.97605387e-04 9.99455586e-01 -5.15666251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52587156000001 meters 0.013721714652117042 Centerline is valid? [True, True] Translation: X:121.83, Y:-16.20, Z:-5.16 [[ 9.79645982e-01 1.98063164e-01 3.26302423e-02 1.21834864e+02] [-1.97947253e-01 9.80189242e-01 -6.77751352e-03 -1.62024751e+01] [-3.33261882e-02 1.80497076e-04 9.99444512e-01 -5.15994731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55587156000001 meters 0.013486166599957435 Centerline is valid? [True, True] Translation: X:121.86, Y:-16.21, Z:-5.16 [[ 9.79587329e-01 1.98246756e-01 3.32699490e-02 1.21863365e+02] [-1.98126436e-01 9.80152128e-01 -6.90814779e-03 -1.62077989e+01] [-3.39791292e-02 1.75477633e-04 9.99422527e-01 -5.16026661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58587156000002 meters 0.012849159389457238 Centerline is valid? [True, True] Translation: X:121.89, Y:-16.21, Z:-5.16 [[ 9.79500026e-01 1.98631221e-01 3.35460351e-02 1.21891412e+02] [-1.98509174e-01 9.80074289e-01 -6.96390594e-03 -1.62125461e+01] [-3.42608556e-02 1.61950344e-04 9.99412911e-01 -5.16032870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61587156 meters 0.01725890937837996 Centerline is valid? [True, True] Translation: X:121.92, Y:-16.22, Z:-5.16 [[ 9.79295768e-01 1.99722262e-01 3.30275100e-02 1.21918214e+02] [-1.99604619e-01 9.79852542e-01 -6.85510552e-03 -1.62161258e+01] [-3.37312068e-02 1.20732268e-04 9.99430934e-01 -5.16394397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64587156 meters 0.012374687066187984 Centerline is valid? [True, True] Translation: X:121.95, Y:-16.22, Z:-5.16 [[ 9.79186142e-01 2.00293474e-01 3.28180456e-02 1.21946522e+02] [-2.00177735e-01 9.79735941e-01 -6.80877994e-03 -1.62196344e+01] [-3.35167730e-02 9.76209100e-05 9.99438150e-01 -5.16439254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67587156 meters 0.012315210029143518 Centerline is valid? [True, True] Translation: X:121.97, Y:-16.22, Z:-5.17 [[ 9.79112795e-01 2.00681871e-01 3.26331192e-02 1.21973376e+02] [-2.00567723e-01 9.79656460e-01 -6.76819572e-03 -1.62233879e+01] [-3.33275002e-02 8.16766005e-05 9.99444481e-01 -5.16618029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70587156 meters 0.012024501696168852 Centerline is valid? [True, True] Translation: X:122.00, Y:-16.23, Z:-5.17 [[ 9.79201545e-01 2.00165906e-01 3.31352588e-02 1.22001567e+02] [-2.00048031e-01 9.79762012e-01 -6.86910163e-03 -1.62293251e+01] [-3.38396278e-02 9.75916313e-05 9.99427271e-01 -5.16638912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73587156 meters 0.012636174978436238 Centerline is valid? [True, True] Translation: X:122.03, Y:-16.24, Z:-5.17 [[ 9.79379077e-01 1.99277266e-01 3.32444676e-02 1.22027671e+02] [-1.99158126e-01 9.79943139e-01 -6.89101717e-03 -1.62366154e+01] [-3.39509110e-02 1.28012171e-04 9.99423493e-01 -5.16837847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76587156000001 meters 0.01282353180730632 Centerline is valid? [True, True] Translation: X:122.06, Y:-16.24, Z:-5.17 [[ 9.79577552e-01 1.98244305e-01 3.35710544e-02 1.22055058e+02] [-1.98122387e-01 9.80152626e-01 -6.95340737e-03 -1.62436762e+01] [-3.42832306e-02 1.60224322e-04 9.99412144e-01 -5.16897628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79587156000001 meters 0.01593153412299349 Centerline is valid? [True, True] Translation: X:122.08, Y:-16.25, Z:-5.17 [[ 9.80068045e-01 1.95782451e-01 3.37025052e-02 1.22082384e+02] [-1.95658212e-01 9.80647323e-01 -6.97795618e-03 -1.62518598e+01] [-3.44164329e-02 2.44699967e-04 9.99407549e-01 -5.16931876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82587156000001 meters 0.021914534869918317 Centerline is valid? [True, True] Translation: X:122.11, Y:-16.26, Z:-5.17 [[ 9.80348753e-01 1.94388887e-01 3.36048203e-02 1.22110712e+02] [-1.94264605e-01 9.80924501e-01 -6.95610123e-03 -1.62594445e+01] [-3.43159803e-02 2.91178014e-04 9.99410991e-01 -5.16967078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85587156000001 meters 0.016619067480471393 Centerline is valid? [True, True] Translation: X:122.14, Y:-16.27, Z:-5.17 [[ 9.80892575e-01 1.91697191e-01 3.31955321e-02 1.22136096e+02] [-1.91574424e-01 9.81454045e-01 -6.87000243e-03 -1.62710082e+01] [-3.38968494e-02 3.79319443e-04 9.99425265e-01 -5.17347628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88587156000001 meters 0.016988834901987285 Centerline is valid? [True, True] Translation: X:122.16, Y:-16.28, Z:-5.17 [[ 9.81106300e-01 1.90569432e-01 3.33724510e-02 1.22163712e+02] [-1.90444796e-01 9.81673631e-01 -6.90381807e-03 -1.62781013e+01] [-3.40765118e-02 4.17769790e-04 9.99419140e-01 -5.17405777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91587156000001 meters 0.018186001958216073 Centerline is valid? [True, True] Translation: X:122.19, Y:-16.29, Z:-5.18 [[ 9.81272383e-01 1.89677484e-01 3.35702636e-02 1.22189901e+02] [-1.89550897e-01 9.81846347e-01 -6.94317363e-03 -1.62863443e+01] [-3.42778044e-02 4.49870939e-04 9.99412242e-01 -5.17564244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94587156000001 meters 0.019493077008109594 Centerline is valid? [True, True] Translation: X:122.22, Y:-16.29, Z:-5.18 [[ 9.81483843e-01 1.88575656e-01 3.35959577e-02 1.22216848e+02] [-1.88448302e-01 9.82058545e-01 -6.94639286e-03 -1.62945506e+01] [-3.43031179e-02 4.86671169e-04 9.99411356e-01 -5.17729590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97587156000002 meters 0.02042768557397682 Centerline is valid? [True, True] Translation: X:122.24, Y:-16.30, Z:-5.18 [[ 9.81814545e-01 1.86619353e-01 3.48341307e-02 1.22243830e+02] [-1.86481283e-01 9.82432129e-01 -7.20017861e-03 -1.63042783e+01] [-3.55658618e-02 5.73326708e-04 9.99367170e-01 -5.17594493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00587156 meters 0.02207425503693258 Centerline is valid? [True, True] Translation: X:122.27, Y:-16.31, Z:-5.18 [[ 9.81952963e-01 1.85852178e-01 3.50334938e-02 1.22270068e+02] [-1.85712113e-01 9.82577531e-01 -7.23919567e-03 -1.63132555e+01] [-3.57685442e-02 6.02405467e-04 9.99359919e-01 -5.17757415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03587156000003 meters 0.026813768553001924 Centerline is valid? [True, True] Translation: X:122.30, Y:-16.32, Z:-5.18 [[ 9.82100405e-01 1.85129702e-01 3.47244640e-02 1.22297713e+02] [-1.84991727e-01 9.82713899e-01 -7.17310377e-03 -1.63214137e+01] [-3.54521680e-02 6.20969559e-04 9.99371181e-01 -5.17937119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06587156000003 meters 0.021163680465703126 Centerline is valid? [True, True] Translation: X:122.33, Y:-16.33, Z:-5.18 [[ 9.82186218e-01 1.84780949e-01 3.41501713e-02 1.22325761e+02] [-1.84647345e-01 9.82779535e-01 -7.05290303e-03 -1.63266468e+01] [-3.48653316e-02 6.21525687e-04 9.99391826e-01 -5.18036651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09587156000003 meters 0.0280417309384164 Centerline is valid? [True, True] Translation: X:122.35, Y:-16.34, Z:-5.18 [[ 9.82171958e-01 1.84849965e-01 3.41867669e-02 1.22351219e+02] [-1.84716170e-01 9.82766558e-01 -7.05891996e-03 -1.63384786e+01] [-3.49024524e-02 6.18224592e-04 9.99390533e-01 -5.18350729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12587156000004 meters 0.021229159391800798 Centerline is valid? [True, True] Translation: X:122.38, Y:-16.34, Z:-5.18 [[ 9.82028119e-01 1.85582132e-01 3.43517807e-02 1.22379392e+02] [-1.85447580e-01 9.82628577e-01 -7.09041013e-03 -1.63434399e+01] [-3.50708948e-02 5.92527519e-04 9.99384651e-01 -5.18403004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15587156000004 meters 0.020783293056276884 Centerline is valid? [True, True] Translation: X:122.41, Y:-16.35, Z:-5.19 [[ 9.81831098e-01 1.86634867e-01 3.42800386e-02 1.22406289e+02] [-1.86501573e-01 9.82429194e-01 -7.07403761e-03 -1.63493286e+01] [-3.49979728e-02 5.52229003e-04 9.99387231e-01 -5.18566247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18587156 meters 0.01828592679140656 Centerline is valid? [True, True] Translation: X:122.44, Y:-16.35, Z:-5.19 [[ 9.81273938e-01 1.89347809e-01 3.53393004e-02 1.22435038e+02] [-1.89207978e-01 9.81909970e-01 -7.29058571e-03 -1.63547734e+01] [-3.60804679e-02 4.67584171e-04 9.99348779e-01 -5.18613575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21587156 meters 0.01745046009220379 Centerline is valid? [True, True] Translation: X:122.46, Y:-16.36, Z:-5.19 [[ 9.80920105e-01 1.91109771e-01 3.56763696e-02 1.22461819e+02] [-1.90968534e-01 9.81568588e-01 -7.35704885e-03 -1.63609684e+01] [-3.64248076e-02 4.03613115e-04 9.99336315e-01 -5.18807292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24587156 meters 0.025119209789341405 Centerline is valid? [True, True] Translation: X:122.49, Y:-16.37, Z:-5.19 [[ 9.80641789e-01 1.92628836e-01 3.51541250e-02 1.22490230e+02] [-1.92492787e-01 9.81271632e-01 -7.24640584e-03 -1.63652724e+01] [-3.58916124e-02 3.39212880e-04 9.99355631e-01 -5.18866022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27587156 meters 0.013172256275777018 Centerline is valid? [True, True] Translation: X:122.52, Y:-16.37, Z:-5.19 [[ 9.80135402e-01 1.95216977e-01 3.49989379e-02 1.22518404e+02] [-1.95083835e-01 9.80760049e-01 -7.21274456e-03 -1.63700989e+01] [-3.57336103e-02 2.41739249e-04 9.99361321e-01 -5.19029506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30587156 meters 0.012306422602512131 Centerline is valid? [True, True] Translation: X:122.55, Y:-16.38, Z:-5.19 [[ 9.79876788e-01 1.96442207e-01 3.53827587e-02 1.22546428e+02] [-1.96306995e-01 9.80515385e-01 -7.28995691e-03 -1.63759227e+01] [-3.61253945e-02 1.97376532e-04 9.99347245e-01 -5.19124681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33587156000002 meters 0.012089389262646449 Centerline is valid? [True, True] Translation: X:122.57, Y:-16.38, Z:-5.19 [[ 9.79782305e-01 1.96940903e-01 3.52266259e-02 1.22573018e+02] [-1.96807236e-01 9.80415345e-01 -7.25691389e-03 -1.63824394e+01] [-3.59659078e-02 1.77340946e-04 9.99353002e-01 -5.19297754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36587156000002 meters 0.016635597742561875 Centerline is valid? [True, True] Translation: X:122.60, Y:-16.39, Z:-5.20 [[ 9.79675610e-01 1.97550873e-01 3.47757291e-02 1.22599477e+02] [-1.97421097e-01 9.80292625e-01 -7.16100641e-03 -1.63894926e+01] [-3.55050538e-02 1.50000724e-04 9.99369486e-01 -5.19619973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39587156000002 meters 0.011583905470311745 Centerline is valid? [True, True] Translation: X:122.63, Y:-16.40, Z:-5.20 [[ 9.79428359e-01 1.98788432e-01 3.46878714e-02 1.22627140e+02] [-1.98660208e-01 9.80042422e-01 -7.13953977e-03 -1.63959639e+01] [-3.54148434e-02 1.01567996e-04 9.99372693e-01 -5.19726480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42587156000002 meters 0.011500500148333898 Centerline is valid? [True, True] Translation: X:122.65, Y:-16.40, Z:-5.20 [[ 9.79287227e-01 1.99519503e-01 3.44745496e-02 1.22654818e+02] [-1.99393356e-01 9.79893853e-01 -7.09416084e-03 -1.64023785e+01] [-3.51968227e-02 7.32249496e-05 9.99380397e-01 -5.19882852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45587156000002 meters 0.011249302637075837 Centerline is valid? [True, True] Translation: X:122.68, Y:-16.41, Z:-5.20 [[ 9.79151041e-01 2.00231432e-01 3.42142208e-02 1.22681607e+02] [-2.00107705e-01 9.79748627e-01 -7.03808418e-03 -1.64089650e+01] [-3.49305815e-02 4.48182418e-05 9.99389740e-01 -5.19996003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48587156000002 meters 0.011567657756541531 Centerline is valid? [True, True] Translation: X:122.71, Y:-16.42, Z:-5.20 [[ 9.78971802e-01 2.01119213e-01 3.41360941e-02 1.22707728e+02] [-2.00996670e-01 9.79566773e-01 -7.01974132e-03 -1.64151638e+01] [-3.48503884e-02 1.08875672e-05 9.99392541e-01 -5.20293898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51587156000002 meters 0.011545681483049065 Centerline is valid? [True, True] Translation: X:122.74, Y:-16.42, Z:-5.20 [[ 9.78423812e-01 2.03653962e-01 3.48124656e-02 1.22736513e+02] [-2.03528278e-01 9.79042929e-01 -7.15429053e-03 -1.64207093e+01] [-3.55398979e-02 -8.53929457e-05 9.99368255e-01 -5.20233046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54587156000002 meters 0.012176735421390032 Centerline is valid? [True, True] Translation: X:122.76, Y:-16.43, Z:-5.20 [[ 9.78206481e-01 2.04702209e-01 3.47719069e-02 1.22763934e+02] [-2.04577527e-01 9.78824290e-01 -7.14458473e-03 -1.64253521e+01] [-3.54980994e-02 -1.24671654e-04 9.99369736e-01 -5.20468928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57587156000002 meters 0.012176735421390032 Centerline is valid? [True, True] Translation: X:122.79, Y:-16.43, Z:-5.21 [[ 9.78220784e-01 2.04633737e-01 3.47725689e-02 1.22790862e+02] [-2.04509127e-01 9.78838607e-01 -7.14136109e-03 -1.64307455e+01] [-3.54980963e-02 -1.25479874e-04 9.99369736e-01 -5.20592762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60587156000003 meters 0.012689164429550674 Centerline is valid? [True, True] Translation: X:122.82, Y:-16.44, Z:-5.21 [[ 9.78077496e-01 2.05370176e-01 3.44601562e-02 1.22818997e+02] [-2.05248349e-01 9.78684355e-01 -7.07448101e-03 -1.64359522e+01] [-3.51785031e-02 -1.53499469e-04 9.99381033e-01 -5.20820243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63587156000003 meters 0.01271021100211938 Centerline is valid? [True, True] Translation: X:122.85, Y:-16.44, Z:-5.21 [[ 9.78006796e-01 2.05689936e-01 3.45594602e-02 1.22846238e+02] [-2.05567659e-01 9.78617199e-01 -7.09332569e-03 -1.64428046e+01] [-3.52795078e-02 -1.66986599e-04 9.99377470e-01 -5.20891125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66587156000003 meters 0.01232231040378589 Centerline is valid? [True, True] Translation: X:122.87, Y:-16.45, Z:-5.21 [[ 9.78138913e-01 2.05037522e-01 3.46970007e-02 1.22873537e+02] [-2.04913940e-01 9.78754103e-01 -7.11926541e-03 -1.64509394e+01] [-3.54195483e-02 -1.46268578e-04 9.99372520e-01 -5.20983562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69587156000003 meters 0.011937779748264056 Centerline is valid? [True, True] Translation: X:122.90, Y:-16.46, Z:-5.21 [[ 9.78330805e-01 2.04103760e-01 3.47920981e-02 1.22900244e+02] [-2.03978968e-01 9.78949254e-01 -7.13713403e-03 -1.64600430e+01] [-3.55164144e-02 -1.14378190e-04 9.99369087e-01 -5.21126150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72587156000003 meters 0.01127793412124827 Centerline is valid? [True, True] Translation: X:122.93, Y:-16.47, Z:-5.21 [[ 9.78854470e-01 2.01543005e-01 3.49906243e-02 1.22926722e+02] [-2.01415229e-01 9.79479666e-01 -7.17555777e-03 -1.64740411e+01] [-3.57187885e-02 -2.38178280e-05 9.99361880e-01 -5.21238420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75587156000003 meters 0.025525362618874982 Centerline is valid? [True, True] Translation: X:122.95, Y:-16.48, Z:-5.21 [[ 9.79165396e-01 2.00045530e-01 3.48842844e-02 1.22952158e+02] [-1.99917629e-01 9.79786602e-01 -7.15237043e-03 -1.64830636e+01] [-3.56099542e-02 2.93701973e-05 9.99365764e-01 -5.21341293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78587156000003 meters 0.011770721487756711 Centerline is valid? [True, True] Translation: X:122.98, Y:-16.49, Z:-5.21 [[ 9.79554098e-01 1.98113332e-01 3.49982261e-02 1.22978250e+02] [-1.97983470e-01 9.80179115e-01 -7.17267864e-03 -1.64923264e+01] [-3.57255336e-02 9.69564939e-05 9.99361635e-01 -5.21486785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81587156000003 meters 0.012307691702369861 Centerline is valid? [True, True] Translation: X:123.01, Y:-16.50, Z:-5.22 [[ 9.79886736e-01 1.96408881e-01 3.52921648e-02 1.23005740e+02] [-1.96275843e-01 9.80522069e-01 -7.22954810e-03 -1.65021953e+01] [-3.60246939e-02 1.57138880e-04 9.99350888e-01 -5.21570385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84587156000003 meters 0.01298688379052822 Centerline is valid? [True, True] Translation: X:123.03, Y:-16.52, Z:-5.22 [[ 9.80307009e-01 1.94212632e-01 3.57717985e-02 1.23032929e+02] [-1.94074555e-01 9.80959426e-01 -7.32604210e-03 -1.65150737e+01] [-3.65134929e-02 2.39374527e-04 9.99333131e-01 -5.21633427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87587156000004 meters 0.014014575538257728 Centerline is valid? [True, True] Translation: X:123.06, Y:-16.52, Z:-5.22 [[ 9.80442872e-01 1.93643682e-01 3.51269031e-02 1.23058973e+02] [-1.93510233e-01 9.81071893e-01 -7.19234805e-03 -1.65246259e+01] [-3.58547701e-02 2.54271190e-04 9.99356979e-01 -5.21960234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90587156000004 meters 0.02712849353690875 Centerline is valid? [True, True] Translation: X:123.09, Y:-16.53, Z:-5.22 [[ 9.80536022e-01 1.93221097e-01 3.48527881e-02 1.23086837e+02] [-1.93089538e-01 9.81155206e-01 -7.13393320e-03 -1.65331947e+01] [-3.55744209e-02 2.65369737e-04 9.99366995e-01 -5.22095587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93587156 meters 0.014191128558553171 Centerline is valid? [True, True] Translation: X:123.11, Y:-16.54, Z:-5.22 [[ 9.80691673e-01 1.92316732e-01 3.54699447e-02 1.23114168e+02] [-1.92179944e-01 9.81332861e-01 -7.25850060e-03 -1.65446945e+01] [-3.62037534e-02 3.01739113e-04 9.99344384e-01 -5.22074216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96587156 meters 0.014593323892300614 Centerline is valid? [True, True] Translation: X:123.14, Y:-16.55, Z:-5.22 [[ 9.80715933e-01 1.92205341e-01 3.54029166e-02 1.23141071e+02] [-1.92069065e-01 9.81354684e-01 -7.24289961e-03 -1.65537232e+01] [-3.61349420e-02 3.03421970e-04 9.99346874e-01 -5.22264379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99587156 meters 0.01483660115027727 Centerline is valid? [True, True] Translation: X:123.17, Y:-16.56, Z:-5.22 [[ 9.80740243e-01 1.92076032e-01 3.54312672e-02 1.23168276e+02] [-1.91939501e-01 9.81380000e-01 -7.24735498e-03 -1.65622539e+01] [-3.61635802e-02 3.07112919e-04 9.99345837e-01 -5.22368418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02587156 meters 0.014947880599974206 Centerline is valid? [True, True] Translation: X:123.20, Y:-16.57, Z:-5.22 [[ 9.80776612e-01 1.91853030e-01 3.56321832e-02 1.23197109e+02] [-1.91714850e-01 9.81423617e-01 -7.28703961e-03 -1.65706214e+01] [-3.63683067e-02 3.15739364e-04 9.99338404e-01 -5.22412799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05587156 meters 0.014008935658969681 Centerline is valid? [True, True] Translation: X:123.23, Y:-16.58, Z:-5.22 [[ 9.80748730e-01 1.91974930e-01 3.57429000e-02 1.23226155e+02] [-1.91836011e-01 9.81399781e-01 -7.30859883e-03 -1.65810445e+01] [-3.64811420e-02 3.11123674e-04 9.99334293e-01 -5.22488316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08587156000002 meters 0.013613158618811943 Centerline is valid? [True, True] Translation: X:123.26, Y:-16.59, Z:-5.23 [[ 9.80635192e-01 1.92575405e-01 3.56277146e-02 1.23255228e+02] [-1.92437776e-01 9.81282136e-01 -7.28504608e-03 -1.65895976e+01] [-3.63637606e-02 2.87854392e-04 9.99338578e-01 -5.22603888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11587156000002 meters 0.01771964482001952 Centerline is valid? [True, True] Translation: X:123.28, Y:-16.60, Z:-5.23 [[ 9.80415245e-01 1.93603272e-01 3.61070683e-02 1.23283963e+02] [-1.93462614e-01 9.81079869e-01 -7.38293773e-03 -1.65980340e+01] [-3.68532787e-02 2.52976871e-04 9.99320655e-01 -5.22794882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14587156000002 meters 0.012231692039878277 Centerline is valid? [True, True] Translation: X:123.31, Y:-16.61, Z:-5.23 [[ 9.79927586e-01 1.96141019e-01 3.56458589e-02 1.23313095e+02] [-1.96005578e-01 9.80575686e-01 -7.28951940e-03 -1.66054996e+01] [-3.63832363e-02 1.56413968e-04 9.99337899e-01 -5.22921339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17587156000002 meters 0.014182648476301617 Centerline is valid? [True, True] Translation: X:123.34, Y:-16.61, Z:-5.23 [[ 9.79615662e-01 1.97757291e-01 3.52875126e-02 1.23341672e+02] [-1.97625639e-01 9.80251011e-01 -7.21538879e-03 -1.66118973e+01] [-3.60175156e-02 9.45906508e-05 9.99351154e-01 -5.23146445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20587156000002 meters 0.011576363752976453 Centerline is valid? [True, True] Translation: X:123.37, Y:-16.62, Z:-5.23 [[ 9.79263128e-01 1.99526968e-01 3.51100374e-02 1.23369635e+02] [-1.99397801e-01 9.79892335e-01 -7.17835592e-03 -1.66179667e+01] [-3.58363321e-02 2.86350134e-05 9.99357672e-01 -5.23431973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23587156000002 meters 0.01186743953199803 Centerline is valid? [True, True] Translation: X:123.40, Y:-16.62, Z:-5.23 [[ 9.78574714e-01 2.02859754e-01 3.52058015e-02 1.23398127e+02] [-2.02732079e-01 9.79207798e-01 -7.19673804e-03 -1.66215610e+01] [-3.59337239e-02 -9.47994510e-05 9.99354171e-01 -5.23496873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26587156000002 meters 0.02755224920933362 Centerline is valid? [True, True] Translation: X:123.43, Y:-16.63, Z:-5.24 [[ 9.78226571e-01 2.04510102e-01 3.53326145e-02 1.23426115e+02] [-2.04382642e-01 9.78864441e-01 -7.22097512e-03 -1.66262309e+01] [-3.60626023e-02 -1.57623354e-04 9.99349520e-01 -5.23630843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29587156000002 meters 0.014853888407434065 Centerline is valid? [True, True] Translation: X:123.45, Y:-16.63, Z:-5.24 [[ 9.77574163e-01 2.07605370e-01 3.53378806e-02 1.23453670e+02] [-2.07479947e-01 9.78212623e-01 -7.22051824e-03 -1.66314144e+01] [-3.60669792e-02 -2.73309532e-04 9.99349337e-01 -5.23772521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32587156000002 meters 0.016128641494330256 Centerline is valid? [True, True] Translation: X:123.48, Y:-16.64, Z:-5.24 [[ 9.77292382e-01 2.08915556e-01 3.54103111e-02 1.23480762e+02] [-2.08790566e-01 9.77933630e-01 -7.23285336e-03 -1.66371298e+01] [-3.61399896e-02 -3.24726413e-04 9.99346684e-01 -5.23906318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35587156000003 meters 0.017256359234314896 Centerline is valid? [True, True] Translation: X:123.51, Y:-16.64, Z:-5.24 [[ 9.77072840e-01 2.10004383e-01 3.50260490e-02 1.23508841e+02] [-2.09882869e-01 9.77700377e-01 -7.15218677e-03 -1.66429064e+01] [-3.57469718e-02 -3.63160218e-04 9.99360807e-01 -5.24113993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38587156000003 meters 0.018551132198204572 Centerline is valid? [True, True] Translation: X:123.54, Y:-16.65, Z:-5.24 [[ 9.76850596e-01 2.11116626e-01 3.45352568e-02 1.23536720e+02] [-2.10999242e-01 9.77460797e-01 -7.05047589e-03 -1.66474308e+01] [-3.52453323e-02 -3.99651430e-04 9.99378610e-01 -5.24338347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41587156000003 meters 0.020848818568491342 Centerline is valid? [True, True] Translation: X:123.56, Y:-16.65, Z:-5.24 [[ 9.76401231e-01 2.13207736e-01 3.43961851e-02 1.23564072e+02] [-2.13092664e-01 9.77006774e-01 -7.02005383e-03 -1.66511425e+01] [-3.51020356e-02 -4.75185492e-04 9.99383621e-01 -5.24481644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44587156000003 meters 0.020232121421553062 Centerline is valid? [True, True] Translation: X:123.59, Y:-16.66, Z:-5.25 [[ 9.76203433e-01 2.14120168e-01 3.43425481e-02 1.23591650e+02] [-2.14006093e-01 9.76807194e-01 -7.00699496e-03 -1.66594686e+01] [-3.50463870e-02 -5.09261996e-04 9.99385557e-01 -5.24544094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47587156000003 meters 0.02143228839141879 Centerline is valid? [True, True] Translation: X:123.62, Y:-16.66, Z:-5.25 [[ 9.76135871e-01 2.14481762e-01 3.40049163e-02 1.23619017e+02] [-2.14370190e-01 9.76727856e-01 -6.93662946e-03 -1.66647899e+01] [-3.47013295e-02 -5.18547542e-04 9.99397593e-01 -5.24747524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50587156000003 meters 0.022201144369878443 Centerline is valid? [True, True] Translation: X:123.65, Y:-16.67, Z:-5.25 [[ 9.75973329e-01 2.15153135e-01 3.44265729e-02 1.23646110e+02] [-2.15039281e-01 9.76580168e-01 -7.02022137e-03 -1.66703451e+01] [-3.51307310e-02 -5.51516647e-04 9.99382573e-01 -5.24842539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53587156000003 meters 0.022354518615668194 Centerline is valid? [True, True] Translation: X:123.67, Y:-16.68, Z:-5.25 [[ 9.75815160e-01 2.15682150e-01 3.55806731e-02 1.23673724e+02] [-2.15560969e-01 9.76463445e-01 -7.25322213e-03 -1.66777876e+01] [-3.63076171e-02 -5.92000232e-04 9.99340486e-01 -5.24732186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56587156000003 meters 0.022548781014873384 Centerline is valid? [True, True] Translation: X:123.70, Y:-16.68, Z:-5.25 [[ 9.75745167e-01 2.15984068e-01 3.56686381e-02 1.23701395e+02] [-2.15862550e-01 9.76396700e-01 -7.26942509e-03 -1.66843477e+01] [-3.63968205e-02 -6.06416786e-04 9.99337232e-01 -5.24786055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59587156000003 meters 0.026082952933551864 Centerline is valid? [True, True] Translation: X:123.73, Y:-16.69, Z:-5.25 [[ 9.75616037e-01 2.16549141e-01 3.57745431e-02 1.23729342e+02] [-2.16427345e-01 9.76271515e-01 -7.28926255e-03 -1.66890987e+01] [-3.65041510e-02 -6.31067936e-04 9.99333302e-01 -5.24918610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62587156000004 meters 0.023133280016090947 Centerline is valid? [True, True] Translation: X:123.76, Y:-16.69, Z:-5.25 [[ 9.75536554e-01 2.16881367e-01 3.59291636e-02 1.23757382e+02] [-2.16758804e-01 9.76197753e-01 -7.31901505e-03 -1.66949574e+01] [-3.66613268e-02 -6.47995834e-04 9.99327538e-01 -5.25041783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65587156000004 meters 0.02371714285765082 Centerline is valid? [True, True] Translation: X:123.79, Y:-16.70, Z:-5.25 [[ 9.75442720e-01 2.17269770e-01 3.61295971e-02 1.23785410e+02] [-2.17146168e-01 9.76111367e-01 -7.35804898e-03 -1.67002643e+01] [-3.68651920e-02 -6.68048260e-04 9.99320024e-01 -5.25174122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68587156 meters 0.02545265811479962 Centerline is valid? [True, True] Translation: X:123.81, Y:-16.70, Z:-5.25 [[ 9.75111434e-01 2.18653477e-01 3.67198700e-02 1.23813283e+02] [-2.18526845e-01 9.75802295e-01 -7.47657965e-03 -1.67041125e+01] [-3.74661135e-02 -7.33779043e-04 9.99297629e-01 -5.25169101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71587156 meters 0.02632116480420568 Centerline is valid? [True, True] Translation: X:123.84, Y:-16.71, Z:-5.25 [[ 9.74941731e-01 2.19427411e-01 3.66091836e-02 1.23841728e+02] [-2.19302188e-01 9.75628530e-01 -7.45134231e-03 -1.67076780e+01] [-3.73519927e-02 -7.63849494e-04 9.99301879e-01 -5.25314274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74587156 meters 0.027802958016695235 Centerline is valid? [True, True] Translation: X:123.87, Y:-16.71, Z:-5.26 [[ 9.74761414e-01 2.20246405e-01 3.64925515e-02 1.23870014e+02] [-2.20122615e-01 9.75443945e-01 -7.42593173e-03 -1.67098561e+01] [-3.72319732e-02 -7.94324153e-04 9.99306334e-01 -5.25507198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77587156 meters 0.03936808238662697 Centerline is valid? [True, True] Translation: X:123.90, Y:-16.71, Z:-5.26 [[ 9.74462101e-01 2.21589024e-01 3.63581958e-02 1.23898777e+02] [-2.21467162e-01 9.75139780e-01 -7.39631396e-03 -1.67128486e+01] [-3.70932650e-02 -8.44718800e-04 9.99311451e-01 -5.25679674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80587156 meters 0.030260597185515874 Centerline is valid? [True, True] Translation: X:123.93, Y:-16.72, Z:-5.26 [[ 9.74357557e-01 2.22014407e-01 3.65643846e-02 1.23926364e+02] [-2.21891520e-01 9.75042999e-01 -7.43657894e-03 -1.67162221e+01] [-3.73028749e-02 -8.67439994e-04 9.99303629e-01 -5.25748426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83587156000002 meters 0.031226332285255714 Centerline is valid? [True, True] Translation: X:123.96, Y:-16.72, Z:-5.26 [[ 9.74272525e-01 2.22378700e-01 3.66163910e-02 1.23955338e+02] [-2.22255805e-01 9.74959964e-01 -7.44487981e-03 -1.67191407e+01] [-3.73550980e-02 -8.84863616e-04 9.99301663e-01 -5.25907422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86587156000002 meters 0.031342492697668804 Centerline is valid? [True, True] Translation: X:123.98, Y:-16.72, Z:-5.26 [[ 9.74220380e-01 2.22614840e-01 3.65688891e-02 1.23984512e+02] [-2.22492495e-01 9.74906064e-01 -7.43350181e-03 -1.67217058e+01] [-3.73060395e-02 -8.94434394e-04 9.99303487e-01 -5.26069388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89587156000002 meters 0.0317234304966347 Centerline is valid? [True, True] Translation: X:124.01, Y:-16.73, Z:-5.26 [[ 9.74295912e-01 2.22247378e-01 3.67910054e-02 1.24011855e+02] [-2.22123342e-01 9.74989905e-01 -7.47697704e-03 -1.67258001e+01] [-3.75325974e-02 -8.87352904e-04 9.99295010e-01 -5.26186868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92587156000002 meters 0.031287276338365276 Centerline is valid? [True, True] Translation: X:124.04, Y:-16.73, Z:-5.26 [[ 9.74425172e-01 2.21685214e-01 3.67593544e-02 1.24040483e+02] [-2.21561076e-01 9.75117897e-01 -7.46829547e-03 -1.67305830e+01] [-3.75003150e-02 -8.67147023e-04 9.99296240e-01 -5.26285536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95587156000002 meters 0.03045401288095474 Centerline is valid? [True, True] Translation: X:124.07, Y:-16.73, Z:-5.26 [[ 9.74573447e-01 2.20998086e-01 3.69654280e-02 1.24068812e+02] [-2.20872124e-01 9.75273873e-01 -7.50843237e-03 -1.67345487e+01] [-3.77107653e-02 -8.47113795e-04 9.99288337e-01 -5.26394254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98587156000002 meters 0.025965602266553943 Centerline is valid? [True, True] Translation: X:124.10, Y:-16.74, Z:-5.27 [[ 9.75006187e-01 2.19204547e-01 3.62256977e-02 1.24097207e+02] [-2.19082403e-01 9.75678627e-01 -7.35645431e-03 -1.67415146e+01] [-3.69572073e-02 -7.63824440e-04 9.99316557e-01 -5.26572265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01587156000002 meters 0.025177098593928453 Centerline is valid? [True, True] Translation: X:124.12, Y:-16.75, Z:-5.27 [[ 9.75292205e-01 2.17977996e-01 3.59264224e-02 1.24124653e+02] [-2.17857071e-01 9.75953424e-01 -7.29456563e-03 -1.67468136e+01] [-3.66525697e-02 -7.12492166e-04 9.99327815e-01 -5.26803029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04587156000002 meters 0.026752821259722562 Centerline is valid? [True, True] Translation: X:124.15, Y:-16.75, Z:-5.27 [[ 9.75503262e-01 2.17025829e-01 3.59607333e-02 1.24152885e+02] [-2.16904108e-01 9.76165625e-01 -7.29932237e-03 -1.67485807e+01] [-3.66877732e-02 -6.79518015e-04 9.99326546e-01 -5.27050600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07587156000002 meters 0.022048718975761057 Centerline is valid? [True, True] Translation: X:124.18, Y:-16.76, Z:-5.27 [[ 9.75690806e-01 2.16200023e-01 3.58469011e-02 1.24180487e+02] [-2.16078598e-01 9.76348877e-01 -7.27394865e-03 -1.67577086e+01] [-3.65717095e-02 -6.48623298e-04 9.99330821e-01 -5.26946750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10587156000003 meters 0.025068621735275284 Centerline is valid? [True, True] Translation: X:124.21, Y:-16.76, Z:-5.27 [[ 9.76030688e-01 2.14688428e-01 3.56787735e-02 1.24208628e+02] [-2.14567192e-01 9.76682410e-01 -7.23812822e-03 -1.67599554e+01] [-3.64007728e-02 -5.90858948e-04 9.99337098e-01 -5.27160501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13587156000003 meters 0.02337969207693301 Centerline is valid? [True, True] Translation: X:124.24, Y:-16.76, Z:-5.27 [[ 9.76146008e-01 2.14130249e-01 3.58776661e-02 1.24237388e+02] [-2.14007369e-01 9.76804947e-01 -7.27607076e-03 -1.67642422e+01] [-3.66035086e-02 -5.75577489e-04 9.99329701e-01 -5.27258121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16587156000003 meters 0.0198766189476542 Centerline is valid? [True, True] Translation: X:124.27, Y:-16.77, Z:-5.27 [[ 9.76293629e-01 2.13423657e-01 3.60706731e-02 1.24266126e+02] [-2.13299036e-01 9.76959588e-01 -7.31337334e-03 -1.67683059e+01] [-3.68004368e-02 -5.53839994e-04 9.99322481e-01 -5.27416784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19587156000003 meters 0.02581001738351306 Centerline is valid? [True, True] Translation: X:124.29, Y:-16.77, Z:-5.28 [[ 9.76640004e-01 2.11890309e-01 3.57323314e-02 1.24294993e+02] [-2.11767055e-01 9.77293330e-01 -7.24297579e-03 -1.67707633e+01] [-3.64556856e-02 -4.93150704e-04 9.99335149e-01 -5.27573177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22587156000003 meters 0.01760746867591904 Centerline is valid? [True, True] Translation: X:124.32, Y:-16.78, Z:-5.28 [[ 9.76866591e-01 2.10766179e-01 3.61839844e-02 1.24323303e+02] [-2.10639087e-01 9.77536397e-01 -7.33266791e-03 -1.67760848e+01] [-3.69166401e-02 -4.58723111e-04 9.99318243e-01 -5.27705603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25587156000003 meters 0.016901327076065613 Centerline is valid? [True, True] Translation: X:124.35, Y:-16.78, Z:-5.28 [[ 9.77139998e-01 2.09467597e-01 3.63421211e-02 1.24350343e+02] [-2.09338558e-01 9.77815501e-01 -7.36295310e-03 -1.67813185e+01] [-3.70781895e-02 -4.13171254e-04 9.99312282e-01 -5.27853145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28587156000003 meters 0.01538936098896256 Centerline is valid? [True, True] Translation: X:124.38, Y:-16.79, Z:-5.28 [[ 9.77615134e-01 2.07243113e-01 3.63172428e-02 1.24377525e+02] [-2.07112801e-01 9.78289417e-01 -7.35561241e-03 -1.67864930e+01] [-3.70531743e-02 -3.30807865e-04 9.99313241e-01 -5.28058016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31587156000003 meters 0.014729274259313451 Centerline is valid? [True, True] Translation: X:124.41, Y:-16.79, Z:-5.28 [[ 9.77779483e-01 2.06516405e-01 3.60313249e-02 1.24405629e+02] [-2.06387729e-01 9.78443091e-01 -7.29536935e-03 -1.67917348e+01] [-3.67612143e-02 -3.03160851e-04 9.99324032e-01 -5.28227874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34587156000003 meters 0.014470693479366385 Centerline is valid? [True, True] Translation: X:124.43, Y:-16.80, Z:-5.28 [[ 9.77893998e-01 2.06065230e-01 3.55028065e-02 1.24433644e+02] [-2.05940060e-01 9.78538216e-01 -7.18686964e-03 -1.67962677e+01] [-3.62218169e-02 -2.83453431e-04 9.99343734e-01 -5.28409545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37587156000004 meters 0.014201697856057844 Centerline is valid? [True, True] Translation: X:124.46, Y:-16.80, Z:-5.29 [[ 9.77852058e-01 2.06339216e-01 3.50639406e-02 1.24462501e+02] [-2.06217396e-01 9.78480476e-01 -7.09528870e-03 -1.67978945e+01] [-3.57734177e-02 -2.92651873e-04 9.99359884e-01 -5.28555866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40587156000004 meters 0.023288280981541683 Centerline is valid? [True, True] Translation: X:124.49, Y:-16.80, Z:-5.29 [[ 9.77702909e-01 2.07064929e-01 3.49447787e-02 1.24491288e+02] [-2.06944463e-01 9.78327150e-01 -7.06939746e-03 -1.67999270e+01] [-3.56512500e-02 -3.19858004e-04 9.99364241e-01 -5.28631553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43587156 meters 0.02661243037122061 Centerline is valid? [True, True] Translation: X:124.52, Y:-16.80, Z:-5.29 [[ 9.77579492e-01 2.07668184e-01 3.48175440e-02 1.24519554e+02] [-2.07549036e-01 9.78199268e-01 -7.04199534e-03 -1.68012960e+01] [-3.55208944e-02 -3.42237447e-04 9.99368875e-01 -5.28848633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46587156 meters 0.02661243037122061 Centerline is valid? [True, True] Translation: X:124.55, Y:-16.81, Z:-5.29 [[ 9.77594485e-01 2.07597527e-01 3.48179545e-02 1.24546500e+02] [-2.07478406e-01 9.78214266e-01 -7.03996482e-03 -1.68066085e+01] [-3.55208991e-02 -3.41742915e-04 9.99368875e-01 -5.28972462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49587156 meters 0.0162014654193478 Centerline is valid? [True, True] Translation: X:124.58, Y:-16.81, Z:-5.29 [[ 9.77411414e-01 2.08452961e-01 3.48466798e-02 1.24575716e+02] [-2.08334288e-01 9.78032321e-01 -7.04292271e-03 -1.68068247e+01] [-3.55492972e-02 -3.75925169e-04 9.99367853e-01 -5.29187334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52587156 meters 0.016976530873979427 Centerline is valid? [True, True] Translation: X:124.60, Y:-16.81, Z:-5.29 [[ 9.77422038e-01 2.08457217e-01 3.45216971e-02 1.24603662e+02] [-2.08340797e-01 9.78031415e-01 -6.97590277e-03 -1.68096981e+01] [-3.52174815e-02 -3.73876793e-04 9.99379602e-01 -5.29458050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55587156 meters 0.029666565599213487 Centerline is valid? [True, True] Translation: X:124.63, Y:-16.81, Z:-5.30 [[ 9.77464154e-01 2.08336449e-01 3.40551147e-02 1.24631594e+02] [-2.08223204e-01 9.78057150e-01 -6.87811403e-03 -1.68145491e+01] [-3.47408103e-02 -3.67955196e-04 9.99396288e-01 -5.29616750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58587156000002 meters 0.01636966476499062 Centerline is valid? [True, True] Translation: X:124.66, Y:-16.82, Z:-5.30 [[ 9.77795690e-01 2.06886410e-01 3.33706668e-02 1.24659095e+02] [-2.06776869e-01 9.78364920e-01 -6.73868614e-03 -1.68173303e+01] [-3.40428324e-02 -3.11223740e-04 9.99420326e-01 -5.30010816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61587156000002 meters 0.015869577348886763 Centerline is valid? [True, True] Translation: X:124.69, Y:-16.82, Z:-5.30 [[ 9.77874181e-01 2.06479392e-01 3.35908666e-02 1.24687911e+02] [-2.06368277e-01 9.78450903e-01 -6.77975607e-03 -1.68213471e+01] [-3.42668937e-02 -3.02340856e-04 9.99412672e-01 -5.30030387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64587156000002 meters 0.015495842351149171 Centerline is valid? [True, True] Translation: X:124.72, Y:-16.83, Z:-5.30 [[ 9.77950984e-01 2.06040018e-01 3.40497279e-02 1.24715868e+02] [-2.05925634e-01 9.78543523e-01 -6.87079560e-03 -1.68253824e+01] [-3.47347995e-02 -2.92410474e-04 9.99396522e-01 -5.30117611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67587156000002 meters 0.014928904941874722 Centerline is valid? [True, True] Translation: X:124.74, Y:-16.83, Z:-5.30 [[ 9.78038670e-01 2.05546751e-01 3.45093113e-02 1.24744172e+02] [-2.05429029e-01 9.78647257e-01 -6.96128104e-03 -1.68304205e+01] [-3.52033116e-02 -2.80812280e-04 9.99380132e-01 -5.30125617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70587156000002 meters 0.03032422620221932 Centerline is valid? [True, True] Translation: X:124.77, Y:-16.84, Z:-5.30 [[ 9.78139104e-01 2.04905521e-01 3.54629571e-02 1.24772959e+02] [-2.04780845e-01 9.78781721e-01 -7.15186468e-03 -1.68355256e+01] [-3.61759507e-02 -2.66615795e-04 9.99345401e-01 -5.30130768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73587156000002 meters 0.01615263877732989 Centerline is valid? [True, True] Translation: X:124.80, Y:-16.84, Z:-5.30 [[ 9.78206079e-01 2.04617215e-01 3.52797808e-02 1.24800348e+02] [-2.04493690e-01 9.78842035e-01 -7.11344278e-03 -1.68406712e+01] [-3.59888653e-02 -2.56079587e-04 9.99352158e-01 -5.30272628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76587156000002 meters 0.013508493873555254 Centerline is valid? [True, True] Translation: X:124.83, Y:-16.85, Z:-5.30 [[ 9.78221245e-01 2.04542089e-01 3.52948903e-02 1.24828186e+02] [-2.04418501e-01 9.78857737e-01 -7.11392454e-03 -1.68463078e+01] [-3.60037734e-02 -2.55936446e-04 9.99351621e-01 -5.30375713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79587156000002 meters 0.014008108128058527 Centerline is valid? [True, True] Translation: X:124.86, Y:-16.85, Z:-5.30 [[ 9.78117098e-01 2.05012446e-01 3.54519303e-02 1.24856357e+02] [-2.04888168e-01 9.78759327e-01 -7.14272044e-03 -1.68477818e+01] [-3.61632540e-02 -2.77264062e-04 9.99345857e-01 -5.30463376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82587156000002 meters 0.014871503378168232 Centerline is valid? [True, True] Translation: X:124.88, Y:-16.85, Z:-5.31 [[ 9.77964740e-01 2.05683159e-01 3.57687657e-02 1.24884184e+02] [-2.05557183e-01 9.78618589e-01 -7.20423141e-03 -1.68498431e+01] [-3.64857681e-02 -3.07042417e-04 9.99334126e-01 -5.30605581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85587156000003 meters 0.015404741747151238 Centerline is valid? [True, True] Translation: X:124.91, Y:-16.85, Z:-5.31 [[ 9.77796112e-01 2.06483604e-01 3.57670945e-02 1.24913287e+02] [-2.06358260e-01 9.78450002e-01 -7.20154898e-03 -1.68531041e+01] [-3.64833155e-02 -3.39188813e-04 9.99334205e-01 -5.30710256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88587156000003 meters 0.01698329246118863 Centerline is valid? [True, True] Translation: X:124.94, Y:-16.85, Z:-5.31 [[ 9.77541374e-01 2.07799477e-01 3.51032698e-02 1.24940758e+02] [-2.07679644e-01 9.78171371e-01 -7.06642184e-03 -1.68547325e+01] [-3.58054123e-02 -3.82514859e-04 9.99358707e-01 -5.31020098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91587156000003 meters 0.0167617651913304 Centerline is valid? [True, True] Translation: X:124.97, Y:-16.86, Z:-5.31 [[ 9.77457283e-01 2.08223619e-01 3.49311316e-02 1.24968807e+02] [-2.08105328e-01 9.78081165e-01 -7.02901495e-03 -1.68599711e+01] [-3.56290889e-02 -3.98792741e-04 9.99365003e-01 -5.31105011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94587156000003 meters 0.018138170735310013 Centerline is valid? [True, True] Translation: X:125.00, Y:-16.86, Z:-5.31 [[ 9.77344737e-01 2.08720669e-01 3.51133538e-02 1.24997149e+02] [-2.08601521e-01 9.77975207e-01 -7.06400094e-03 -1.68621973e+01] [-3.58143925e-02 -4.20734874e-04 9.99358370e-01 -5.31333627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97587156000003 meters 0.01858811764991139 Centerline is valid? [True, True] Translation: X:125.03, Y:-16.86, Z:-5.31 [[ 9.77194277e-01 2.09411251e-01 3.51891098e-02 1.25026128e+02] [-2.09292120e-01 9.77827554e-01 -7.07688256e-03 -1.68644970e+01] [-3.58908600e-02 -4.49314262e-04 9.99355615e-01 -5.31434683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00587156000003 meters 0.018760531070016104 Centerline is valid? [True, True] Translation: X:125.05, Y:-16.87, Z:-5.32 [[ 9.77128862e-01 2.09798511e-01 3.46954232e-02 1.25054624e+02] [-2.09683003e-01 9.77744534e-01 -6.97593492e-03 -1.68685976e+01] [-3.53868011e-02 -4.58653187e-04 9.99373586e-01 -5.31619182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03587156000003 meters 0.01995661750773587 Centerline is valid? [True, True] Translation: X:125.08, Y:-16.87, Z:-5.32 [[ 9.77002288e-01 2.10492587e-01 3.40499642e-02 1.25082797e+02] [-2.10381812e-01 9.77595338e-01 -6.84462947e-03 -1.68689868e+01] [-3.47278300e-02 -4.76274524e-04 9.99396694e-01 -5.31857828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06587156000003 meters 0.02134136812270966 Centerline is valid? [True, True] Translation: X:125.11, Y:-16.87, Z:-5.32 [[ 9.76913986e-01 2.10856259e-01 3.43322149e-02 1.25110480e+02] [-2.10743940e-01 9.77516953e-01 -6.89921697e-03 -1.68709445e+01] [-3.50150651e-02 -4.95364676e-04 9.99386662e-01 -5.32064638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09587156000003 meters 0.02055270016219516 Centerline is valid? [True, True] Translation: X:125.14, Y:-16.88, Z:-5.32 [[ 9.76886075e-01 2.10990658e-01 3.43006975e-02 1.25138892e+02] [-2.10878705e-01 9.77487949e-01 -6.89067895e-03 -1.68763920e+01] [-3.49823873e-02 -5.01878374e-04 9.99387803e-01 -5.32066107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12587156000004 meters 0.020809855672758625 Centerline is valid? [True, True] Translation: X:125.17, Y:-16.88, Z:-5.32 [[ 9.76861979e-01 2.11072495e-01 3.44829936e-02 1.25166194e+02] [-2.10959451e-01 9.77470277e-01 -6.92582877e-03 -1.68809501e+01] [-3.51679532e-02 -5.08934596e-04 9.99381287e-01 -5.32208459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15587156000004 meters 0.020333802495481963 Centerline is valid? [True, True] Translation: X:125.19, Y:-16.89, Z:-5.32 [[ 9.76943083e-01 2.10650921e-01 3.47620721e-02 1.25194973e+02] [-2.10535872e-01 9.77561220e-01 -6.97908153e-03 -1.68857492e+01] [-3.54522036e-02 -5.00497729e-04 9.99371248e-01 -5.32331868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18587156 meters 0.02013874141214363 Centerline is valid? [True, True] Translation: X:125.22, Y:-16.89, Z:-5.32 [[ 9.77048986e-01 2.10151925e-01 3.48058452e-02 1.25222147e+02] [-2.10036326e-01 9.77668622e-01 -6.98627874e-03 -1.68900131e+01] [-3.54967626e-02 -4.84555283e-04 9.99369674e-01 -5.32442584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21587156 meters 0.02010606491108603 Centerline is valid? [True, True] Translation: X:125.25, Y:-16.89, Z:-5.33 [[ 9.77102808e-01 2.09915257e-01 3.47230076e-02 1.25249771e+02] [-2.09800129e-01 9.77719468e-01 -6.96766065e-03 -1.68940729e+01] [-3.54119788e-02 -4.76770703e-04 9.99372685e-01 -5.32631230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24587156 meters 0.019338089641207357 Centerline is valid? [True, True] Translation: X:125.28, Y:-16.90, Z:-5.33 [[ 9.77179855e-01 2.09638910e-01 3.42207181e-02 1.25277573e+02] [-2.09527012e-01 9.77778765e-01 -6.86421889e-03 -1.68994505e+01] [-3.48992988e-02 -4.62588402e-04 9.99390727e-01 -5.32808093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27587156 meters 0.019616445370897764 Centerline is valid? [True, True] Translation: X:125.31, Y:-16.90, Z:-5.33 [[ 9.77232324e-01 2.09538456e-01 3.33259884e-02 1.25306082e+02] [-2.09432330e-01 9.77800304e-01 -6.68316811e-03 -1.69042747e+01] [-3.39865423e-02 -4.48531490e-04 9.99422190e-01 -5.33176920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30587156 meters 0.020042927201934273 Centerline is valid? [True, True] Translation: X:125.33, Y:-16.91, Z:-5.33 [[ 9.77364230e-01 2.08933747e-01 3.32543358e-02 1.25333219e+02] [-2.08827778e-01 9.77929704e-01 -6.66731371e-03 -1.69091487e+01] [-3.39134296e-02 -4.28035117e-04 9.99424683e-01 -5.33464618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33587156000002 meters 0.018046510999145577 Centerline is valid? [True, True] Translation: X:125.36, Y:-16.92, Z:-5.33 [[ 9.77460053e-01 2.08501448e-01 3.31510299e-02 1.25361439e+02] [-2.08395959e-01 9.78021971e-01 -6.64448492e-03 -1.69169197e+01] [-3.38078203e-02 -4.13822087e-04 9.99428267e-01 -5.33402171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36587156000002 meters 0.01824198433482715 Centerline is valid? [True, True] Translation: X:125.39, Y:-16.92, Z:-5.33 [[ 9.77524749e-01 2.08127424e-01 3.35907716e-02 1.25388937e+02] [-2.08018951e-01 9.78101635e-01 -6.73103361e-03 -1.69192131e+01] [-3.42561013e-02 -4.07765137e-04 9.99413004e-01 -5.33481292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39587156000002 meters 0.01926595442432329 Centerline is valid? [True, True] Translation: X:125.42, Y:-16.92, Z:-5.33 [[ 9.77483787e-01 2.08226687e-01 3.41627529e-02 1.25417325e+02] [-2.08114628e-01 9.78080503e-01 -6.84335471e-03 -1.69241788e+01] [-3.48388916e-02 -4.20500343e-04 9.99392853e-01 -5.33404619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42587156000002 meters 0.017424846370114336 Centerline is valid? [True, True] Translation: X:125.45, Y:-16.93, Z:-5.33 [[ 9.77374377e-01 2.08627220e-01 3.48426539e-02 1.25445340e+02] [-2.08510965e-01 9.77995135e-01 -6.97798971e-03 -1.69281216e+01] [-3.55317446e-02 -4.44967058e-04 9.99368449e-01 -5.33351163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45587156000002 meters 0.02438707054295705 Centerline is valid? [True, True] Translation: X:125.47, Y:-16.93, Z:-5.34 [[ 9.77372079e-01 2.08613299e-01 3.49901377e-02 1.25472066e+02] [-2.08496142e-01 9.77998103e-01 -7.00493355e-03 -1.69312688e+01] [-3.56816106e-02 -4.48882233e-04 9.99363108e-01 -5.33512133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48587156000002 meters 0.01922168395040386 Centerline is valid? [True, True] Translation: X:125.50, Y:-16.93, Z:-5.34 [[ 9.77291350e-01 2.08904435e-01 3.55042995e-02 1.25499075e+02] [-2.08784117e-01 9.77935947e-01 -7.10463138e-03 -1.69343431e+01] [-3.62051197e-02 -4.69439023e-04 9.99344269e-01 -5.33618531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51587156000002 meters 0.018582054660406126 Centerline is valid? [True, True] Translation: X:125.53, Y:-16.94, Z:-5.34 [[ 9.77269188e-01 2.09008485e-01 3.55019311e-02 1.25527768e+02] [-2.08888373e-01 9.77913711e-01 -7.10081461e-03 -1.69397748e+01] [-3.62019557e-02 -4.76533296e-04 9.99344381e-01 -5.33680886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54587156000002 meters 0.02783658778050814 Centerline is valid? [True, True] Translation: X:125.56, Y:-16.94, Z:-5.34 [[ 9.77108465e-01 2.09773433e-01 3.54140329e-02 1.25555986e+02] [-2.09654467e-01 9.77749892e-01 -7.08184747e-03 -1.69412693e+01] [-3.61116503e-02 -5.04977092e-04 9.99347634e-01 -5.33811527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57587156000002 meters 0.02042105047345737 Centerline is valid? [True, True] Translation: X:125.58, Y:-16.94, Z:-5.34 [[ 9.76955755e-01 2.10475796e-01 3.54597169e-02 1.25584409e+02] [-2.10357078e-01 9.77598923e-01 -7.08841364e-03 -1.69447061e+01] [-3.61573205e-02 -5.34135938e-04 9.99345968e-01 -5.33928222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60587156000003 meters 0.020814682166553806 Centerline is valid? [True, True] Translation: X:125.61, Y:-16.95, Z:-5.34 [[ 9.76807130e-01 2.11147837e-01 3.55587059e-02 1.25612622e+02] [-2.11029125e-01 9.77453973e-01 -7.10201109e-03 -1.69483178e+01] [-3.62565726e-02 -5.66627515e-04 9.99342354e-01 -5.33999200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63587156000003 meters 0.022844520564332116 Centerline is valid? [True, True] Translation: X:125.64, Y:-16.95, Z:-5.34 [[ 9.76423240e-01 2.12944934e-01 3.53851815e-02 1.25640775e+02] [-2.12828815e-01 9.77063994e-01 -7.06021867e-03 -1.69467306e+01] [-3.60770245e-02 -6.37224645e-04 9.99348809e-01 -5.34162471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66587156000003 meters 0.02480083582599776 Centerline is valid? [True, True] Translation: X:125.67, Y:-16.95, Z:-5.34 [[ 9.76306588e-01 2.13537907e-01 3.50286743e-02 1.25668807e+02] [-2.13424596e-01 9.76934559e-01 -6.98633879e-03 -1.69480505e+01] [-3.57125706e-02 -6.55172067e-04 9.99361888e-01 -5.34392784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69587156000003 meters 0.024089685385665336 Centerline is valid? [True, True] Translation: X:125.70, Y:-16.95, Z:-5.34 [[ 9.76187863e-01 2.14028175e-01 3.53439888e-02 1.25696756e+02] [-2.13913215e-01 9.76827250e-01 -7.04700814e-03 -1.69528258e+01] [-3.60332297e-02 -6.81342453e-04 9.99350360e-01 -5.34421770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72587156000003 meters 0.02617529191132898 Centerline is valid? [True, True] Translation: X:125.72, Y:-16.95, Z:-5.35 [[ 9.76198487e-01 2.13915606e-01 3.57299212e-02 1.25723863e+02] [-2.13798106e-01 9.76851904e-01 -7.12231188e-03 -1.69534913e+01] [-3.64264152e-02 -6.86199394e-04 9.99336102e-01 -5.34612210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75587156000003 meters 0.025180612115088295 Centerline is valid? [True, True] Translation: X:125.75, Y:-16.96, Z:-5.35 [[ 9.76258490e-01 2.13625199e-01 3.58278531e-02 1.25751620e+02] [-2.13507021e-01 9.76915457e-01 -7.13738957e-03 -1.69567370e+01] [-3.65255098e-02 -6.81561012e-04 9.99332489e-01 -5.34670116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78587156000003 meters 0.023564190980375536 Centerline is valid? [True, True] Translation: X:125.78, Y:-16.96, Z:-5.35 [[ 9.76434559e-01 2.12878900e-01 3.54700792e-02 1.25779282e+02] [-2.12762830e-01 9.77078373e-01 -7.05917046e-03 -1.69630362e+01] [-3.61597957e-02 -6.53896426e-04 9.99345807e-01 -5.34831635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81587156000003 meters 0.02675995282841622 Centerline is valid? [True, True] Translation: X:125.81, Y:-16.97, Z:-5.35 [[ 9.76646235e-01 2.11986499e-01 3.49836582e-02 1.25807963e+02] [-2.11873259e-01 9.77272399e-01 -6.95565246e-03 -1.69690023e+01] [-3.56630680e-02 -6.18889882e-04 9.99363679e-01 -5.34979648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84587156000003 meters 0.021539341616884235 Centerline is valid? [True, True] Translation: X:125.84, Y:-16.98, Z:-5.35 [[ 9.77181851e-01 2.09465707e-01 3.52100375e-02 1.25835383e+02] [-2.09349456e-01 9.77815848e-01 -6.99799307e-03 -1.69753824e+01] [-3.58947723e-02 -5.32890368e-04 9.99355433e-01 -5.35262999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87587156000004 meters 0.019267930933753695 Centerline is valid? [True, True] Translation: X:125.86, Y:-16.98, Z:-5.35 [[ 9.77420284e-01 2.08344710e-01 3.52430278e-02 1.25863203e+02] [-2.08227730e-01 9.78055333e-01 -6.99848924e-03 -1.69826821e+01] [-3.59277295e-02 -4.98110330e-04 9.99354267e-01 -5.35276275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90587156000004 meters 0.019500125892946238 Centerline is valid? [True, True] Translation: X:125.89, Y:-16.99, Z:-5.36 [[ 9.77622063e-01 2.07464632e-01 3.48357233e-02 1.25890524e+02] [-2.07350023e-01 9.78242408e-01 -6.91084502e-03 -1.69868770e+01] [-3.55115378e-02 -4.66993469e-04 9.99369157e-01 -5.35544086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93587156 meters 0.018255528960830807 Centerline is valid? [True, True] Translation: X:125.92, Y:-16.99, Z:-5.36 [[ 9.77871386e-01 2.06320339e-01 3.46333722e-02 1.25918181e+02] [-2.06206427e-01 9.78484408e-01 -6.86824414e-03 -1.69931552e+01] [-3.53052732e-02 -4.25364540e-04 9.99376484e-01 -5.35685393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96587156 meters 0.01681319582772351 Centerline is valid? [True, True] Translation: X:125.95, Y:-17.00, Z:-5.36 [[ 9.78275417e-01 2.04319622e-01 3.50813360e-02 1.25945882e+02] [-2.04201676e-01 9.78904163e-01 -6.95095779e-03 -1.69987591e+01] [-3.57614829e-02 -3.63716477e-04 9.99360287e-01 -5.35832274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99587156 meters 0.015382664362887688 Centerline is valid? [True, True] Translation: X:125.97, Y:-17.01, Z:-5.36 [[ 9.78495716e-01 2.03280537e-01 3.49736658e-02 1.25973901e+02] [-2.03162862e-01 9.79120480e-01 -6.92370587e-03 -1.70059656e+01] [-3.56508871e-02 -3.30533495e-04 9.99364250e-01 -5.35873880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02587156 meters 0.01475769527606452 Centerline is valid? [True, True] Translation: X:126.00, Y:-17.01, Z:-5.36 [[ 9.78743039e-01 2.02222533e-01 3.41776284e-02 1.26000838e+02] [-2.02109748e-01 9.79339554e-01 -6.75929396e-03 -1.70128155e+01] [-3.48383849e-02 -2.92019943e-04 9.99392917e-01 -5.36134993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05587156 meters 0.014189403267887346 Centerline is valid? [True, True] Translation: X:126.03, Y:-17.02, Z:-5.36 [[ 9.79197401e-01 2.00157188e-01 3.33099239e-02 1.26027031e+02] [-2.00048922e-01 9.79763775e-01 -6.58594421e-03 -1.70206767e+01] [-3.39540808e-02 -2.14674914e-04 9.99423371e-01 -5.36469580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08587156000002 meters 0.013600466888090742 Centerline is valid? [True, True] Translation: X:126.06, Y:-17.03, Z:-5.37 [[ 9.79375634e-01 1.99269190e-01 3.33939840e-02 1.26055711e+02] [-1.99160049e-01 9.79944771e-01 -6.59703914e-03 -1.70266353e+01] [-3.40388466e-02 -1.89768097e-04 9.99420493e-01 -5.36532861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11587156000002 meters 0.013558076695975906 Centerline is valid? [True, True] Translation: X:126.08, Y:-17.03, Z:-5.37 [[ 9.79422333e-01 1.99041003e-01 3.33852210e-02 1.26083664e+02] [-1.98931834e-01 9.79991146e-01 -6.59393336e-03 -1.70309266e+01] [-3.40296841e-02 -1.83137643e-04 9.99420806e-01 -5.36656382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14587156000002 meters 0.025268077390567526 Centerline is valid? [True, True] Translation: X:126.11, Y:-17.03, Z:-5.37 [[ 9.79398863e-01 1.99209270e-01 3.30686305e-02 1.26111694e+02] [-1.99102331e-01 9.79956954e-01 -6.52922727e-03 -1.70346048e+01] [-3.37065170e-02 -1.89323661e-04 9.99431756e-01 -5.36891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17587156000002 meters 0.01424206132568465 Centerline is valid? [True, True] Translation: X:126.14, Y:-17.04, Z:-5.37 [[ 9.79202606e-01 2.00051200e-01 3.37901344e-02 1.26139238e+02] [-1.99940117e-01 9.79785419e-01 -6.66955258e-03 -1.70377023e+01] [-3.44413330e-02 -2.25160152e-04 9.99406696e-01 -5.36793664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20587156000002 meters 0.014568855270450366 Centerline is valid? [True, True] Translation: X:126.17, Y:-17.04, Z:-5.37 [[ 9.79159943e-01 2.00237342e-01 3.39236244e-02 1.26166417e+02] [-2.00125719e-01 9.79747391e-01 -6.68930790e-03 -1.70419379e+01] [-3.45760318e-02 -2.39087404e-04 9.99402042e-01 -5.36911596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23587156000002 meters 0.014800831823192098 Centerline is valid? [True, True] Translation: X:126.19, Y:-17.05, Z:-5.37 [[ 9.79179268e-01 2.00198181e-01 3.35953654e-02 1.26193541e+02] [-2.00088905e-01 9.79755393e-01 -6.61817990e-03 -1.70467775e+01] [-3.42401880e-02 -2.41675329e-04 9.99413604e-01 -5.37098371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26587156000002 meters 0.013980222323756031 Centerline is valid? [True, True] Translation: X:126.22, Y:-17.05, Z:-5.37 [[ 9.79308606e-01 1.99586794e-01 3.34628938e-02 1.26220701e+02] [-1.99478282e-01 9.79880125e-01 -6.58442798e-03 -1.70530450e+01] [-3.41037895e-02 -2.26933578e-04 9.99418271e-01 -5.37166225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29587156000002 meters 0.014239315559114485 Centerline is valid? [True, True] Translation: X:126.25, Y:-17.06, Z:-5.37 [[ 9.79421982e-01 1.98979347e-01 3.37609292e-02 1.26247629e+02] [-1.98868625e-01 9.80003661e-01 -6.64038518e-03 -1.70575365e+01] [-3.44071338e-02 -2.10250348e-04 9.99407877e-01 -5.37431897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32587156000002 meters 0.013691559264944041 Centerline is valid? [True, True] Translation: X:126.27, Y:-17.06, Z:-5.38 [[ 9.79631962e-01 1.97933750e-01 3.38149360e-02 1.26274624e+02] [-1.97822078e-01 9.80215385e-01 -6.65022288e-03 -1.70641004e+01] [-3.44622241e-02 -1.74570021e-04 9.99405986e-01 -5.37542177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35587156000003 meters 0.01339405102525259 Centerline is valid? [True, True] Translation: X:126.30, Y:-17.07, Z:-5.38 [[ 9.79821186e-01 1.97057675e-01 3.34472048e-02 1.26300855e+02] [-1.96948161e-01 9.80391886e-01 -6.57049652e-03 -1.70711643e+01] [-3.40861350e-02 -1.49453785e-04 9.99418888e-01 -5.37743479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38587156000003 meters 0.01339405102525259 Centerline is valid? [True, True] Translation: X:126.33, Y:-17.08, Z:-5.38 [[ 9.79856669e-01 1.96881113e-01 3.34475165e-02 1.26327812e+02] [-1.96771551e-01 9.80427359e-01 -6.56890996e-03 -1.70762597e+01] [-3.40861546e-02 -1.44929455e-04 9.99418888e-01 -5.37867200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41587156000003 meters 0.012820111205787 Centerline is valid? [True, True] Translation: X:126.36, Y:-17.08, Z:-5.38 [[ 9.80182481e-01 1.95388647e-01 3.26432396e-02 1.26355064e+02] [-1.95283715e-01 9.80725888e-01 -6.40343269e-03 -1.70846514e+01] [-3.32652282e-02 -9.81605473e-05 9.99446554e-01 -5.38030209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44587156000003 meters 0.02938384298456347 Centerline is valid? [True, True] Translation: X:126.38, Y:-17.09, Z:-5.38 [[ 9.80261711e-01 1.95020049e-01 3.24678065e-02 1.26382035e+02] [-1.94916081e-01 9.80799252e-01 -6.36776272e-03 -1.70904828e+01] [-3.30862417e-02 -8.64236190e-05 9.99452497e-01 -5.38098818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47587156000003 meters 0.012608333808699322 Centerline is valid? [True, True] Translation: X:126.41, Y:-17.10, Z:-5.38 [[ 9.80326570e-01 1.94677789e-01 3.25633783e-02 1.26409361e+02] [-1.94573098e-01 9.80867245e-01 -6.38414223e-03 -1.70965194e+01] [-3.31832019e-02 -7.74131322e-05 9.99449283e-01 -5.38324188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50587156000003 meters 0.01258772588744917 Centerline is valid? [True, True] Translation: X:126.44, Y:-17.10, Z:-5.38 [[ 9.80285871e-01 1.94949961e-01 3.21578111e-02 1.26437696e+02] [-1.94848092e-01 9.80813186e-01 -6.30204885e-03 -1.71015511e+01] [-3.27693893e-02 -8.80787037e-05 9.99462935e-01 -5.38417480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53587156000003 meters 0.01490771465203692 Centerline is valid? [True, True] Translation: X:126.47, Y:-17.11, Z:-5.38 [[ 9.80191107e-01 1.95457848e-01 3.19628390e-02 1.26466487e+02] [-1.95357533e-01 9.80712098e-01 -6.26227277e-03 -1.71065136e+01] [-3.25703533e-02 -1.05957302e-04 9.99469440e-01 -5.38494968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56587156000003 meters 0.013477874566516395 Centerline is valid? [True, True] Translation: X:126.49, Y:-17.11, Z:-5.39 [[ 9.80017723e-01 1.96302466e-01 3.21030322e-02 1.26492924e+02] [-1.96201759e-01 9.80543382e-01 -6.28857008e-03 -1.71104560e+01] [-3.27128775e-02 -1.35761249e-04 9.99464781e-01 -5.38752896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59587156000003 meters 0.014754814746119185 Centerline is valid? [True, True] Translation: X:126.52, Y:-17.11, Z:-5.39 [[ 9.79659999e-01 1.98085837e-01 3.20669202e-02 1.26520973e+02] [-1.97986402e-01 9.80184657e-01 -6.27874487e-03 -1.71119658e+01] [-3.26752336e-02 -1.97778941e-04 9.99466002e-01 -5.38897854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62587156000004 meters 0.015182397055756946 Centerline is valid? [True, True] Translation: X:126.55, Y:-17.11, Z:-5.39 [[ 9.79456095e-01 1.99067708e-01 3.22150038e-02 1.26549581e+02] [-1.98967947e-01 9.79985711e-01 -6.30578312e-03 -1.71147356e+01] [-3.28255212e-02 -2.33515449e-04 9.99461070e-01 -5.38918640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65587156000004 meters 0.016146536907442856 Centerline is valid? [True, True] Translation: X:126.58, Y:-17.12, Z:-5.39 [[ 9.79205567e-01 2.00267693e-01 3.23930295e-02 1.26577584e+02] [-2.00167696e-01 9.79741176e-01 -6.33417726e-03 -1.71171575e+01] [-3.30053159e-02 -2.81576445e-04 9.99455136e-01 -5.38997028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68587156 meters 0.01833612756143772 Centerline is valid? [True, True] Translation: X:126.61, Y:-17.12, Z:-5.39 [[ 9.78639323e-01 2.02963156e-01 3.27266300e-02 1.26606451e+02] [-2.02862668e-01 9.79186302e-01 -6.39718487e-03 -1.71180646e+01] [-3.33438606e-02 -3.78474805e-04 9.99443867e-01 -5.39100300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71587156 meters 0.019796661580385674 Centerline is valid? [True, True] Translation: X:126.63, Y:-17.12, Z:-5.39 [[ 9.78370163e-01 2.04248285e-01 3.27789754e-02 1.26633881e+02] [-2.04148405e-01 9.78919023e-01 -6.40115339e-03 -1.71209488e+01] [-3.33953872e-02 -4.29078072e-04 9.99442126e-01 -5.39225467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74587156 meters 0.020953669366380444 Centerline is valid? [True, True] Translation: X:126.66, Y:-17.12, Z:-5.39 [[ 9.78156951e-01 2.05182655e-01 3.33024965e-02 1.26661550e+02] [-2.05080159e-01 9.78723586e-01 -6.50165333e-03 -1.71238260e+01] [-3.39279653e-02 -4.70043860e-04 9.99424170e-01 -5.39314423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77587156 meters 0.02252806481575899 Centerline is valid? [True, True] Translation: X:126.69, Y:-17.12, Z:-5.39 [[ 9.77845595e-01 2.06691782e-01 3.31134329e-02 1.26690459e+02] [-2.06591381e-01 9.78405967e-01 -6.46266829e-03 -1.71241585e+01] [-3.37341607e-02 -5.21458100e-04 9.99430705e-01 -5.39455261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80587156 meters 0.021020063619648113 Centerline is valid? [True, True] Translation: X:126.72, Y:-17.13, Z:-5.39 [[ 9.77779524e-01 2.07040180e-01 3.28871801e-02 1.26718883e+02] [-2.06941523e-01 9.78332294e-01 -6.41314677e-03 -1.71302174e+01] [-3.35023695e-02 -5.35079559e-04 9.99438495e-01 -5.39427798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83587156000002 meters 0.02796547599934293 Centerline is valid? [True, True] Translation: X:126.75, Y:-17.13, Z:-5.40 [[ 9.77690751e-01 2.07534895e-01 3.24046655e-02 1.26746807e+02] [-2.07439617e-01 9.78227460e-01 -6.31201487e-03 -1.71299624e+01] [-3.30090970e-02 -5.50812829e-04 9.99454899e-01 -5.39860409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86587156000002 meters 0.022729053384324363 Centerline is valid? [True, True] Translation: X:126.78, Y:-17.13, Z:-5.40 [[ 9.77657895e-01 2.07728236e-01 3.21561918e-02 1.26775420e+02] [-2.07634540e-01 9.78186421e-01 -6.26294465e-03 -1.71347278e+01] [-3.27557406e-02 -5.53718807e-04 9.99463233e-01 -5.39897077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89587156000002 meters 0.02396660256803768 Centerline is valid? [True, True] Translation: X:126.80, Y:-17.14, Z:-5.40 [[ 9.77676206e-01 2.07671667e-01 3.19642619e-02 1.26803398e+02] [-2.07579282e-01 9.78198431e-01 -6.21864490e-03 -1.71372469e+01] [-3.25588272e-02 -5.55297368e-04 9.99469667e-01 -5.40211138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92587156000002 meters 0.02523552342372395 Centerline is valid? [True, True] Translation: X:126.83, Y:-17.14, Z:-5.41 [[ 9.77703252e-01 2.07670028e-01 3.11369693e-02 1.26831048e+02] [-2.07582422e-01 9.78198786e-01 -6.05581085e-03 -1.71409081e+01] [-3.17157560e-02 -5.42701568e-04 9.99496782e-01 -5.40556965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95587156000002 meters 0.023018451949270855 Centerline is valid? [True, True] Translation: X:126.86, Y:-17.15, Z:-5.41 [[ 9.77770880e-01 2.07390957e-01 3.08722845e-02 1.26857994e+02] [-2.07304695e-01 9.78257998e-01 -6.00436914e-03 -1.71483404e+01] [-3.14463111e-02 -5.29072225e-04 9.99505302e-01 -5.40550054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98587156000002 meters 0.022484658396985012 Centerline is valid? [True, True] Translation: X:126.89, Y:-17.15, Z:-5.41 [[ 9.77939451e-01 2.06508938e-01 3.14402556e-02 1.26885815e+02] [-2.06419279e-01 9.78444577e-01 -6.10663807e-03 -1.71503436e+01] [-3.20236230e-02 -5.17952608e-04 9.99486978e-01 -5.40577271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01587156000002 meters 0.02136636425186036 Centerline is valid? [True, True] Translation: X:126.91, Y:-17.16, Z:-5.41 [[ 9.78093705e-01 2.05669050e-01 3.21394901e-02 1.26913844e+02] [-2.05574928e-01 9.78621474e-01 -6.24174650e-03 -1.71550717e+01] [-3.27361292e-02 -5.02060383e-04 9.99463903e-01 -5.40553904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04587156000002 meters 0.02144373092147989 Centerline is valid? [True, True] Translation: X:126.94, Y:-17.16, Z:-5.41 [[ 9.78304809e-01 2.04659860e-01 3.21565231e-02 1.26940875e+02] [-2.04565321e-01 9.78833038e-01 -6.23809018e-03 -1.71596440e+01] [-3.27525538e-02 -4.75355837e-04 9.99463378e-01 -5.40767090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07587156000002 meters 0.01919611075851909 Centerline is valid? [True, True] Translation: X:126.97, Y:-17.17, Z:-5.41 [[ 9.78700982e-01 2.02807832e-01 3.18334960e-02 1.26968708e+02] [-2.02714222e-01 9.79218472e-01 -6.17487524e-03 -1.71662099e+01] [-3.24242604e-02 -4.09745903e-04 9.99474111e-01 -5.40823045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10587156000003 meters 0.018823130950326287 Centerline is valid? [True, True] Translation: X:127.00, Y:-17.17, Z:-5.41 [[ 9.78870812e-01 2.01974838e-01 3.19076588e-02 1.26996101e+02] [-2.01880574e-01 9.79390633e-01 -6.18230151e-03 -1.71704702e+01] [-3.24987315e-02 -3.89861986e-04 9.99471701e-01 -5.40967146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13587156000003 meters 0.026320444483943807 Centerline is valid? [True, True] Translation: X:127.02, Y:-17.18, Z:-5.41 [[ 9.79091559e-01 2.00971813e-01 3.14650608e-02 1.27023664e+02] [-2.00879633e-01 9.79596961e-01 -6.09640549e-03 -1.71766740e+01] [-3.20482836e-02 -3.51750721e-04 9.99486260e-01 -5.41034708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16587156000003 meters 0.01681133949282483 Centerline is valid? [True, True] Translation: X:127.05, Y:-17.18, Z:-5.41 [[ 9.79371251e-01 1.99635646e-01 3.12659650e-02 1.27051826e+02] [-1.99544155e-01 9.79870150e-01 -6.05134773e-03 -1.71835756e+01] [-3.18446505e-02 -3.12424586e-04 9.99492782e-01 -5.41287925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19587156000003 meters 0.015563048133256485 Centerline is valid? [True, True] Translation: X:127.08, Y:-17.19, Z:-5.42 [[ 9.79799023e-01 1.97695341e-01 3.01732884e-02 1.27079224e+02] [-1.97609357e-01 9.80263481e-01 -5.83523013e-03 -1.71903171e+01] [-3.07313705e-02 -2.45171343e-04 9.99527650e-01 -5.41576879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22587156000003 meters 0.01633420713057525 Centerline is valid? [True, True] Translation: X:127.11, Y:-17.19, Z:-5.42 [[ 9.79931611e-01 1.97065936e-01 2.99842476e-02 1.27105829e+02] [-1.96980967e-01 9.80390210e-01 -5.79099554e-03 -1.71941225e+01] [-3.05374707e-02 -2.31546481e-04 9.99533596e-01 -5.41963974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25587156000003 meters 0.015212126242041397 Centerline is valid? [True, True] Translation: X:127.13, Y:-17.20, Z:-5.42 [[ 9.80116654e-01 1.96141490e-01 2.99976869e-02 1.27132698e+02] [-1.96056044e-01 9.80575583e-01 -5.79252145e-03 -1.72009003e+01] [-3.05511532e-02 -2.03881088e-04 9.99533184e-01 -5.41924023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28587156000003 meters 0.01476775820569965 Centerline is valid? [True, True] Translation: X:127.16, Y:-17.21, Z:-5.42 [[ 9.80219056e-01 1.95609287e-01 3.01265658e-02 1.27159817e+02] [-1.95523038e-01 9.80681890e-01 -5.81142230e-03 -1.72069725e+01] [-3.06813457e-02 -1.93970784e-04 9.99529198e-01 -5.42013850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31587156000003 meters 0.015055575995630628 Centerline is valid? [True, True] Translation: X:127.19, Y:-17.21, Z:-5.42 [[ 9.80251149e-01 1.95398385e-01 3.04492413e-02 1.27187026e+02] [-1.95310370e-01 9.80723933e-01 -5.86740103e-03 -1.72107085e+01] [-3.10087804e-02 -1.95525986e-04 9.99519093e-01 -5.42152932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34587156000003 meters 0.015611047927825089 Centerline is valid? [True, True] Translation: X:127.21, Y:-17.21, Z:-5.42 [[ 9.80232086e-01 1.95464785e-01 3.06361843e-02 1.27213876e+02] [-1.95375961e-01 9.80710699e-01 -5.89565642e-03 -1.72143129e+01] [-3.11976270e-02 -2.06462348e-04 9.99513214e-01 -5.42354267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37587156000004 meters 0.014737226680153119 Centerline is valid? [True, True] Translation: X:127.24, Y:-17.22, Z:-5.42 [[ 9.80230390e-01 1.95458314e-01 3.07315697e-02 1.27240892e+02] [-1.95368966e-01 9.80711988e-01 -5.91294798e-03 -1.72200961e+01] [-3.12945537e-02 -2.07943687e-04 9.99510184e-01 -5.42226918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40587156000004 meters 0.0157107749351716 Centerline is valid? [True, True] Translation: X:127.27, Y:-17.22, Z:-5.42 [[ 9.80124765e-01 1.95922572e-01 3.11414698e-02 1.27268297e+02] [-1.95831290e-01 9.80619341e-01 -5.98449674e-03 -1.72224598e+01] [-3.17104255e-02 -2.32920730e-04 9.99497071e-01 -5.42408320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43587156 meters 0.016409033809537746 Centerline is valid? [True, True] Translation: X:127.30, Y:-17.22, Z:-5.43 [[ 9.80039238e-01 1.96292829e-01 3.14994768e-02 1.27295496e+02] [-1.96199773e-01 9.80545288e-01 -6.04876540e-03 -1.72247373e+01] [-3.20739928e-02 -2.52162749e-04 9.99485465e-01 -5.42558031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46587156 meters 0.015972052910776892 Centerline is valid? [True, True] Translation: X:127.32, Y:-17.23, Z:-5.42 [[ 9.79965324e-01 1.96624147e-01 3.17318185e-02 1.27323240e+02] [-1.96529996e-01 9.80478900e-01 -6.08998960e-03 -1.72290017e+01] [-3.23098175e-02 -2.68275528e-04 9.99477866e-01 -5.42495645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49587156 meters 0.01636476521885835 Centerline is valid? [True, True] Translation: X:127.35, Y:-17.23, Z:-5.43 [[ 9.79761168e-01 1.97698539e-01 3.13582762e-02 1.27352283e+02] [-1.97607348e-01 9.80262819e-01 -6.01183961e-03 -1.72320333e+01] [-3.19278842e-02 -3.06458816e-04 9.99490128e-01 -5.42542215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52587156 meters 0.017988582636165023 Centerline is valid? [True, True] Translation: X:127.38, Y:-17.23, Z:-5.43 [[ 9.79667401e-01 1.98176617e-01 3.12699789e-02 1.27380408e+02] [-1.98086388e-01 9.80166272e-01 -5.98847404e-03 -1.72338886e+01] [-3.18365541e-02 -3.27444355e-04 9.99493035e-01 -5.42875598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55587156 meters 0.018337261484929878 Centerline is valid? [True, True] Translation: X:127.41, Y:-17.24, Z:-5.43 [[ 9.79614077e-01 1.98425485e-01 3.13621788e-02 1.27408290e+02] [-1.98334861e-01 9.80115918e-01 -6.00580104e-03 -1.72364067e+01] [-3.19302747e-02 -3.36846119e-04 9.99490042e-01 -5.42982030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58587156000002 meters 0.01778123166732057 Centerline is valid? [True, True] Translation: X:127.44, Y:-17.24, Z:-5.43 [[ 9.79529038e-01 1.98839355e-01 3.13970436e-02 1.27436473e+02] [-1.98748942e-01 9.80032032e-01 -6.00621394e-03 -1.72402645e+01] [-3.19643801e-02 -3.56868219e-04 9.99488945e-01 -5.42948444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61587156000002 meters 0.017491630655470224 Centerline is valid? [True, True] Translation: X:127.46, Y:-17.25, Z:-5.43 [[ 9.79579465e-01 1.98605785e-01 3.13019920e-02 1.27463686e+02] [-1.98515962e-01 9.80079393e-01 -5.98291093e-03 -1.72452006e+01] [-3.18666781e-02 -3.53208388e-04 9.99492066e-01 -5.43112001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64587156000002 meters 0.01793296739497194 Centerline is valid? [True, True] Translation: X:127.49, Y:-17.25, Z:-5.43 [[ 9.79565555e-01 1.98451084e-01 3.26877795e-02 1.27491745e+02] [-1.98353332e-01 9.80110723e-01 -6.23914039e-03 -1.72468705e+01] [-3.32758073e-02 -3.72082971e-04 9.99446138e-01 -5.43063706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67587156000002 meters 0.01863501282309887 Centerline is valid? [True, True] Translation: X:127.52, Y:-17.25, Z:-5.43 [[ 9.79568322e-01 1.98372563e-01 3.30791409e-02 1.27519049e+02] [-1.98272483e-01 9.80126617e-01 -6.31170131e-03 -1.72497373e+01] [-3.36738148e-02 -3.75940740e-04 9.99432806e-01 -5.43207323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70587156000002 meters 0.017409747554591334 Centerline is valid? [True, True] Translation: X:127.55, Y:-17.26, Z:-5.43 [[ 9.79645803e-01 1.98021396e-01 3.28881078e-02 1.27546103e+02] [-1.97922286e-01 9.80197631e-01 -6.27481658e-03 -1.72561988e+01] [-3.34793933e-02 -3.62191748e-04 9.99439342e-01 -5.43234859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73587156000002 meters 0.01743624818665827 Centerline is valid? [True, True] Translation: X:127.57, Y:-17.26, Z:-5.43 [[ 9.79719371e-01 1.97733471e-01 3.24257306e-02 1.27573542e+02] [-1.97637178e-01 9.80255757e-01 -6.18032686e-03 -1.72615825e+01] [-3.30075666e-02 -3.53543952e-04 9.99455039e-01 -5.43437590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76587156000002 meters 0.016582288147098546 Centerline is valid? [True, True] Translation: X:127.60, Y:-17.27, Z:-5.44 [[ 9.79854004e-01 1.97037454e-01 3.25940601e-02 1.27601049e+02] [-1.96939987e-01 9.80395903e-01 -6.20596877e-03 -1.72663035e+01] [-3.31778913e-02 -3.38130436e-04 9.99449405e-01 -5.43527836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79587156000002 meters 0.02899840322687582 Centerline is valid? [True, True] Translation: X:127.63, Y:-17.27, Z:-5.44 [[ 9.79952430e-01 1.96686592e-01 3.17430123e-02 1.27629321e+02] [-1.96594174e-01 9.80466358e-01 -6.03746583e-03 -1.72712541e+01] [-3.23104442e-02 -3.24061976e-04 9.99477829e-01 -5.43668265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82587156000002 meters 0.01747246480164369 Centerline is valid? [True, True] Translation: X:127.66, Y:-17.28, Z:-5.44 [[ 9.80098103e-01 1.95941050e-01 3.18561468e-02 1.27656218e+02] [-1.95847808e-01 9.80615628e-01 -6.05190657e-03 -1.72753507e+01] [-3.24244523e-02 -3.07494381e-04 9.99474142e-01 -5.44178964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85587156000003 meters 0.015959447806286935 Centerline is valid? [True, True] Translation: X:127.68, Y:-17.28, Z:-5.44 [[ 9.80278467e-01 1.95073486e-01 3.16300691e-02 1.27683478e+02] [-1.94981120e-01 9.80788590e-01 -6.00870652e-03 -1.72825035e+01] [-3.21945502e-02 -2.77060698e-04 9.99481583e-01 -5.44071668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88587156000003 meters 0.02083635111508394 Centerline is valid? [True, True] Translation: X:127.71, Y:-17.29, Z:-5.44 [[ 9.80304667e-01 1.94932664e-01 3.16862162e-02 1.27709831e+02] [-1.94840146e-01 9.80816587e-01 -6.01163134e-03 -1.72857464e+01] [-3.22502298e-02 -2.80516749e-04 9.99479787e-01 -5.44105399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91587156000003 meters 0.01595187442894747 Centerline is valid? [True, True] Translation: X:127.74, Y:-17.29, Z:-5.44 [[ 9.80349566e-01 1.94664717e-01 3.19433346e-02 1.27737785e+02] [-1.94570596e-01 9.80869804e-01 -6.05896237e-03 -1.72903490e+01] [-3.25117185e-02 -2.75332501e-04 9.99471316e-01 -5.44247732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94587156000003 meters 0.01637754883634659 Centerline is valid? [True, True] Translation: X:127.76, Y:-17.29, Z:-5.44 [[ 9.80328862e-01 1.94690506e-01 3.24180273e-02 1.27764593e+02] [-1.94593819e-01 9.80864682e-01 -6.14176879e-03 -1.72942507e+01] [-3.29934421e-02 -2.87394522e-04 9.99455527e-01 -5.44327967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97587156000003 meters 0.02988989301890127 Centerline is valid? [True, True] Translation: X:127.79, Y:-17.30, Z:-5.44 [[ 9.80169719e-01 1.95421426e-01 3.28296905e-02 1.27792104e+02] [-1.95322802e-01 9.80719310e-01 -6.21599991e-03 -1.72983823e+01] [-3.34114509e-02 -3.19652248e-04 9.99441630e-01 -5.44171472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00587156000003 meters 0.01742412783718559 Centerline is valid? [True, True] Translation: X:127.82, Y:-17.30, Z:-5.45 [[ 9.80197989e-01 1.95293696e-01 3.27456083e-02 1.27819029e+02] [-1.95195764e-01 9.80744752e-01 -6.19235292e-03 -1.73012632e+01] [-3.33244110e-02 -3.22072146e-04 9.99444536e-01 -5.44561412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03587156000003 meters 0.017058020832680716 Centerline is valid? [True, True] Translation: X:127.85, Y:-17.31, Z:-5.45 [[ 9.80311314e-01 1.94881092e-01 3.17975955e-02 1.27847251e+02] [-1.94788584e-01 9.80826830e-01 -6.01146829e-03 -1.73069309e+01] [-3.23594562e-02 -3.00698221e-04 9.99476250e-01 -5.44756319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06587156000003 meters 0.016213717711027528 Centerline is valid? [True, True] Translation: X:127.87, Y:-17.31, Z:-5.45 [[ 9.80417334e-01 1.94374939e-01 3.16264971e-02 1.27874878e+02] [-1.94283318e-01 9.80927266e-01 -5.97424226e-03 -1.73132254e+01] [-3.21845363e-02 -2.87250128e-04 9.99481902e-01 -5.44752662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09587156000003 meters 0.024033372316342328 Centerline is valid? [True, True] Translation: X:127.90, Y:-17.32, Z:-5.45 [[ 9.80473874e-01 1.94115659e-01 3.14657640e-02 1.27901281e+02] [-1.94025079e-01 9.80978608e-01 -5.93623982e-03 -1.73175198e+01] [-3.20195584e-02 -2.84819287e-04 9.99487202e-01 -5.44793372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12587156000004 meters 0.022335932676897166 Centerline is valid? [True, True] Translation: X:127.93, Y:-17.32, Z:-5.45 [[ 9.80714841e-01 1.92897154e-01 3.14497765e-02 1.27928722e+02] [-1.92806136e-01 9.81218949e-01 -5.93018970e-03 -1.73236320e+01] [-3.20030334e-02 -2.47884847e-04 9.99487741e-01 -5.45058057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15587156000004 meters 0.021634095218442083 Centerline is valid? [True, True] Translation: X:127.96, Y:-17.33, Z:-5.45 [[ 9.80788762e-01 1.92485061e-01 3.16686943e-02 1.27955759e+02] [-1.92392563e-01 9.81299875e-01 -5.97127994e-03 -1.73296653e+01] [-3.22258680e-02 -2.36257021e-04 9.99480584e-01 -5.44987790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18587156 meters 0.017581369767244656 Centerline is valid? [True, True] Translation: X:127.98, Y:-17.33, Z:-5.45 [[ 9.80782889e-01 1.92429425e-01 3.21844879e-02 1.27983724e+02] [-1.92334130e-01 9.81310784e-01 -6.06027150e-03 -1.73334031e+01] [-3.27491597e-02 -2.46364881e-04 9.99463572e-01 -5.45198329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21587156 meters 0.015756381835198726 Centerline is valid? [True, True] Translation: X:128.01, Y:-17.34, Z:-5.45 [[ 9.80783599e-01 1.92458572e-01 3.19879540e-02 1.28011201e+02] [-1.92364465e-01 9.81305069e-01 -6.02287623e-03 -1.73359451e+01] [-3.25490956e-02 -2.46207433e-04 9.99470107e-01 -5.45375916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24587156 meters 0.015882095411799652 Centerline is valid? [True, True] Translation: X:128.04, Y:-17.34, Z:-5.46 [[ 9.80762105e-01 1.92685619e-01 3.12721312e-02 1.28039736e+02] [-1.92595987e-01 9.81260510e-01 -5.88201209e-03 -1.73397685e+01] [-3.18194865e-02 -2.54032416e-04 9.99493600e-01 -5.45506260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27587156 meters 0.015882095411799652 Centerline is valid? [True, True] Translation: X:128.07, Y:-17.34, Z:-5.46 [[ 9.80798499e-01 1.92500132e-01 3.12730433e-02 1.28066722e+02] [-1.92410560e-01 9.81296915e-01 -5.87715795e-03 -1.73446538e+01] [-3.18194946e-02 -2.52956084e-04 9.99493600e-01 -5.45630027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30587156 meters 0.015512606543647936 Centerline is valid? [True, True] Translation: X:128.10, Y:-17.35, Z:-5.46 [[ 9.80784782e-01 1.92666746e-01 3.06714240e-02 1.28095055e+02] [-1.92580859e-01 9.81264214e-01 -5.75802382e-03 -1.73492261e+01] [-3.12061504e-02 -2.59347046e-04 9.99512936e-01 -5.45708166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33587156000002 meters 0.017159384261505903 Centerline is valid? [True, True] Translation: X:128.12, Y:-17.35, Z:-5.46 [[ 9.80760042e-01 1.92774125e-01 3.07876063e-02 1.28121777e+02] [-1.92687851e-01 9.81243122e-01 -5.77310292e-03 -1.73505958e+01] [-3.13230318e-02 -2.70369028e-04 9.99509277e-01 -5.46146627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36587156000002 meters 0.01734679858276515 Centerline is valid? [True, True] Translation: X:128.15, Y:-17.35, Z:-5.46 [[ 9.80779227e-01 1.92682814e-01 3.07480388e-02 1.28148665e+02] [-1.92596785e-01 9.81261056e-01 -5.76348448e-03 -1.73540953e+01] [-3.12823775e-02 -2.69267585e-04 9.99510550e-01 -5.46274596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39587156000002 meters 0.016089374879126143 Centerline is valid? [True, True] Translation: X:128.18, Y:-17.36, Z:-5.46 [[ 9.80845760e-01 1.92355239e-01 3.06766532e-02 1.28176404e+02] [-1.92269541e-01 9.81325325e-01 -5.74715159e-03 -1.73605794e+01] [-3.12092713e-02 -2.61116732e-04 9.99512838e-01 -5.46186457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42587156000002 meters 0.01599563164200955 Centerline is valid? [True, True] Translation: X:128.20, Y:-17.37, Z:-5.46 [[ 9.80962889e-01 1.91779916e-01 3.05331702e-02 1.28203389e+02] [-1.91694926e-01 9.81437926e-01 -5.71426264e-03 -1.73653621e+01] [-3.10622921e-02 -2.47574217e-04 9.99517420e-01 -5.46348398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45587156000002 meters 0.014960033838796839 Centerline is valid? [True, True] Translation: X:128.23, Y:-17.37, Z:-5.46 [[ 9.81229253e-01 1.90428803e-01 3.04306526e-02 1.28231621e+02] [-1.90343927e-01 9.81700987e-01 -5.68881318e-03 -1.73717199e+01] [-3.09571155e-02 -2.10259998e-04 9.99520692e-01 -5.46431897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48587156000002 meters 0.014640905218037249 Centerline is valid? [True, True] Translation: X:128.26, Y:-17.38, Z:-5.47 [[ 9.81470055e-01 1.89231644e-01 3.01316349e-02 1.28258063e+02] [-1.89148040e-01 9.81932459e-01 -5.62716900e-03 -1.73773378e+01] [-3.06520687e-02 -1.76441816e-04 9.99530099e-01 -5.46610890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51587156000002 meters 0.013967685192383361 Centerline is valid? [True, True] Translation: X:128.29, Y:-17.38, Z:-5.47 [[ 9.81680695e-01 1.88151415e-01 3.00342708e-02 1.28285604e+02] [-1.88067942e-01 9.82140023e-01 -5.60582320e-03 -1.73823352e+01] [-3.05526030e-02 -1.45355079e-04 9.99533150e-01 -5.46649337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54587156000002 meters 0.01412637991629051 Centerline is valid? [True, True] Translation: X:128.31, Y:-17.39, Z:-5.47 [[ 9.81812325e-01 1.87383776e-01 3.05266795e-02 1.28313278e+02] [-1.87297426e-01 9.82286772e-01 -5.68953339e-03 -1.73861710e+01] [-3.10520797e-02 -1.31514494e-04 9.99517759e-01 -5.46857324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57587156000002 meters 0.012999989241987588 Centerline is valid? [True, True] Translation: X:128.34, Y:-17.39, Z:-5.47 [[ 9.82074689e-01 1.85905998e-01 3.11169704e-02 1.28340920e+02] [-1.85815550e-01 9.82567531e-01 -5.79904419e-03 -1.73935941e+01] [-3.16526019e-02 -8.69224663e-05 9.99498927e-01 -5.46750434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60587156000003 meters 0.013278380916205281 Centerline is valid? [True, True] Translation: X:128.37, Y:-17.40, Z:-5.47 [[ 9.82228110e-01 1.85165218e-01 3.06884610e-02 1.28368008e+02] [-1.85077096e-01 9.82707402e-01 -5.71238033e-03 -1.73998265e+01] [-3.12155119e-02 -6.88706915e-05 9.99512675e-01 -5.47017287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63587156000003 meters 0.023233029440750758 Centerline is valid? [True, True] Translation: X:128.40, Y:-17.40, Z:-5.47 [[ 9.82263687e-01 1.85061027e-01 3.01739373e-02 1.28395290e+02] [-1.84975843e-01 9.82727028e-01 -5.61476011e-03 -1.74046851e+01] [-3.06918170e-02 -6.62745315e-05 9.99528893e-01 -5.47188390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66587156000003 meters 0.013255240350202611 Centerline is valid? [True, True] Translation: X:128.42, Y:-17.41, Z:-5.47 [[ 9.82479865e-01 1.83994178e-01 2.96556504e-02 1.28423013e+02] [-1.83911463e-01 9.82927333e-01 -5.51658286e-03 -1.74101783e+01] [-3.01643685e-02 -3.40824635e-05 9.99544951e-01 -5.47380874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69587156000003 meters 0.013276167745030659 Centerline is valid? [True, True] Translation: X:128.45, Y:-17.42, Z:-5.48 [[ 9.82530242e-01 1.83702541e-01 2.97943036e-02 1.28449783e+02] [-1.83618961e-01 9.82981880e-01 -5.54086327e-03 -1.74152668e+01] [-3.03051312e-02 -2.67333540e-05 9.99540694e-01 -5.47505470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72587156000003 meters 0.014991916278955415 Centerline is valid? [True, True] Translation: X:128.48, Y:-17.42, Z:-5.47 [[ 9.82587306e-01 1.83286868e-01 3.04649097e-02 1.28478606e+02] [-1.83199330e-01 9.83059471e-01 -5.66406266e-03 -1.74205016e+01] [-3.09869663e-02 -1.57149705e-05 9.99519789e-01 -5.47380763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75587156000003 meters 0.012212852036467993 Centerline is valid? [True, True] Translation: X:128.51, Y:-17.43, Z:-5.47 [[ 9.82863436e-01 1.81567655e-01 3.18222068e-02 1.28506844e+02] [-1.81471426e-01 9.83378455e-01 -5.91067391e-03 -1.74275462e+01] [-3.23664598e-02 3.45640212e-05 9.99476068e-01 -5.47160594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78587156000003 meters 0.019475405422716332 Centerline is valid? [True, True] Translation: X:128.53, Y:-17.44, Z:-5.47 [[ 9.82990009e-01 1.80940255e-01 3.14843669e-02 1.28533946e+02] [-1.80845961e-01 9.83494088e-01 -5.84093967e-03 -1.74350735e+01] [-3.20215498e-02 4.77647558e-05 9.99487178e-01 -5.47416139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81587156000003 meters 0.012957623264196482 Centerline is valid? [True, True] Translation: X:128.56, Y:-17.44, Z:-5.48 [[ 9.83242062e-01 1.79680689e-01 3.08204032e-02 1.28561102e+02] [-1.79589772e-01 9.83724983e-01 -5.71584912e-03 -1.74432826e+01] [-3.13458284e-02 8.50340787e-05 9.99508595e-01 -5.47721837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84587156000003 meters 0.013511964538781703 Centerline is valid? [True, True] Translation: X:128.59, Y:-17.45, Z:-5.48 [[ 9.83411460e-01 1.78822502e-01 3.04041560e-02 1.28588310e+02] [-1.78733672e-01 9.83881345e-01 -5.63682518e-03 -1.74505031e+01] [-3.09220731e-02 1.09072042e-04 9.99521792e-01 -5.48032071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87587156000004 meters 0.013346963351818538 Centerline is valid? [True, True] Translation: X:128.62, Y:-17.46, Z:-5.48 [[ 9.83551122e-01 1.77989651e-01 3.07713138e-02 1.28615707e+02] [-1.77898255e-01 9.84032350e-01 -5.70483863e-03 -1.74569387e+01] [-3.12953705e-02 1.36837398e-04 9.99510171e-01 -5.47977971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90587156000004 meters 0.023556143020740678 Centerline is valid? [True, True] Translation: X:128.64, Y:-17.46, Z:-5.48 [[ 9.83577975e-01 1.77788477e-01 3.10745052e-02 1.28644430e+02] [-1.77695430e-01 9.84068716e-01 -5.75287909e-03 -1.74631302e+01] [-3.16022441e-02 1.36607607e-04 9.99500515e-01 -5.47870136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93587156 meters 0.013504999962612948 Centerline is valid? [True, True] Translation: X:128.67, Y:-17.47, Z:-5.48 [[ 9.83660396e-01 1.77246465e-01 3.15581459e-02 1.28671312e+02] [-1.77150265e-01 9.84166483e-01 -5.84097685e-03 -1.74698636e+01] [-3.20937620e-02 1.55003678e-04 9.99484851e-01 -5.48073951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96587156 meters 0.013945733013204268 Centerline is valid? [True, True] Translation: X:128.70, Y:-17.48, Z:-5.48 [[ 9.83737895e-01 1.76808096e-01 3.16014425e-02 1.28697403e+02] [-1.76711459e-01 9.84245330e-01 -5.84734569e-03 -1.74769416e+01] [-3.21374302e-02 1.67918542e-04 9.99483445e-01 -5.48263094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99587156 meters 0.0145341281421348 Centerline is valid? [True, True] Translation: X:128.72, Y:-17.49, Z:-5.48 [[ 9.83926654e-01 1.75718631e-01 3.18009677e-02 1.28724231e+02] [-1.75620298e-01 9.84440411e-01 -5.88124020e-03 -1.74864269e+01] [-3.23396012e-02 2.01813570e-04 9.99476918e-01 -5.48382847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02587156 meters 0.014211826357891455 Centerline is valid? [True, True] Translation: X:128.75, Y:-17.49, Z:-5.48 [[ 9.83981018e-01 1.75461681e-01 3.15365691e-02 1.28752648e+02] [-1.75364907e-01 9.84486239e-01 -5.83039873e-03 -1.74926512e+01] [-3.20703299e-02 2.06594162e-04 9.99485593e-01 -5.48399450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05587156 meters 0.014439574792013944 Centerline is valid? [True, True] Translation: X:128.78, Y:-17.50, Z:-5.49 [[ 9.84057448e-01 1.75129555e-01 3.09931787e-02 1.28780941e+02] [-1.75035969e-01 9.84545374e-01 -5.72848442e-03 -1.74997711e+01] [-3.15174177e-02 2.12236679e-04 9.99503180e-01 -5.48586065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08587156000002 meters 0.014605902581355438 Centerline is valid? [True, True] Translation: X:128.81, Y:-17.51, Z:-5.49 [[ 9.84089962e-01 1.74942937e-01 3.10147555e-02 1.28806659e+02] [-1.74849161e-01 9.84578550e-01 -5.73144727e-03 -1.75077655e+01] [-3.15391393e-02 2.17355741e-04 9.99502494e-01 -5.48758970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11587156000002 meters 0.014623861073458255 Centerline is valid? [True, True] Translation: X:128.84, Y:-17.51, Z:-5.49 [[ 9.84066880e-01 1.75051518e-01 3.11342394e-02 1.28835213e+02] [-1.74957171e-01 9.84559252e-01 -5.75039553e-03 -1.75144351e+01] [-3.16601189e-02 2.11615349e-04 9.99498670e-01 -5.48863323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14587156000002 meters 0.014520793558064423 Centerline is valid? [True, True] Translation: X:128.86, Y:-17.52, Z:-5.49 [[ 9.84045444e-01 1.75226417e-01 3.08264056e-02 1.28862936e+02] [-1.75134058e-01 9.84528142e-01 -5.69208845e-03 -1.75206700e+01] [-3.13468681e-02 2.02520192e-04 9.99508546e-01 -5.48988655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17587156000002 meters 0.02665283456933814 Centerline is valid? [True, True] Translation: X:128.89, Y:-17.53, Z:-5.49 [[ 9.83844253e-01 1.76403259e-01 3.05348239e-02 1.28889815e+02] [-1.76313245e-01 9.84317969e-01 -5.63696991e-03 -1.75275012e+01] [-3.10503557e-02 1.62206552e-04 9.99517808e-01 -5.49098361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20587156000002 meters 0.013929641609506794 Centerline is valid? [True, True] Translation: X:128.92, Y:-17.53, Z:-5.49 [[ 9.83774335e-01 1.76790642e-01 3.05471078e-02 1.28917027e+02] [-1.76700795e-01 9.84248468e-01 -5.63758165e-03 -1.75330954e+01] [-3.10626158e-02 1.48409907e-04 9.99517430e-01 -5.49296505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23587156000002 meters 0.013598325515278585 Centerline is valid? [True, True] Translation: X:128.94, Y:-17.54, Z:-5.49 [[ 9.83632355e-01 1.77559046e-01 3.06622883e-02 1.28944050e+02] [-1.77468954e-01 9.84110141e-01 -5.65685593e-03 -1.75382482e+01] [-3.11794948e-02 1.22662282e-04 9.99513794e-01 -5.49411305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26587156000002 meters 0.022232109120808724 Centerline is valid? [True, True] Translation: X:128.97, Y:-17.54, Z:-5.49 [[ 9.83396150e-01 1.78894946e-01 3.04731189e-02 1.28971912e+02] [-1.78806689e-01 9.83868178e-01 -5.61920862e-03 -1.75426161e+01] [-3.09867800e-02 7.71106284e-05 9.99519791e-01 -5.49257994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29587156000002 meters 0.012996807470138861 Centerline is valid? [True, True] Translation: X:129.00, Y:-17.55, Z:-5.49 [[ 9.83361382e-01 1.79046647e-01 3.07032674e-02 1.28998787e+02] [-1.78957202e-01 9.83840583e-01 -5.65919803e-03 -1.75481822e+01] [-3.12203809e-02 7.04659724e-05 9.99512523e-01 -5.49491132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32587156000002 meters 0.013163913352022893 Centerline is valid? [True, True] Translation: X:129.03, Y:-17.55, Z:-5.50 [[ 9.83369245e-01 1.78947146e-01 3.10297837e-02 1.29025909e+02] [-1.78855800e-01 9.83858686e-01 -5.71744164e-03 -1.75549865e+01] [-3.15520420e-02 7.24994934e-05 9.99502108e-01 -5.49675323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35587156000003 meters 0.012891303971391752 Centerline is valid? [True, True] Translation: X:129.05, Y:-17.56, Z:-5.50 [[ 9.83457076e-01 1.78500698e-01 3.08168802e-02 1.29053730e+02] [-1.78410445e-01 9.83939782e-01 -5.67621752e-03 -1.75627652e+01] [-3.13351632e-02 8.42629780e-05 9.99508930e-01 -5.49646757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38587156000003 meters 0.013676142107477132 Centerline is valid? [True, True] Translation: X:129.08, Y:-17.57, Z:-5.50 [[ 9.83500902e-01 1.78313653e-01 3.04994598e-02 1.29080716e+02] [-1.78225201e-01 9.83973695e-01 -5.61644717e-03 -1.75688444e+01] [-3.10121553e-02 8.80085197e-05 9.99519004e-01 -5.50058331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41587156000003 meters 0.013093392343507464 Centerline is valid? [True, True] Translation: X:129.11, Y:-17.57, Z:-5.50 [[ 9.83535047e-01 1.78111762e-01 3.05779595e-02 1.29108489e+02] [-1.78022809e-01 9.84010260e-01 -5.62918933e-03 -1.75746542e+01] [-3.10916507e-02 9.29307349e-05 9.99516533e-01 -5.49978388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44587156000003 meters 0.012699697113929119 Centerline is valid? [True, True] Translation: X:129.14, Y:-17.58, Z:-5.50 [[ 9.83562725e-01 1.77648152e-01 3.23342006e-02 1.29136475e+02] [-1.77548526e-01 9.84094062e-01 -5.94970712e-03 -1.75838831e+01] [-3.28768493e-02 1.11020478e-04 9.99459404e-01 -5.49795991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47587156000003 meters 0.012623878340275816 Centerline is valid? [True, True] Translation: X:129.16, Y:-17.59, Z:-5.50 [[ 9.83607736e-01 1.77320242e-01 3.27620879e-02 1.29164318e+02] [-1.77217832e-01 9.84153198e-01 -6.02684718e-03 -1.75901781e+01] [-3.33115956e-02 1.22027303e-04 9.99445007e-01 -5.49785375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50587156000003 meters 0.012873022793338906 Centerline is valid? [True, True] Translation: X:129.19, Y:-17.60, Z:-5.50 [[ 9.83689343e-01 1.76826734e-01 3.29785257e-02 1.29191025e+02] [-1.76722729e-01 9.84241986e-01 -6.06547073e-03 -1.75960627e+01] [-3.35313870e-02 1.38483856e-04 9.99437655e-01 -5.49875550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53587156000003 meters 0.025045513722139947 Centerline is valid? [True, True] Translation: X:129.22, Y:-17.60, Z:-5.50 [[ 9.83806228e-01 1.76139185e-01 3.31706626e-02 1.29217084e+02] [-1.76033668e-01 9.84365258e-01 -6.09803423e-03 -1.76025808e+01] [-3.37261507e-02 1.60130651e-04 9.99431099e-01 -5.49921469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56587156000003 meters 0.01451242935493728 Centerline is valid? [True, True] Translation: X:129.24, Y:-17.61, Z:-5.50 [[ 9.84201004e-01 1.74019605e-01 3.26429143e-02 1.29242641e+02] [-1.73916350e-01 9.84742162e-01 -5.99809838e-03 -1.76147976e+01] [-3.31886407e-02 2.26197926e-04 9.99449080e-01 -5.50279392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59587156000003 meters 0.02468065927240217 Centerline is valid? [True, True] Translation: X:129.27, Y:-17.62, Z:-5.50 [[ 9.84372018e-01 1.73108344e-01 3.23300321e-02 1.29270506e+02] [-1.73006634e-01 9.84902755e-01 -5.93860256e-03 -1.76233636e+01] [-3.28699593e-02 2.52484164e-04 9.99459605e-01 -5.50439758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62587156000004 meters 0.01621193905136652 Centerline is valid? [True, True] Translation: X:129.30, Y:-17.63, Z:-5.51 [[ 9.84605024e-01 1.71911059e-01 3.16154179e-02 1.29297278e+02] [-1.71813222e-01 9.85112434e-01 -5.80604398e-03 -1.76316867e+01] [-3.21428644e-02 2.84713263e-04 9.99483244e-01 -5.50744294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65587156000004 meters 0.018195362785882 Centerline is valid? [True, True] Translation: X:129.32, Y:-17.64, Z:-5.51 [[ 9.84759808e-01 1.71054095e-01 3.14422705e-02 1.29323160e+02] [-1.70956935e-01 9.85261590e-01 -5.77282284e-03 -1.76412843e+01] [-3.19663264e-02 3.09569713e-04 9.99488898e-01 -5.51153873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68587156 meters 0.017538339649891717 Centerline is valid? [True, True] Translation: X:129.35, Y:-17.65, Z:-5.51 [[ 9.85071297e-01 1.69126730e-01 3.21043452e-02 1.29350514e+02] [-1.69024523e-01 9.85594241e-01 -5.89094177e-03 -1.76516680e+01] [-3.26381734e-02 3.76576008e-04 9.99467162e-01 -5.50871694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71587156 meters 0.017998387725902704 Centerline is valid? [True, True] Translation: X:129.38, Y:-17.66, Z:-5.51 [[ 9.85199818e-01 1.68361986e-01 3.21801239e-02 1.29378198e+02] [-1.68258939e-01 9.85725155e-01 -5.90329201e-03 -1.76602102e+01] [-3.27146476e-02 4.01328706e-04 9.99464652e-01 -5.50965761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74587156 meters 0.01815407329419382 Centerline is valid? [True, True] Translation: X:129.41, Y:-17.67, Z:-5.51 [[ 9.85322740e-01 1.67704717e-01 3.18469205e-02 1.29406567e+02] [-1.67603499e-01 9.85837184e-01 -5.84066274e-03 -1.76675795e+01] [-3.23753851e-02 4.17282521e-04 9.99475693e-01 -5.51081833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77587156 meters 0.0185507759094158 Centerline is valid? [True, True] Translation: X:129.43, Y:-17.68, Z:-5.51 [[ 9.85365927e-01 1.67646335e-01 3.08009087e-02 1.29433254e+02] [-1.67551670e-01 9.85847119e-01 -5.64754764e-03 -1.76761459e+01] [-3.13117778e-02 4.04157323e-04 9.99509584e-01 -5.51398794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80587156 meters 0.01817917160831223 Centerline is valid? [True, True] Translation: X:129.46, Y:-17.68, Z:-5.52 [[ 9.85295653e-01 1.68190824e-01 3.00719747e-02 1.29461720e+02] [-1.68100901e-01 9.85754384e-01 -5.51195509e-03 -1.76822559e+01] [-3.05706412e-02 3.75779348e-04 9.99532538e-01 -5.51575186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83587156000002 meters 0.019553656893291246 Centerline is valid? [True, True] Translation: X:129.49, Y:-17.69, Z:-5.52 [[ 9.85142733e-01 1.69145275e-01 2.97266017e-02 1.29488839e+02] [-1.69057869e-01 9.85591071e-01 -5.44773076e-03 -1.76896047e+01] [-3.02197312e-02 3.41276445e-04 9.99543221e-01 -5.52075543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86587156000002 meters 0.015264556721918333 Centerline is valid? [True, True] Translation: X:129.52, Y:-17.69, Z:-5.52 [[ 9.84526271e-01 1.72770874e-01 2.92958473e-02 1.29517900e+02] [-1.72687673e-01 9.84962017e-01 -5.36589934e-03 -1.76904787e+01] [-2.97823680e-02 2.23837183e-04 9.99556382e-01 -5.51965896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89587156000002 meters 0.014190389628557799 Centerline is valid? [True, True] Translation: X:129.55, Y:-17.69, Z:-5.52 [[ 9.84104934e-01 1.75151991e-01 2.93131025e-02 1.29546070e+02] [-1.75069789e-01 9.84541394e-01 -5.36763856e-03 -1.76943963e+01] [-2.98001154e-02 1.50480909e-04 9.99555867e-01 -5.52140283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92587156000002 meters 0.013438987986269267 Centerline is valid? [True, True] Translation: X:129.57, Y:-17.70, Z:-5.52 [[ 9.83718692e-01 1.77294433e-01 2.93975975e-02 1.29574980e+02] [-1.77212755e-01 9.84157852e-01 -5.38168798e-03 -1.76983102e+01] [-2.98860197e-02 8.44378186e-05 9.99553310e-01 -5.52244526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95587156000002 meters 0.013565935987259857 Centerline is valid? [True, True] Translation: X:129.60, Y:-17.70, Z:-5.53 [[ 9.83084700e-01 1.80635245e-01 3.02552579e-02 1.29602676e+02] [-1.80550341e-01 9.83550155e-01 -5.53774725e-03 -1.76989429e+01] [-3.07578759e-02 -1.85225248e-05 9.99526864e-01 -5.52523396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98587156000002 meters 0.013036665388898229 Centerline is valid? [True, True] Translation: X:129.63, Y:-17.70, Z:-5.52 [[ 9.82909612e-01 1.81597358e-01 3.01843467e-02 1.29631446e+02] [-1.81513404e-01 9.83372969e-01 -5.52152420e-03 -1.77029775e+01] [-3.06851649e-02 -5.17043102e-05 9.99529098e-01 -5.52392263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01587156000002 meters 0.013135982993099767 Centerline is valid? [True, True] Translation: X:129.66, Y:-17.71, Z:-5.53 [[ 9.82835007e-01 1.82067273e-01 2.97801385e-02 1.29660011e+02] [-1.81985812e-01 9.83286074e-01 -5.44618313e-03 -1.77088975e+01] [-3.02739672e-02 -6.68632435e-05 9.99541636e-01 -5.52542757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04587156000002 meters 0.013515050214282127 Centerline is valid? [True, True] Translation: X:129.69, Y:-17.72, Z:-5.53 [[ 9.82892818e-01 1.81780249e-01 2.96251619e-02 1.29686021e+02] [-1.81699513e-01 9.83339177e-01 -5.41749988e-03 -1.77184484e+01] [-3.01163768e-02 -5.80557619e-05 9.99546397e-01 -5.52855116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07587156000002 meters 0.022206241482585896 Centerline is valid? [True, True] Translation: X:129.71, Y:-17.73, Z:-5.53 [[ 9.82945312e-01 1.81463970e-01 2.98218321e-02 1.29713323e+02] [-1.81382155e-01 9.83397592e-01 -5.44875291e-03 -1.77250875e+01] [-3.03154703e-02 -5.33220674e-05 9.99540379e-01 -5.52820929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10587156000003 meters 0.013262490805656132 Centerline is valid? [True, True] Translation: X:129.74, Y:-17.73, Z:-5.53 [[ 9.82988831e-01 1.81055252e-01 3.08537586e-02 1.29740022e+02] [-1.80967535e-01 9.83472925e-01 -5.63537879e-03 -1.77316477e+01] [-3.13641511e-02 -4.40142292e-05 9.99508023e-01 -5.52999566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13587156000003 meters 0.011898783567589836 Centerline is valid? [True, True] Translation: X:129.77, Y:-17.75, Z:-5.53 [[ 9.83225900e-01 1.79691058e-01 3.12722430e-02 1.29767196e+02] [-1.79600317e-01 9.83723093e-01 -5.70984232e-03 -1.77451986e+01] [-3.17892352e-02 -2.43989774e-06 9.99494595e-01 -5.52655083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16587156000003 meters 0.012258551272468506 Centerline is valid? [True, True] Translation: X:129.79, Y:-17.75, Z:-5.53 [[ 9.83401190e-01 1.78678050e-01 3.15634824e-02 1.29793428e+02] [-1.78585137e-01 9.83907594e-01 -5.76153522e-03 -1.77533382e+01] [-3.20850099e-02 2.91317672e-05 9.99485143e-01 -5.52963892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19587156000003 meters 0.012258551272468506 Centerline is valid? [True, True] Translation: X:129.82, Y:-17.76, Z:-5.53 [[ 9.83413688e-01 1.78609194e-01 3.15638220e-02 1.29820468e+02] [-1.78516305e-01 9.83920096e-01 -5.75967423e-03 -1.77581373e+01] [-3.20850095e-02 2.94855941e-05 9.99485143e-01 -5.53087721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22587156000003 meters 0.018547768377974835 Centerline is valid? [True, True] Translation: X:129.85, Y:-17.76, Z:-5.53 [[ 9.83534047e-01 1.77979570e-01 3.13695834e-02 1.29847204e+02] [-1.77887569e-01 9.84034181e-01 -5.72211168e-03 -1.77649013e+01] [-3.18871613e-02 4.76327297e-05 9.99491474e-01 -5.53137184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25587156000003 meters 0.012624893352458075 Centerline is valid? [True, True] Translation: X:129.87, Y:-17.77, Z:-5.53 [[ 9.83671107e-01 1.77240561e-01 3.12559814e-02 1.29874727e+02] [-1.77148947e-01 9.84167556e-01 -5.69838086e-03 -1.77716093e+01] [-3.17711070e-02 6.83684183e-05 9.99495169e-01 -5.53352607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28587156000003 meters 0.012919921760255755 Centerline is valid? [True, True] Translation: X:129.90, Y:-17.78, Z:-5.54 [[ 9.83825711e-01 1.76394013e-01 3.11788660e-02 1.29901748e+02] [-1.76302473e-01 9.84319635e-01 -5.68282053e-03 -1.77811581e+01] [-3.16923855e-02 9.39937584e-05 9.99497666e-01 -5.53518743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31587156000003 meters 0.012954521089218738 Centerline is valid? [True, True] Translation: X:129.93, Y:-17.79, Z:-5.54 [[ 9.83874422e-01 1.76097973e-01 3.13149345e-02 1.29928886e+02] [-1.76005521e-01 9.84372639e-01 -5.70641365e-03 -1.77883421e+01] [-3.18304526e-02 1.02793058e-04 9.99493277e-01 -5.53616031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34587156000003 meters 0.012726293224345342 Centerline is valid? [True, True] Translation: X:129.96, Y:-17.80, Z:-5.54 [[ 9.83908518e-01 1.75977613e-01 3.09177515e-02 1.29957227e+02] [-1.75887511e-01 9.84394163e-01 -5.63154611e-03 -1.77958456e+01] [-3.14262802e-02 1.02879812e-04 9.99506067e-01 -5.53675145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37587156000004 meters 0.012686161339660563 Centerline is valid? [True, True] Translation: X:129.99, Y:-17.80, Z:-5.54 [[ 9.83925019e-01 1.75954190e-01 3.05234485e-02 1.29985415e+02] [-1.75866407e-01 9.84398351e-01 -5.55825729e-03 -1.78036150e+01] [-3.10252310e-02 1.00859198e-04 9.99518597e-01 -5.53763480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40587156000004 meters 0.02756034376253327 Centerline is valid? [True, True] Translation: X:130.01, Y:-17.81, Z:-5.54 [[ 9.83858354e-01 1.76257579e-01 3.09193228e-02 1.30012002e+02] [-1.76167698e-01 9.84344075e-01 -5.62892140e-03 -1.78125451e+01] [-3.14273923e-02 9.10754201e-05 9.99506033e-01 -5.53994257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43587156 meters 0.012751258423010444 Centerline is valid? [True, True] Translation: X:130.04, Y:-17.82, Z:-5.54 [[ 9.83754890e-01 1.76791366e-01 3.11629394e-02 1.30040115e+02] [-1.76700399e-01 9.84248346e-01 -5.67110944e-03 -1.78173303e+01] [-3.16746748e-02 7.24778095e-05 9.99498229e-01 -5.54083846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46587156 meters 0.012758936817057125 Centerline is valid? [True, True] Translation: X:130.07, Y:-17.82, Z:-5.54 [[ 9.83615376e-01 1.77563720e-01 3.11756068e-02 1.30066484e+02] [-1.77473099e-01 9.84109305e-01 -5.67237818e-03 -1.78221404e+01] [-3.16874133e-02 4.66068436e-05 9.99497827e-01 -5.54271351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49587156 meters 0.012867196629345946 Centerline is valid? [True, True] Translation: X:130.09, Y:-17.83, Z:-5.54 [[ 9.83506712e-01 1.78230647e-01 3.07958524e-02 1.30094323e+02] [-1.78142638e-01 9.83988738e-01 -5.60041104e-03 -1.78267990e+01] [-3.13009368e-02 2.19874626e-05 9.99510005e-01 -5.54451291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52587156 meters 0.012832038626721963 Centerline is valid? [True, True] Translation: X:130.12, Y:-17.83, Z:-5.54 [[ 9.83100124e-01 1.80413010e-01 3.10691531e-02 1.30122938e+02] [-1.80324584e-01 9.83590943e-01 -5.64807799e-03 -1.78287840e+01] [-3.15783244e-02 -4.99059457e-05 9.99501279e-01 -5.54471021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55587156 meters 0.01322822946044653 Centerline is valid? [True, True] Translation: X:130.15, Y:-17.83, Z:-5.55 [[ 9.82841967e-01 1.81853030e-01 3.08406167e-02 1.30151117e+02] [-1.81766656e-01 9.83325717e-01 -5.60506665e-03 -1.78324543e+01] [-3.13456699e-02 -9.69010247e-05 9.99508599e-01 -5.54605109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58587156000002 meters 0.02264986178942666 Centerline is valid? [True, True] Translation: X:130.18, Y:-17.84, Z:-5.55 [[ 9.82562328e-01 1.83412360e-01 3.05151937e-02 1.30178680e+02] [-1.83328591e-01 9.83036055e-01 -5.54463854e-03 -1.78358542e+01] [-3.10144909e-02 -1.46354511e-04 9.99518924e-01 -5.54777929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61587156000002 meters 0.030827090762220805 Centerline is valid? [True, True] Translation: X:130.21, Y:-17.84, Z:-5.55 [[ 9.82135045e-01 1.85790708e-01 2.98758471e-02 1.30207759e+02] [-1.85711571e-01 9.82589316e-01 -5.42657457e-03 -1.78373076e+01] [-3.03638953e-02 -2.18661421e-04 9.99538887e-01 -5.54960542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64587156000002 meters 0.02239272722325906 Centerline is valid? [True, True] Translation: X:130.24, Y:-17.84, Z:-5.55 [[ 9.81965373e-01 1.86700146e-01 2.97835887e-02 1.30236817e+02] [-1.86621958e-01 9.82416915e-01 -5.40837213e-03 -1.78405819e+01] [-3.02696451e-02 -2.47437490e-04 9.99541739e-01 -5.55116191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67587156000002 meters 0.01652640536494876 Centerline is valid? [True, True] Translation: X:130.27, Y:-17.84, Z:-5.55 [[ 9.81897951e-01 1.87052237e-01 2.97972097e-02 1.30265111e+02] [-1.86974184e-01 9.82349934e-01 -5.40938491e-03 -1.78449592e+01] [-3.02831245e-02 -2.59845007e-04 9.99541327e-01 -5.55358532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70587156000002 meters 0.016444988871633197 Centerline is valid? [True, True] Translation: X:130.29, Y:-17.85, Z:-5.55 [[ 9.81951492e-01 1.86749276e-01 2.99328381e-02 1.30291818e+02] [-1.86670383e-01 9.82407576e-01 -5.43357275e-03 -1.78500703e+01] [-3.04209627e-02 -2.52069475e-04 9.99537144e-01 -5.55482470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73587156000002 meters 0.01622113935704378 Centerline is valid? [True, True] Translation: X:130.32, Y:-17.86, Z:-5.56 [[ 9.82046326e-01 1.86171170e-01 3.04189046e-02 1.30318701e+02] [-1.86089560e-01 9.82517296e-01 -5.51718236e-03 -1.78555408e+01] [-3.09142402e-02 -2.42511901e-04 9.99522011e-01 -5.55582972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76587156000002 meters 0.01425207174870973 Centerline is valid? [True, True] Translation: X:130.35, Y:-17.86, Z:-5.56 [[ 9.82576466e-01 1.83299087e-01 3.07397582e-02 1.30346788e+02] [-1.83214403e-01 9.83057181e-01 -5.57332184e-03 -1.78645247e+01] [-3.12405249e-02 -1.55751586e-04 9.99511884e-01 -5.55654032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79587156000002 meters 0.013428164725632906 Centerline is valid? [True, True] Translation: X:130.37, Y:-17.87, Z:-5.56 [[ 9.82957113e-01 1.81220983e-01 3.08912380e-02 1.30373868e+02] [-1.81134478e-01 9.83442396e-01 -5.59944528e-03 -1.78725262e+01] [-3.13944901e-02 -9.14537120e-05 9.99507067e-01 -5.55815140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82587156000002 meters 0.01666174134130595 Centerline is valid? [True, True] Translation: X:130.40, Y:-17.88, Z:-5.56 [[ 9.83371612e-01 1.78938387e-01 3.10052774e-02 1.30401898e+02] [-1.78850170e-01 9.83860281e-01 -5.61811009e-03 -1.78818023e+01] [-3.15101565e-02 -2.06091722e-05 9.99503432e-01 -5.55756523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85587156000003 meters 0.012469253643329667 Centerline is valid? [True, True] Translation: X:130.43, Y:-17.89, Z:-5.56 [[ 9.83765320e-01 1.76769519e-01 3.09569524e-02 1.30429149e+02] [-1.76680552e-01 9.84252272e-01 -5.60782766e-03 -1.78905465e+01] [-3.14607437e-02 4.72949441e-05 9.99504987e-01 -5.55917492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88587156000003 meters 0.013770437253941828 Centerline is valid? [True, True] Translation: X:130.46, Y:-17.90, Z:-5.56 [[ 9.84547218e-01 1.72375070e-01 3.08805980e-02 1.30455968e+02] [-1.72284426e-01 9.85031370e-01 -5.59248897e-03 -1.79043275e+01] [-3.13823634e-02 1.85823381e-04 9.99507435e-01 -5.56042332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91587156000003 meters 0.016618730557106217 Centerline is valid? [True, True] Translation: X:130.48, Y:-17.91, Z:-5.56 [[ 9.84811785e-01 1.70861017e-01 3.08587327e-02 1.30484019e+02] [-1.70769806e-01 9.85295113e-01 -5.58699504e-03 -1.79129805e+01] [-3.13595582e-02 2.32398771e-04 9.99508141e-01 -5.56124614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94587156000003 meters 0.015323910252421826 Centerline is valid? [True, True] Translation: X:130.51, Y:-17.92, Z:-5.56 [[ 9.84983867e-01 1.69882891e-01 3.07666130e-02 1.30510339e+02] [-1.69791790e-01 9.85464223e-01 -5.56894879e-03 -1.79209013e+01] [-3.12654655e-02 2.61406440e-04 9.99511082e-01 -5.56270763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97587156000003 meters 0.028866728374109082 Centerline is valid? [True, True] Translation: X:130.54, Y:-17.93, Z:-5.56 [[ 9.85107367e-01 1.69074696e-01 3.12605472e-02 1.30538721e+02] [-1.68980307e-01 9.85603198e-01 -5.65621275e-03 -1.79279580e+01] [-3.17668178e-02 2.89559995e-04 9.99495265e-01 -5.56241279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00587156000003 meters 0.015800480653641792 Centerline is valid? [True, True] Translation: X:130.57, Y:-17.93, Z:-5.56 [[ 9.85164840e-01 1.68639669e-01 3.17946685e-02 1.30567230e+02] [-1.68541851e-01 9.85677720e-01 -5.75123285e-03 -1.79344055e+01] [-3.23091823e-02 3.07180109e-04 9.99477875e-01 -5.56311894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03587156000003 meters 0.019729190668562765 Centerline is valid? [True, True] Translation: X:130.59, Y:-17.94, Z:-5.56 [[ 9.85154106e-01 1.68537472e-01 3.26574255e-02 1.30594907e+02] [-1.68434276e-01 9.85695196e-01 -5.90548283e-03 -1.79409368e+01] [-3.31855626e-02 3.17180841e-04 9.99449157e-01 -5.56308524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06587156000003 meters 0.015900594535122718 Centerline is valid? [True, True] Translation: X:130.62, Y:-17.95, Z:-5.56 [[ 9.85100010e-01 1.68907763e-01 3.23749460e-02 1.30623323e+02] [-1.68806589e-01 9.85631816e-01 -5.85308047e-03 -1.79466694e+01] [-3.28984076e-02 3.00765438e-04 9.99458656e-01 -5.56489288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09587156000003 meters 0.0157576701847896 Centerline is valid? [True, True] Translation: X:130.65, Y:-17.95, Z:-5.57 [[ 9.85067530e-01 1.69151619e-01 3.20887925e-02 1.30652279e+02] [-1.69052381e-01 9.85589999e-01 -5.80056764e-03 -1.79525502e+01] [-3.26075684e-02 2.89264062e-04 9.99468190e-01 -5.56698442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12587156000004 meters 0.015502035425313837 Centerline is valid? [True, True] Translation: X:130.68, Y:-17.96, Z:-5.57 [[ 9.85018824e-01 1.69461759e-01 3.19472917e-02 1.30680880e+02] [-1.69363581e-01 9.85536725e-01 -5.77422789e-03 -1.79589673e+01] [-3.24637400e-02 2.77015431e-04 9.99472875e-01 -5.56864614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15587156000004 meters 0.0249905256173955 Centerline is valid? [True, True] Translation: X:130.71, Y:-17.97, Z:-5.57 [[ 9.84935945e-01 1.70059230e-01 3.13216031e-02 1.30708454e+02] [-1.69965182e-01 9.85433811e-01 -5.66056001e-03 -1.79669442e+01] [-3.18279971e-02 2.51707060e-04 9.99493329e-01 -5.57135573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18587156 meters 0.01509857122926611 Centerline is valid? [True, True] Translation: X:130.74, Y:-17.97, Z:-5.57 [[ 9.84825272e-01 1.70718755e-01 3.12136292e-02 1.30736555e+02] [-1.70625721e-01 9.85319773e-01 -5.63993299e-03 -1.79718526e+01] [-3.17182484e-02 2.28500548e-04 9.99496824e-01 -5.57309236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21587156 meters 0.014476831176377734 Centerline is valid? [True, True] Translation: X:130.77, Y:-17.98, Z:-5.57 [[ 9.84660855e-01 1.71600161e-01 3.15655547e-02 1.30765440e+02] [-1.71505502e-01 9.85166658e-01 -5.70252366e-03 -1.79762460e+01] [-3.20758860e-02 2.01385531e-04 9.99485416e-01 -5.57410772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24587156 meters 0.013702568734601394 Centerline is valid? [True, True] Translation: X:130.79, Y:-17.98, Z:-5.57 [[ 9.84455616e-01 1.72738337e-01 3.17585703e-02 1.30793818e+02] [-1.72643157e-01 9.84967736e-01 -5.73587398e-03 -1.79802137e+01] [-3.22719724e-02 1.63813503e-04 9.99479111e-01 -5.57498314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27587156 meters 0.012425038065661021 Centerline is valid? [True, True] Translation: X:130.82, Y:-17.98, Z:-5.58 [[ 9.83825437e-01 1.76213914e-01 3.21895323e-02 1.30821965e+02] [-1.76118036e-01 9.84351896e-01 -5.81232268e-03 -1.79813095e+01] [-3.27100393e-02 4.91536840e-05 9.99464882e-01 -5.57542128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30587156 meters 0.011687003651651052 Centerline is valid? [True, True] Translation: X:130.85, Y:-17.98, Z:-5.57 [[ 9.83448131e-01 1.78278245e-01 3.23518327e-02 1.30850681e+02] [-1.78182584e-01 9.83980115e-01 -5.83951449e-03 -1.79828245e+01] [-3.28746184e-02 -2.16735232e-05 9.99459483e-01 -5.57374720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33587156000002 meters 0.021885997413263962 Centerline is valid? [True, True] Translation: X:130.88, Y:-17.98, Z:-5.58 [[ 9.83069916e-01 1.80386557e-01 3.21594417e-02 1.30878501e+02] [-1.80293206e-01 9.83595792e-01 -5.80331853e-03 -1.79838878e+01] [-3.26787322e-02 -9.30609990e-05 9.99465903e-01 -5.57832003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36587156000002 meters 0.015811489431743906 Centerline is valid? [True, True] Translation: X:130.91, Y:-17.98, Z:-5.58 [[ 9.82361297e-01 1.84385791e-01 3.11153105e-02 1.30906544e+02] [-1.84300470e-01 9.82853922e-01 -5.61295672e-03 -1.79836358e+01] [-3.16167545e-02 -2.20614919e-04 9.99500041e-01 -5.58241997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39587156000002 meters 0.017249325441417798 Centerline is valid? [True, True] Translation: X:130.94, Y:-17.99, Z:-5.58 [[ 9.82094705e-01 1.85860085e-01 3.07574192e-02 1.30935338e+02] [-1.85777499e-01 9.82576184e-01 -5.54647174e-03 -1.79861385e+01] [-3.12523753e-02 -2.66875865e-04 9.99511490e-01 -5.58449051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42587156000002 meters 0.02950030192221336 Centerline is valid? [True, True] Translation: X:130.96, Y:-17.99, Z:-5.58 [[ 9.81860183e-01 1.87125542e-01 3.05714444e-02 1.30963850e+02] [-1.87044607e-01 9.82335960e-01 -5.51158804e-03 -1.79906477e+01] [-3.10627881e-02 -3.06614960e-04 9.99517388e-01 -5.58249686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45587156000002 meters 0.019610346155185813 Centerline is valid? [True, True] Translation: X:130.99, Y:-17.99, Z:-5.59 [[ 9.81686700e-01 1.88049331e-01 3.04741129e-02 1.30991836e+02] [-1.87969397e-01 9.82159527e-01 -5.49268933e-03 -1.79902854e+01] [-3.09633368e-02 -3.36100559e-04 9.99520464e-01 -5.58793700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48587156000002 meters 0.020228884615982195 Centerline is valid? [True, True] Translation: X:131.02, Y:-17.99, Z:-5.59 [[ 9.81602813e-01 1.88500060e-01 3.03915214e-02 1.31018911e+02] [-1.88420835e-01 9.82073115e-01 -5.47585211e-03 -1.79943906e+01] [-3.08788945e-02 -3.51283988e-04 9.99523072e-01 -5.59000644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51587156000002 meters 0.0202415506943299 Centerline is valid? [True, True] Translation: X:131.05, Y:-18.00, Z:-5.59 [[ 9.81618242e-01 1.88384214e-01 3.06106944e-02 1.31047421e+02] [-1.88303846e-01 9.82095344e-01 -5.51340513e-03 -1.79990644e+01] [-3.11012589e-02 -3.52052423e-04 9.99516177e-01 -5.59065356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54587156000002 meters 0.017413181530606663 Centerline is valid? [True, True] Translation: X:131.08, Y:-18.01, Z:-5.59 [[ 9.81640026e-01 1.88204636e-01 3.10140909e-02 1.31075618e+02] [-1.88122090e-01 9.82129773e-01 -5.58468488e-03 -1.80062660e+01] [-3.15109257e-02 -3.52285382e-04 9.99503345e-01 -5.58707081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57587156000002 meters 0.018580252499902694 Centerline is valid? [True, True] Translation: X:131.10, Y:-18.01, Z:-5.59 [[ 9.81629654e-01 1.88198278e-01 3.13788356e-02 1.31103000e+02] [-1.88113821e-01 9.82130989e-01 -5.64891322e-03 -1.80087249e+01] [-3.18812426e-02 -3.57651934e-04 9.99491600e-01 -5.58993516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60587156000003 meters 0.018786398710848397 Centerline is valid? [True, True] Translation: X:131.13, Y:-18.02, Z:-5.59 [[ 9.81694697e-01 1.87896093e-01 3.11541411e-02 1.31130227e+02] [-1.87812744e-01 9.82188850e-01 -5.60671462e-03 -1.80153208e+01] [-3.16527298e-02 -3.47062721e-04 9.99498867e-01 -5.58952715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63587156000003 meters 0.01752317959002778 Centerline is valid? [True, True] Translation: X:131.16, Y:-18.02, Z:-5.59 [[ 9.81669664e-01 1.88043247e-01 3.10549137e-02 1.31157495e+02] [-1.87960582e-01 9.82160686e-01 -5.58633174e-03 -1.80187576e+01] [-3.15513873e-02 -3.53167251e-04 9.99502069e-01 -5.59144228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66587156000003 meters 0.017492290533940826 Centerline is valid? [True, True] Translation: X:131.19, Y:-18.02, Z:-5.59 [[ 9.81617480e-01 1.88319618e-01 3.10297366e-02 1.31185955e+02] [-1.88237292e-01 9.82107728e-01 -5.57969364e-03 -1.80222821e+01] [-3.15253099e-02 -3.63828784e-04 9.99502888e-01 -5.59184759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69587156000003 meters 0.01787617417010896 Centerline is valid? [True, True] Translation: X:131.21, Y:-18.03, Z:-5.59 [[ 9.81594541e-01 1.88461224e-01 3.08953576e-02 1.31213497e+02] [-1.88379723e-01 9.82080563e-01 -5.55413458e-03 -1.80250870e+01] [-3.13884692e-02 -3.68150740e-04 9.99507193e-01 -5.59369210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72587156000003 meters 0.019132377503636347 Centerline is valid? [True, True] Translation: X:131.24, Y:-18.03, Z:-5.60 [[ 9.81504421e-01 1.89023866e-01 3.03158430e-02 1.31241117e+02] [-1.88945715e-01 9.81972420e-01 -5.44826610e-03 -1.80250670e+01] [-3.07991741e-02 -3.80551385e-04 9.99525520e-01 -5.59690151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75587156000003 meters 0.024303617487971 Centerline is valid? [True, True] Translation: X:131.27, Y:-18.03, Z:-5.60 [[ 9.81506344e-01 1.89027091e-01 3.02333392e-02 1.31269314e+02] [-1.88949446e-01 9.81971798e-01 -5.43083469e-03 -1.80295888e+01] [-3.07148614e-02 -3.82174000e-04 9.99528114e-01 -5.59662145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78587156000003 meters 0.018925128456233252 Centerline is valid? [True, True] Translation: X:131.30, Y:-18.03, Z:-5.60 [[ 9.81450377e-01 1.89302363e-01 3.03277497e-02 1.31297471e+02] [-1.89224407e-01 9.81918765e-01 -5.44640758e-03 -1.80322909e+01] [-3.08104043e-02 -3.93371667e-04 9.99525169e-01 -5.59840118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81587156000003 meters 0.01951235217661312 Centerline is valid? [True, True] Translation: X:131.32, Y:-18.03, Z:-5.60 [[ 9.81504278e-01 1.89020255e-01 3.03429568e-02 1.31324396e+02] [-1.88942134e-01 9.81973113e-01 -5.44755996e-03 -1.80349993e+01] [-3.08256669e-02 -3.86259615e-04 9.99524702e-01 -5.60074924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84587156000003 meters 0.01888600543991114 Centerline is valid? [True, True] Translation: X:131.35, Y:-18.04, Z:-5.60 [[ 9.81646403e-01 1.88268937e-01 3.04162207e-02 1.31352851e+02] [-1.88190178e-01 9.82117444e-01 -5.45748483e-03 -1.80378639e+01] [-3.08997757e-02 -3.66713609e-04 9.99522421e-01 -5.60178828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87587156000004 meters 0.01958088829107967 Centerline is valid? [True, True] Translation: X:131.38, Y:-18.04, Z:-5.61 [[ 9.81769523e-01 1.87636523e-01 3.03502734e-02 1.31380701e+02] [-1.87557843e-01 9.82238471e-01 -5.44433610e-03 -1.80401377e+01] [-3.08327625e-02 -3.47348570e-04 9.99524497e-01 -5.60518805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90587156000004 meters 0.017574332394457853 Centerline is valid? [True, True] Translation: X:131.41, Y:-18.05, Z:-5.60 [[ 9.81972758e-01 1.86579462e-01 3.02920311e-02 1.31409235e+02] [-1.86500643e-01 9.82439822e-01 -5.43188429e-03 -1.80459151e+01] [-3.07735757e-02 -3.15520892e-04 9.99526332e-01 -5.60456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93587156000004 meters 0.017017294797899433 Centerline is valid? [True, True] Translation: X:131.44, Y:-18.05, Z:-5.61 [[ 9.82145056e-01 1.85613467e-01 3.06386994e-02 1.31436817e+02] [-1.85532406e-01 9.82622795e-01 -5.49269450e-03 -1.80501291e+01] [-3.11258025e-02 -2.89848870e-04 9.99515433e-01 -5.60593822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96587156 meters 0.014586586440702444 Centerline is valid? [True, True] Translation: X:131.47, Y:-18.06, Z:-5.61 [[ 9.82565591e-01 1.83279296e-01 3.12019065e-02 1.31465649e+02] [-1.83194120e-01 9.83060858e-01 -5.59141079e-03 -1.80559055e+01] [-3.16981628e-02 -2.22077964e-04 9.99497462e-01 -5.60509071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99587156 meters 0.013697430069864987 Centerline is valid? [True, True] Translation: X:131.49, Y:-18.06, Z:-5.61 [[ 9.82887260e-01 1.81496412e-01 3.14910664e-02 1.31492431e+02] [-1.81408762e-01 9.83391593e-01 -5.64235862e-03 -1.80620718e+01] [-3.19921178e-02 -1.66952978e-04 9.99488107e-01 -5.60708038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02587156 meters 0.012709494809911216 Centerline is valid? [True, True] Translation: X:131.52, Y:-18.07, Z:-5.61 [[ 9.83249682e-01 1.79470723e-01 3.17855619e-02 1.31519617e+02] [-1.79380432e-01 9.83763309e-01 -5.69314336e-03 -1.80682478e+01] [-3.22912221e-02 -1.03926434e-04 9.99478497e-01 -5.60763023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05587156 meters 0.02263779512149081 Centerline is valid? [True, True] Translation: X:131.55, Y:-18.07, Z:-5.61 [[ 9.83593854e-01 1.77449597e-01 3.24772224e-02 1.31547540e+02] [-1.77354302e-01 9.84129889e-01 -5.81486094e-03 -1.80747009e+01] [-3.29936500e-02 -4.05136329e-05 9.99455561e-01 -5.60784481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08587156000002 meters 0.02263779512149081 Centerline is valid? [True, True] Translation: X:131.57, Y:-18.08, Z:-5.61 [[ 9.83606210e-01 1.77381058e-01 3.24774418e-02 1.31574596e+02] [-1.77285766e-01 9.84142245e-01 -5.81363517e-03 -1.80794064e+01] [-3.29936512e-02 -3.94604891e-05 9.99455561e-01 -5.60908302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11587156000002 meters 0.011968282079769186 Centerline is valid? [True, True] Translation: X:131.60, Y:-18.09, Z:-5.61 [[ 9.84368683e-01 1.72979093e-01 3.31138892e-02 1.31602412e+02] [-1.72877628e-01 9.84925490e-01 -5.92486039e-03 -1.80873559e+01] [-3.36395906e-02 1.07596381e-04 9.99434023e-01 -5.60837597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14587156000002 meters 0.01262506504878021 Centerline is valid? [True, True] Translation: X:131.63, Y:-18.09, Z:-5.61 [[ 9.84746409e-01 1.70736097e-01 3.35215707e-02 1.31630053e+02] [-1.70630874e-01 9.85316777e-01 -5.99613873e-03 -1.80941097e+01] [-3.40531234e-02 1.84861164e-04 9.99420007e-01 -5.60910251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17587156000002 meters 0.01665911877525588 Centerline is valid? [True, True] Translation: X:131.66, Y:-18.10, Z:-5.62 [[ 9.85053365e-01 1.68948697e-01 3.35589893e-02 1.31656548e+02] [-1.68842254e-01 9.85624816e-01 -6.00131845e-03 -1.81042432e+01] [-3.40904876e-02 2.45443541e-04 9.99418720e-01 -5.61604266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20587156000002 meters 0.015729835721148312 Centerline is valid? [True, True] Translation: X:131.69, Y:-18.11, Z:-5.61 [[ 9.85615161e-01 1.65730540e-01 3.31080361e-02 1.31686114e+02] [-1.65625203e-01 9.86171013e-01 -5.91828188e-03 -1.81091315e+01] [-3.36310255e-02 3.49623153e-04 9.99434256e-01 -5.61174064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23587156000002 meters 0.03399350389240878 Centerline is valid? [True, True] Translation: X:131.71, Y:-18.12, Z:-5.61 [[ 9.85819280e-01 1.64565343e-01 3.28419807e-02 1.31713298e+02] [-1.64461060e-01 9.86366108e-01 -5.87034113e-03 -1.81163988e+01] [-3.33602714e-02 3.85868505e-04 9.99443317e-01 -5.61397498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26587156000002 meters 0.0175355915025501 Centerline is valid? [True, True] Translation: X:131.74, Y:-18.12, Z:-5.62 [[ 9.85945658e-01 1.63888103e-01 3.24322301e-02 1.31741759e+02] [-1.63786110e-01 9.86478853e-01 -5.79497667e-03 -1.81206384e+01] [-3.29434369e-02 4.01583262e-04 9.99457137e-01 -5.61585393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29587156000002 meters 0.01885672991183454 Centerline is valid? [True, True] Translation: X:131.77, Y:-18.13, Z:-5.62 [[ 9.86076326e-01 1.63269855e-01 3.15663392e-02 1.31768685e+02] [-1.63172963e-01 9.86581363e-01 -5.63892621e-03 -1.81260103e+01] [-3.20634286e-02 4.09638554e-04 9.99485752e-01 -5.61893290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32587156000002 meters 0.018681709059820518 Centerline is valid? [True, True] Translation: X:131.80, Y:-18.13, Z:-5.62 [[ 9.86150088e-01 1.62873205e-01 3.13101265e-02 1.31797598e+02] [-1.62777745e-01 9.86646920e-01 -5.59111714e-03 -1.81287864e+01] [-3.18026830e-02 4.17088888e-04 9.99494080e-01 -5.61999495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35587156000003 meters 0.01814899337112707 Centerline is valid? [True, True] Translation: X:131.83, Y:-18.13, Z:-5.62 [[ 9.86121961e-01 1.62947141e-01 3.18073441e-02 1.31826708e+02] [-1.62848718e-01 9.86634711e-01 -5.67818053e-03 -1.81328074e+01] [-3.23074730e-02 4.19593308e-04 9.99477889e-01 -5.61963215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38587156000003 meters 0.018153793301489352 Centerline is valid? [True, True] Translation: X:131.85, Y:-18.14, Z:-5.62 [[ 9.86093919e-01 1.63037369e-01 3.22117925e-02 1.31854400e+02] [-1.62936505e-01 9.86619805e-01 -5.74947132e-03 -1.81373434e+01] [-3.27181711e-02 4.21041805e-04 9.99464529e-01 -5.62080470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41587156000003 meters 0.017761396457619986 Centerline is valid? [True, True] Translation: X:131.88, Y:-18.14, Z:-5.62 [[ 9.86008330e-01 1.63616758e-01 3.18924702e-02 1.31882665e+02] [-1.63518255e-01 9.86523897e-01 -5.69039539e-03 -1.81410568e+01] [-3.23937280e-02 3.95776185e-04 9.99475107e-01 -5.62263022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44587156000003 meters 0.029191937814973024 Centerline is valid? [True, True] Translation: X:131.91, Y:-18.14, Z:-5.62 [[ 9.85875619e-01 1.64357126e-01 3.21869378e-02 1.31911063e+02] [-1.64257241e-01 9.86400829e-01 -5.74135187e-03 -1.81440341e+01] [-3.26928542e-02 3.73321238e-04 9.99465376e-01 -5.62274568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47587156000003 meters 0.016650676180240534 Centerline is valid? [True, True] Translation: X:131.94, Y:-18.15, Z:-5.62 [[ 9.85701888e-01 1.65280634e-01 3.27734545e-02 1.31938288e+02] [-1.65177635e-01 9.86246516e-01 -5.84446414e-03 -1.81472051e+01] [-3.32886821e-02 3.47457647e-04 9.99445718e-01 -5.62464248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50587156000003 meters 0.016706490741498006 Centerline is valid? [True, True] Translation: X:131.97, Y:-18.15, Z:-5.63 [[ 9.85620736e-01 1.65759398e-01 3.27961389e-02 1.31966094e+02] [-1.65656588e-01 9.86166169e-01 -5.84649676e-03 -1.81510047e+01] [-3.33115544e-02 3.29531982e-04 9.99444962e-01 -5.62656141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53587156000003 meters 0.016604988093728398 Centerline is valid? [True, True] Translation: X:131.99, Y:-18.16, Z:-5.63 [[ 9.85554769e-01 1.66120425e-01 3.29514901e-02 1.31993528e+02] [-1.66016906e-01 9.86105422e-01 -5.87222313e-03 -1.81550426e+01] [-3.34691393e-02 3.16893063e-04 9.99439701e-01 -5.62833395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56587156000003 meters 0.015472146243624335 Centerline is valid? [True, True] Translation: X:132.02, Y:-18.16, Z:-5.63 [[ 9.85561176e-01 1.66031919e-01 3.32049650e-02 1.32022695e+02] [-1.65926819e-01 9.86120327e-01 -5.91534316e-03 -1.81587994e+01] [-3.37262267e-02 3.20338330e-04 9.99431058e-01 -5.62750919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59587156000003 meters 0.02683833598961387 Centerline is valid? [True, True] Translation: X:132.05, Y:-18.16, Z:-5.63 [[ 9.85702260e-01 1.65184147e-01 3.32453389e-02 1.32051326e+02] [-1.65078364e-01 9.86262681e-01 -5.92092990e-03 -1.81639624e+01] [-3.37666809e-02 3.48187821e-04 9.99429682e-01 -5.62736372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62587156000004 meters 0.017017551266351103 Centerline is valid? [True, True] Translation: X:132.08, Y:-18.17, Z:-5.63 [[ 9.85804040e-01 1.64618926e-01 3.30303610e-02 1.32078344e+02] [-1.64514239e-01 9.86357175e-01 -5.88116416e-03 -1.81702785e+01] [-3.35478845e-02 3.63710661e-04 9.99437045e-01 -5.63103030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65587156000004 meters 0.017679249057486374 Centerline is valid? [True, True] Translation: X:132.11, Y:-18.18, Z:-5.63 [[ 9.85963401e-01 1.63724902e-01 3.27158598e-02 1.32106199e+02] [-1.63621779e-01 9.86505958e-01 -5.82301772e-03 -1.81764286e+01] [-3.32277636e-02 3.88255162e-04 9.99447730e-01 -5.63252053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68587156000004 meters 0.018802024750728737 Centerline is valid? [True, True] Translation: X:132.13, Y:-18.18, Z:-5.63 [[ 9.86139071e-01 1.62590229e-01 3.30779333e-02 1.32133056e+02] [-1.62484222e-01 9.86693586e-01 -5.88599152e-03 -1.81835509e+01] [-3.35947893e-02 4.29763964e-04 9.99435443e-01 -5.63438334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71587156 meters 0.02079736986548952 Centerline is valid? [True, True] Translation: X:132.16, Y:-18.19, Z:-5.64 [[ 9.86429452e-01 1.61002442e-01 3.21737406e-02 1.32160692e+02] [-1.60901378e-01 9.86953897e-01 -5.72297889e-03 -1.81918156e+01] [-3.26754122e-02 4.68515739e-04 9.99465906e-01 -5.63729140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74587156 meters 0.03398088764721354 Centerline is valid? [True, True] Translation: X:132.19, Y:-18.20, Z:-5.64 [[ 9.86553731e-01 1.60337175e-01 3.16816475e-02 1.32188627e+02] [-1.60238867e-01 9.87062185e-01 -5.63449197e-03 -1.81974619e+01] [-3.21751747e-02 4.82097771e-04 9.99482129e-01 -5.63888802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77587156 meters 0.021103424601786422 Centerline is valid? [True, True] Translation: X:132.22, Y:-18.20, Z:-5.64 [[ 9.86665652e-01 1.59726197e-01 3.12799190e-02 1.32216937e+02] [-1.59630106e-01 9.87161232e-01 -5.56163569e-03 -1.82024012e+01] [-3.17666623e-02 4.94258134e-04 9.99495190e-01 -5.64031323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80587156 meters 0.02939721519575382 Centerline is valid? [True, True] Translation: X:132.24, Y:-18.21, Z:-5.64 [[ 9.86808461e-01 1.58776341e-01 3.16090827e-02 1.32244865e+02] [-1.58677777e-01 9.87314435e-01 -5.61862231e-03 -1.82114805e+01] [-3.21002080e-02 5.28845040e-04 9.99484516e-01 -5.64077528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83587156000002 meters 0.03731272184229994 Centerline is valid? [True, True] Translation: X:132.27, Y:-18.22, Z:-5.64 [[ 9.86855373e-01 1.58586607e-01 3.10927800e-02 1.32271117e+02] [-1.58491185e-01 9.87344931e-01 -5.52554915e-03 -1.82193584e+01] [-3.15755768e-02 5.24986316e-04 9.99501229e-01 -5.64442506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86587156000002 meters 0.022097317113850986 Centerline is valid? [True, True] Translation: X:132.30, Y:-18.22, Z:-5.64 [[ 9.86853078e-01 1.58633977e-01 3.09235185e-02 1.32299633e+02] [-1.58539677e-01 9.87337325e-01 -5.49348919e-03 -1.82231082e+01] [-3.14033981e-02 5.18662083e-04 9.99506657e-01 -5.64480973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89587156000002 meters 0.021101817406285608 Centerline is valid? [True, True] Translation: X:132.33, Y:-18.23, Z:-5.65 [[ 9.86875879e-01 1.58502330e-01 3.08708791e-02 1.32328366e+02] [-1.58408332e-01 9.87358466e-01 -5.48268065e-03 -1.82283144e+01] [-3.13496415e-02 5.20520809e-04 9.99508344e-01 -5.64509929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92587156000002 meters 0.02392455998906086 Centerline is valid? [True, True] Translation: X:132.36, Y:-18.24, Z:-5.65 [[ 9.86765167e-01 1.59016292e-01 3.17541096e-02 1.32356361e+02] [-1.58917161e-01 9.87275824e-01 -5.63773709e-03 -1.82369250e+01] [-3.22465568e-02 5.16849631e-04 9.99479811e-01 -5.64512365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95587156000002 meters 0.02494097938196795 Centerline is valid? [True, True] Translation: X:132.39, Y:-18.24, Z:-5.65 [[ 9.86706612e-01 1.59347496e-01 3.19129497e-02 1.32385964e+02] [-1.59247588e-01 9.87222426e-01 -5.66458519e-03 -1.82419133e+01] [-3.24078171e-02 5.07223409e-04 9.99474600e-01 -5.64599155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98587156000002 meters 0.020125901673681935 Centerline is valid? [True, True] Translation: X:132.42, Y:-18.25, Z:-5.65 [[ 9.86635346e-01 1.59826768e-01 3.17190540e-02 1.32415201e+02] [-1.59728343e-01 9.87144957e-01 -5.62939874e-03 -1.82475001e+01] [-3.22110328e-02 4.87731852e-04 9.99480971e-01 -5.64822130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01587156000002 meters 0.019637604407620045 Centerline is valid? [True, True] Translation: X:132.44, Y:-18.26, Z:-5.65 [[ 9.86476631e-01 1.60711758e-01 3.21805396e-02 1.32443193e+02] [-1.60610945e-01 9.87001274e-01 -5.71046934e-03 -1.82556707e+01] [-3.26799731e-02 4.64697678e-04 9.99465759e-01 -5.64906242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04587156000002 meters 0.018761221411158303 Centerline is valid? [True, True] Translation: X:132.47, Y:-18.26, Z:-5.65 [[ 9.86380974e-01 1.61324811e-01 3.20449547e-02 1.32472786e+02] [-1.61225192e-01 9.86901267e-01 -5.68572043e-03 -1.82610989e+01] [-3.25424542e-02 4.41832477e-04 9.99470256e-01 -5.64977234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07587156000002 meters 0.01845119651780794 Centerline is valid? [True, True] Translation: X:132.50, Y:-18.27, Z:-5.65 [[ 9.86234465e-01 1.62203003e-01 3.21211256e-02 1.32501031e+02] [-1.62103396e-01 9.86757323e-01 -5.69859189e-03 -1.82668745e+01] [-3.26200847e-02 4.13204179e-04 9.99467738e-01 -5.65131230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10587156000003 meters 0.017768407089100133 Centerline is valid? [True, True] Translation: X:132.53, Y:-18.27, Z:-5.65 [[ 9.86095317e-01 1.62960394e-01 3.25566678e-02 1.32529213e+02] [-1.62858515e-01 9.86632533e-01 -5.77478882e-03 -1.82725429e+01] [-3.30625295e-02 3.92361631e-04 9.99453208e-01 -5.65234249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13587156000003 meters 0.01687190947567853 Centerline is valid? [True, True] Translation: X:132.56, Y:-18.28, Z:-5.65 [[ 9.85996787e-01 1.63470339e-01 3.29815725e-02 1.32558664e+02] [-1.63366130e-01 9.86548177e-01 -5.84827177e-03 -1.82787784e+01] [-3.34939292e-02 3.78305311e-04 9.99438849e-01 -5.65250069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16587156000003 meters 0.02073818064182829 Centerline is valid? [True, True] Translation: X:132.59, Y:-18.28, Z:-5.65 [[ 9.85724832e-01 1.65152646e-01 3.27285815e-02 1.32588142e+02] [-1.65050983e-01 9.86267967e-01 -5.80262570e-03 -1.82849050e+01] [-3.32374705e-02 3.17907675e-04 9.99447432e-01 -5.65362037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19587156000003 meters 0.015326275643634965 Centerline is valid? [True, True] Translation: X:132.62, Y:-18.29, Z:-5.66 [[ 9.85555820e-01 1.66272177e-01 3.21448018e-02 1.32616547e+02] [-1.66174730e-01 9.86079859e-01 -5.69834874e-03 -1.82905552e+01] [-3.26448185e-02 2.74386992e-04 9.99466978e-01 -5.65724740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22587156000003 meters 0.014654713271221361 Centerline is valid? [True, True] Translation: X:132.65, Y:-18.30, Z:-5.66 [[ 9.85410774e-01 1.67171418e-01 3.19268535e-02 1.32645386e+02] [-1.67075778e-01 9.85927816e-01 -5.65916509e-03 -1.82952284e+01] [-3.24236236e-02 2.42398365e-04 9.99474187e-01 -5.65886697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25587156000003 meters 0.013491485270370621 Centerline is valid? [True, True] Translation: X:132.67, Y:-18.30, Z:-5.66 [[ 9.85266992e-01 1.68048364e-01 3.17600599e-02 1.32674019e+02] [-1.67954235e-01 9.85778729e-01 -5.62778427e-03 -1.83011437e+01] [-3.22541314e-02 2.10633517e-04 9.99479678e-01 -5.65924375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28587156000003 meters 0.017841186285775065 Centerline is valid? [True, True] Translation: X:132.70, Y:-18.31, Z:-5.66 [[ 9.85100436e-01 1.69047818e-01 3.16222589e-02 1.32700802e+02] [-1.68955039e-01 9.85607835e-01 -5.60272882e-03 -1.83107571e+01] [-3.21142752e-02 1.76510609e-04 9.99484188e-01 -5.66268322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31587156000003 meters 0.013046000770863904 Centerline is valid? [True, True] Translation: X:132.73, Y:-18.32, Z:-5.66 [[ 9.85013117e-01 1.69409328e-01 3.23981163e-02 1.32729551e+02] [-1.69312173e-01 9.85545763e-01 -5.73906434e-03 -1.83157224e+01] [-3.29020773e-02 1.67658203e-04 9.99458566e-01 -5.66198328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34587156000003 meters 0.018968113252898454 Centerline is valid? [True, True] Translation: X:132.76, Y:-18.32, Z:-5.66 [[ 9.84927822e-01 1.69820856e-01 3.28338648e-02 1.32758446e+02] [-1.69721351e-01 9.85474938e-01 -5.81461761e-03 -1.83208083e+01] [-3.33443942e-02 1.54370751e-04 9.99443909e-01 -5.66177239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37587156000004 meters 0.012627297070877052 Centerline is valid? [True, True] Translation: X:132.79, Y:-18.33, Z:-5.66 [[ 9.84790365e-01 1.70571075e-01 3.30672975e-02 1.32785982e+02] [-1.70470623e-01 9.85345367e-01 -5.85445858e-03 -1.83265211e+01] [-3.35813097e-02 1.28411580e-04 9.99435981e-01 -5.66395251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40587156000004 meters 0.012082273008418154 Centerline is valid? [True, True] Translation: X:132.81, Y:-18.33, Z:-5.66 [[ 9.84656060e-01 1.71372161e-01 3.29245636e-02 1.32814037e+02] [-1.71273094e-01 9.85206361e-01 -5.82704972e-03 -1.83324197e+01] [-3.34360836e-02 9.85479464e-05 9.99440853e-01 -5.66477356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43587156000004 meters 0.01217273321738572 Centerline is valid? [True, True] Translation: X:132.84, Y:-18.34, Z:-5.67 [[ 9.84204750e-01 1.74035040e-01 3.24471125e-02 1.32841454e+02] [-1.73940319e-01 9.84739460e-01 -5.74112284e-03 -1.83375445e+01] [-3.29511086e-02 6.57925542e-06 9.99456965e-01 -5.66749685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46587156 meters 0.012545788718243987 Centerline is valid? [True, True] Translation: X:132.87, Y:-18.34, Z:-5.67 [[ 9.83898159e-01 1.75815619e-01 3.21446734e-02 1.32870386e+02] [-1.75723675e-01 9.84423113e-01 -5.68549529e-03 -1.83409943e+01] [-3.26435584e-02 -5.46317980e-05 9.99467056e-01 -5.66889570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49587156 meters 0.013616298357934837 Centerline is valid? [True, True] Translation: X:132.90, Y:-18.34, Z:-5.67 [[ 9.83257867e-01 1.79302158e-01 3.24761970e-02 1.32899284e+02] [-1.79210259e-01 9.83794036e-01 -5.74256455e-03 -1.83429948e+01] [-3.29795432e-02 -1.73645913e-04 9.99456012e-01 -5.66963469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52587156 meters 0.01449479805016331 Centerline is valid? [True, True] Translation: X:132.93, Y:-18.35, Z:-5.67 [[ 9.82961206e-01 1.80844656e-01 3.29010179e-02 1.32926542e+02] [-1.80751250e-01 9.83511646e-01 -5.81619170e-03 -1.83460811e+01] [-3.34103614e-02 -2.29809302e-04 9.99441692e-01 -5.67013090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55587156 meters 0.015382465693617285 Centerline is valid? [True, True] Translation: X:132.96, Y:-18.35, Z:-5.67 [[ 9.82727606e-01 1.82024684e-01 3.33686425e-02 1.32955388e+02] [-1.81929358e-01 9.83293923e-01 -5.89664997e-03 -1.83500201e+01] [-3.38845192e-02 -2.75934981e-04 9.99425717e-01 -5.67078483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58587156000002 meters 0.01650247819191581 Centerline is valid? [True, True] Translation: X:132.98, Y:-18.35, Z:-5.67 [[ 9.82517042e-01 1.83193708e-01 3.31711756e-02 1.32983458e+02] [-1.83100226e-01 9.83076785e-01 -5.86017439e-03 -1.83540892e+01] [-3.36833597e-02 -3.15928556e-04 9.99432505e-01 -5.67246392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61587156000002 meters 0.018363603007899618 Centerline is valid? [True, True] Translation: X:133.01, Y:-18.36, Z:-5.68 [[ 9.82152548e-01 1.85221995e-01 3.26983961e-02 1.33012048e+02] [-1.85132333e-01 9.82696630e-01 -5.77511794e-03 -1.83577700e+01] [-3.32022826e-02 -3.81483568e-04 9.99448579e-01 -5.67518647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64587156000002 meters 0.018091836761000447 Centerline is valid? [True, True] Translation: X:133.04, Y:-18.36, Z:-5.67 [[ 9.81959655e-01 1.86259856e-01 3.25960505e-02 1.33040781e+02] [-1.86171378e-01 9.82500429e-01 -5.75549689e-03 -1.83635454e+01] [-3.30976516e-02 -4.16785900e-04 9.99452036e-01 -5.67482292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67587156000002 meters 0.020440867204011972 Centerline is valid? [True, True] Translation: X:133.07, Y:-18.37, Z:-5.68 [[ 9.81781638e-01 1.87129596e-01 3.29746698e-02 1.33068434e+02] [-1.87039592e-01 9.82335131e-01 -5.82078345e-03 -1.83652392e+01] [-3.34814174e-02 -4.52830477e-04 9.99439238e-01 -5.67752114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70587156000002 meters 0.022231906094230966 Centerline is valid? [True, True] Translation: X:133.10, Y:-18.37, Z:-5.68 [[ 9.81605135e-01 1.88049518e-01 3.29960220e-02 1.33096221e+02] [-1.87959990e-01 9.82159428e-01 -5.82241301e-03 -1.83677044e+01] [-3.35022561e-02 -4.86621447e-04 9.99438523e-01 -5.67983497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73587156000002 meters 0.021297078547200893 Centerline is valid? [True, True] Translation: X:133.12, Y:-18.37, Z:-5.68 [[ 9.81310461e-01 1.89691193e-01 3.23578356e-02 1.33124764e+02] [-1.89606052e-01 9.81843657e-01 -5.70781295e-03 -1.83739559e+01] [-3.28530574e-02 -5.34104887e-04 9.99460050e-01 -5.67870507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76587156000002 meters 0.02211164556934022 Centerline is valid? [True, True] Translation: X:133.15, Y:-18.38, Z:-5.68 [[ 9.81211843e-01 1.90202894e-01 3.23446778e-02 1.33152120e+02] [-1.90118149e-01 9.81744648e-01 -5.70399394e-03 -1.83772990e+01] [-3.28391305e-02 -5.52483885e-04 9.99460498e-01 -5.68011613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79587156000002 meters 0.023332187910896758 Centerline is valid? [True, True] Translation: X:133.18, Y:-18.38, Z:-5.68 [[ 9.81082510e-01 1.90806555e-01 3.27103426e-02 1.33179439e+02] [-1.90720287e-01 9.81627486e-01 -5.76638328e-03 -1.83803584e+01] [-3.32096351e-02 -5.81228156e-04 9.99448239e-01 -5.68111350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82587156000002 meters 0.024727297970770352 Centerline is valid? [True, True] Translation: X:133.21, Y:-18.38, Z:-5.68 [[ 9.80726599e-01 1.92584417e-01 3.29633180e-02 1.33208141e+02] [-1.92497887e-01 9.81280195e-01 -5.80874847e-03 -1.83829846e+01] [-3.34649255e-02 -6.48574930e-04 9.99439682e-01 -5.68105506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85587156000003 meters 0.028682678838405046 Centerline is valid? [True, True] Translation: X:133.24, Y:-18.38, Z:-5.68 [[ 9.80496926e-01 1.93695149e-01 3.32861506e-02 1.33236192e+02] [-1.93607599e-01 9.81061520e-01 -5.86434249e-03 -1.83820014e+01] [-3.37916562e-02 -6.94481923e-04 9.99428658e-01 -5.68385330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88587156000003 meters 0.026935213253777106 Centerline is valid? [True, True] Translation: X:133.26, Y:-18.39, Z:-5.68 [[ 9.80248585e-01 1.94972516e-01 3.31425715e-02 1.33263904e+02] [-1.94886552e-01 9.80808428e-01 -5.83597777e-03 -1.83881461e+01] [-3.36443687e-02 -7.38332548e-04 9.99433595e-01 -5.68334701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91587156000003 meters 0.030575375532985182 Centerline is valid? [True, True] Translation: X:133.29, Y:-18.39, Z:-5.69 [[ 9.79864848e-01 1.97026404e-01 3.23338170e-02 1.33292803e+02] [-1.96945772e-01 9.80397863e-01 -5.69145708e-03 -1.83859360e+01] [-3.28213724e-02 -7.91149808e-04 9.99460920e-01 -5.68736409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94587156000003 meters 0.03035748658331148 Centerline is valid? [True, True] Translation: X:133.32, Y:-18.39, Z:-5.69 [[ 9.79695656e-01 1.97861560e-01 3.23608624e-02 1.33321296e+02] [-1.97781301e-01 9.80229630e-01 -5.69460204e-03 -1.83898176e+01] [-3.28478190e-02 -8.21396590e-04 9.99460027e-01 -5.68821483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97587156000003 meters 0.031685579365017584 Centerline is valid? [True, True] Translation: X:133.35, Y:-18.39, Z:-5.69 [[ 9.79564486e-01 1.98541080e-01 3.21692083e-02 1.33349017e+02] [-1.98462182e-01 9.80092206e-01 -5.65943795e-03 -1.83915187e+01] [-3.26524213e-02 -8.40586859e-04 9.99466414e-01 -5.68979694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00587156000003 meters 0.031685579365017584 Centerline is valid? [True, True] Translation: X:133.38, Y:-18.40, Z:-5.69 [[ 9.79578711e-01 1.98470829e-01 3.21695228e-02 1.33376097e+02] [-1.98391952e-01 9.80106435e-01 -5.65764990e-03 -1.83961449e+01] [-3.26524347e-02 -8.40061009e-04 9.99466414e-01 -5.69103561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03587156000003 meters 0.0324317836536798 Centerline is valid? [True, True] Translation: X:133.40, Y:-18.40, Z:-5.69 [[ 9.79540388e-01 1.98668891e-01 3.21138604e-02 1.33404183e+02] [-1.98590476e-01 9.80066300e-01 -5.64533784e-03 -1.83979939e+01] [-3.25952654e-02 -8.47670398e-04 9.99468274e-01 -5.69281129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06587156000003 meters 0.03245051920584167 Centerline is valid? [True, True] Translation: X:133.43, Y:-18.40, Z:-5.69 [[ 9.79525498e-01 1.98685710e-01 3.24620937e-02 1.33433260e+02] [-1.98605665e-01 9.80062881e-01 -5.70438822e-03 -1.83988923e+01] [-3.29482735e-02 -8.59561992e-04 9.99456689e-01 -5.69351153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09587156000003 meters 0.033010949634961644 Centerline is valid? [True, True] Translation: X:133.46, Y:-18.40, Z:-5.69 [[ 9.79586581e-01 1.98387729e-01 3.24413149e-02 1.33460772e+02] [-1.98307643e-01 9.80123251e-01 -5.70014311e-03 -1.84007962e+01] [-3.29273255e-02 -8.49577001e-04 9.99457388e-01 -5.69480991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12587156000004 meters 0.03246756669615984 Centerline is valid? [True, True] Translation: X:133.49, Y:-18.40, Z:-5.70 [[ 9.79661041e-01 1.97985408e-01 3.26500044e-02 1.33489197e+02] [-1.97904241e-01 9.80204602e-01 -5.73148478e-03 -1.84037918e+01] [-3.31384349e-02 -8.46661998e-04 9.99450413e-01 -5.69613312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15587156000004 meters 0.035770600045651024 Centerline is valid? [True, True] Translation: X:133.52, Y:-18.40, Z:-5.70 [[ 9.79748355e-01 1.97580575e-01 3.24819408e-02 1.33517992e+02] [-1.97500067e-01 9.80286299e-01 -5.70055465e-03 -1.84016001e+01] [-3.29679204e-02 -8.30076442e-04 9.99456066e-01 -5.69932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18587156000004 meters 0.031197385301134504 Centerline is valid? [True, True] Translation: X:133.55, Y:-18.41, Z:-5.70 [[ 9.80044742e-01 1.96193067e-01 3.19465717e-02 1.33546643e+02] [-1.96114506e-01 9.80564982e-01 -5.60500378e-03 -1.84075911e+01] [-3.24253524e-02 -7.72031640e-04 9.99473862e-01 -5.69956094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21587156 meters 0.030191367178174878 Centerline is valid? [True, True] Translation: X:133.58, Y:-18.41, Z:-5.70 [[ 9.80221355e-01 1.95338784e-01 3.17624792e-02 1.33575476e+02] [-1.95260779e-01 9.80735544e-01 -5.56959147e-03 -1.84112928e+01] [-3.22385495e-02 -7.42533923e-04 9.99479927e-01 -5.70103726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24587156 meters 0.029002996737628947 Centerline is valid? [True, True] Translation: X:133.60, Y:-18.42, Z:-5.70 [[ 9.80419419e-01 1.94404524e-01 3.13790250e-02 1.33604312e+02] [-1.94327960e-01 9.80921192e-01 -5.50085876e-03 -1.84151415e+01] [-3.18497424e-02 -7.04673173e-04 9.99492420e-01 -5.70255314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27587156 meters 0.02543915853602046 Centerline is valid? [True, True] Translation: X:133.63, Y:-18.42, Z:-5.70 [[ 9.81063294e-01 1.91173497e-01 3.11047806e-02 1.33632556e+02] [-1.91096689e-01 9.81556080e-01 -5.45128719e-03 -1.84198095e+01] [-3.15732281e-02 -5.95962812e-04 9.99501264e-01 -5.70439454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30587156 meters 0.023265228535052085 Centerline is valid? [True, True] Translation: X:133.66, Y:-18.43, Z:-5.71 [[ 9.81549126e-01 1.88663115e-01 3.11053425e-02 1.33659993e+02] [-1.88585092e-01 9.82041731e-01 -5.44985534e-03 -1.84262557e+01] [-3.15749310e-02 -5.16703136e-04 9.99501254e-01 -5.70631096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33587156000002 meters 0.01991696933038515 Centerline is valid? [True, True] Translation: X:133.69, Y:-18.43, Z:-5.71 [[ 9.82049834e-01 1.86056473e-01 3.10018155e-02 1.33687786e+02] [-1.85977716e-01 9.82538957e-01 -5.43023200e-03 -1.84347137e+01] [-3.14708213e-02 -4.32888420e-04 9.99504577e-01 -5.70656142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36587156000002 meters 0.01708127610049005 Centerline is valid? [True, True] Translation: X:133.72, Y:-18.44, Z:-5.71 [[ 9.82571926e-01 1.83255772e-01 3.11405285e-02 1.33715536e+02] [-1.83174952e-01 9.83065208e-01 -5.45297552e-03 -1.84421967e+01] [-3.16124594e-02 -3.46224141e-04 9.99500141e-01 -5.70664094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39587156000002 meters 0.015435333249046558 Centerline is valid? [True, True] Translation: X:133.74, Y:-18.45, Z:-5.71 [[ 9.83070001e-01 1.80521655e-01 3.13895825e-02 1.33743313e+02] [-1.80438194e-01 9.83570975e-01 -5.49496186e-03 -1.84476672e+01] [-3.18658419e-02 -2.61947428e-04 9.99492121e-01 -5.70781576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42587156000002 meters 0.013264372399545895 Centerline is valid? [True, True] Translation: X:133.77, Y:-18.45, Z:-5.71 [[ 9.83887869e-01 1.75909259e-01 3.19467392e-02 1.33770389e+02] [-1.75820425e-01 9.84406379e-01 -5.59097748e-03 -1.84539676e+01] [-3.24320786e-02 -1.15994329e-04 9.99473935e-01 -5.70931006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45587156000002 meters 0.012547753862163275 Centerline is valid? [True, True] Translation: X:133.80, Y:-18.46, Z:-5.71 [[ 9.84265380e-01 1.73741708e-01 3.21788922e-02 1.33798309e+02] [-1.73650492e-01 9.84791255e-01 -5.62940796e-03 -1.84599594e+01] [-3.26675546e-02 -4.70490911e-05 9.99466272e-01 -5.71006702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48587156000002 meters 0.027152843576391868 Centerline is valid? [True, True] Translation: X:133.83, Y:-18.47, Z:-5.71 [[ 9.84616606e-01 1.71739129e-01 3.21840059e-02 1.33826106e+02] [-1.71646854e-01 9.85142462e-01 -5.62905871e-03 -1.84658011e+01] [-3.26725605e-02 1.81813165e-05 9.99466109e-01 -5.71071647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51587156000002 meters 0.012282467229948349 Centerline is valid? [True, True] Translation: X:133.85, Y:-18.47, Z:-5.71 [[ 9.84969175e-01 1.69725006e-01 3.20803031e-02 1.33854144e+02] [-1.69632340e-01 9.85491459e-01 -5.60834171e-03 -1.84718239e+01] [-3.25667405e-02 8.21868150e-05 9.99469560e-01 -5.71105298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54587156000002 meters 0.02259944659556467 Centerline is valid? [True, True] Translation: X:133.88, Y:-18.48, Z:-5.71 [[ 9.85290642e-01 1.67815606e-01 3.22532532e-02 1.33881554e+02] [-1.67720963e-01 9.85818392e-01 -5.63710212e-03 -1.84785770e+01] [-3.27418439e-02 1.44637278e-04 9.99463832e-01 -5.71360566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57587156000002 meters 0.014782418001612271 Centerline is valid? [True, True] Translation: X:133.91, Y:-18.49, Z:-5.71 [[ 9.85956501e-01 1.64009348e-01 3.14755837e-02 1.33909269e+02] [-1.63917340e-01 9.86458750e-01 -5.49915856e-03 -1.84856120e+01] [-3.19512784e-02 2.62537166e-04 9.99489393e-01 -5.71412376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60587156000003 meters 0.022457251882091845 Centerline is valid? [True, True] Translation: X:133.94, Y:-18.49, Z:-5.72 [[ 9.86240787e-01 1.62250391e-01 3.16847168e-02 1.33937805e+02] [-1.62156300e-01 9.86749567e-01 -5.53410050e-03 -1.84917435e+01] [-3.21627905e-02 3.20079190e-04 9.99482592e-01 -5.71528601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63587156000003 meters 0.02408695048359629 Centerline is valid? [True, True] Translation: X:133.96, Y:-18.50, Z:-5.72 [[ 9.86545684e-01 1.60430250e-01 3.14602628e-02 1.33964243e+02] [-1.60336601e-01 9.87047108e-01 -5.49365999e-03 -1.84987708e+01] [-3.19341107e-02 3.75514934e-04 9.99489906e-01 -5.71768947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66587156000003 meters 0.020459686674620742 Centerline is valid? [True, True] Translation: X:133.99, Y:-18.51, Z:-5.72 [[ 9.87148673e-01 1.56888772e-01 3.03876591e-02 1.33993173e+02] [-1.56799812e-01 9.87616166e-01 -5.30352637e-03 -1.85068204e+01] [-3.08434071e-02 4.70589797e-04 9.99524118e-01 -5.71994567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69587156000003 meters 0.022571245516210193 Centerline is valid? [True, True] Translation: X:134.02, Y:-18.51, Z:-5.72 [[ 9.87416189e-01 1.55160590e-01 3.05689684e-02 1.34019670e+02] [-1.55069744e-01 9.87889120e-01 -5.33491229e-03 -1.85146333e+01] [-3.10265194e-02 5.27456647e-04 9.99518422e-01 -5.72185944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72587156000003 meters 0.023957804183246934 Centerline is valid? [True, True] Translation: X:134.05, Y:-18.52, Z:-5.72 [[ 9.87647449e-01 1.53558451e-01 3.11820215e-02 1.34047351e+02] [-1.53463194e-01 9.88139392e-01 -5.43977179e-03 -1.85221326e+01] [-3.16475067e-02 5.87284130e-04 9.99498920e-01 -5.72194991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75587156000003 meters 0.024819610971510572 Centerline is valid? [True, True] Translation: X:134.08, Y:-18.53, Z:-5.72 [[ 9.87842413e-01 1.52301702e-01 3.11698389e-02 1.34075904e+02] [-1.52205950e-01 9.88333851e-01 -5.43583734e-03 -1.85290024e+01] [-3.16340942e-02 6.25515729e-04 9.99499321e-01 -5.72271037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78587156000003 meters 0.03188431715524507 Centerline is valid? [True, True] Translation: X:134.10, Y:-18.54, Z:-5.72 [[ 9.88125648e-01 1.50497798e-01 3.09534656e-02 1.34102997e+02] [-1.50402500e-01 9.88610112e-01 -5.39768521e-03 -1.85371868e+01] [-3.14132488e-02 6.78112598e-04 9.99506252e-01 -5.72462643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81587156000003 meters 0.032528443620485493 Centerline is valid? [True, True] Translation: X:134.13, Y:-18.54, Z:-5.72 [[ 9.88201559e-01 1.49964733e-01 3.11168453e-02 1.34132033e+02] [-1.49868220e-01 9.88691101e-01 -5.42433933e-03 -1.85416126e+01] [-3.15784076e-02 6.96914372e-04 9.99501035e-01 -5.72483775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84587156000003 meters 0.028354052616479754 Centerline is valid? [True, True] Translation: X:134.16, Y:-18.55, Z:-5.73 [[ 9.88285099e-01 1.49315526e-01 3.15822358e-02 1.34160273e+02] [-1.49215797e-01 9.88789333e-01 -5.50472472e-03 -1.85490357e+01] [-3.20501187e-02 7.27668944e-04 9.99485998e-01 -5.72647491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87587156000004 meters 0.02854234410312512 Centerline is valid? [True, True] Translation: X:134.19, Y:-18.56, Z:-5.73 [[ 9.88377320e-01 1.48734779e-01 3.14362749e-02 1.34189617e+02] [-1.48635713e-01 9.88876845e-01 -5.47809300e-03 -1.85559837e+01] [-3.19013873e-02 7.41869739e-04 9.99490746e-01 -5.72756859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90587156000004 meters 0.02875834181821714 Centerline is valid? [True, True] Translation: X:134.22, Y:-18.56, Z:-5.73 [[ 9.88435405e-01 1.48320799e-01 3.15656614e-02 1.34219759e+02] [-1.48220705e-01 9.88939010e-01 -5.50063993e-03 -1.85624667e+01] [-3.20323733e-02 7.58342665e-04 9.99486544e-01 -5.72871170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93587156000004 meters 0.03496084763230891 Centerline is valid? [True, True] Translation: X:134.25, Y:-18.57, Z:-5.73 [[ 9.88410315e-01 1.48426169e-01 3.18546966e-02 1.34248525e+02] [-1.48324283e-01 9.88923198e-01 -5.55115753e-03 -1.85679865e+01] [-3.23257854e-02 7.61996347e-04 9.99477095e-01 -5.72945930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96587156 meters 0.029278698496974547 Centerline is valid? [True, True] Translation: X:134.28, Y:-18.58, Z:-5.73 [[ 9.88374816e-01 1.48673104e-01 3.18045790e-02 1.34276952e+02] [-1.48571689e-01 9.88886112e-01 -5.54172951e-03 -1.85751460e+01] [-3.22750126e-02 7.52045874e-04 9.99478743e-01 -5.73120369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99587156 meters 0.028306694612407535 Centerline is valid? [True, True] Translation: X:134.31, Y:-18.58, Z:-5.73 [[ 9.88279644e-01 1.49356601e-01 3.15586805e-02 1.34306281e+02] [-1.49257078e-01 9.88783131e-01 -5.49945178e-03 -1.85824172e+01] [-3.20260703e-02 7.24639805e-04 9.99486771e-01 -5.73264517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02587156 meters 0.02731532896417241 Centerline is valid? [True, True] Translation: X:134.34, Y:-18.59, Z:-5.73 [[ 9.88224705e-01 1.49765124e-01 3.13423165e-02 1.34335948e+02] [-1.49667167e-01 9.88721350e-01 -5.46174794e-03 -1.85871281e+01] [-3.18067968e-02 7.06518538e-04 9.99493786e-01 -5.73392160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05587156 meters 0.02677607977970819 Centerline is valid? [True, True] Translation: X:134.37, Y:-18.59, Z:-5.74 [[ 9.88188445e-01 1.50067694e-01 3.10368142e-02 1.34366128e+02] [-1.49971792e-01 9.88675483e-01 -5.40834802e-03 -1.85930731e+01] [-3.14969556e-02 6.89820389e-04 9.99503610e-01 -5.73587157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08587156000002 meters 0.027526374346476357 Centerline is valid? [True, True] Translation: X:134.39, Y:-18.60, Z:-5.74 [[ 9.88196503e-01 1.50115347e-01 3.05459479e-02 1.34394611e+02] [-1.50022456e-01 9.88668257e-01 -5.32351374e-03 -1.86011793e+01] [-3.09989502e-02 6.78099537e-04 9.99519187e-01 -5.73849834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11587156000002 meters 0.024403356923479076 Centerline is valid? [True, True] Translation: X:134.42, Y:-18.61, Z:-5.74 [[ 9.88042695e-01 1.51056208e-01 3.08812957e-02 1.34424366e+02] [-1.50961742e-01 9.88524958e-01 -5.38140969e-03 -1.86068741e+01] [-3.13398268e-02 6.55168335e-04 9.99508572e-01 -5.73733269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14587156000002 meters 0.024779489275221462 Centerline is valid? [True, True] Translation: X:134.45, Y:-18.61, Z:-5.74 [[ 9.87854509e-01 1.52199622e-01 3.12848891e-02 1.34452707e+02] [-1.52103238e-01 9.88349575e-01 -5.45190416e-03 -1.86140659e+01] [-3.17501845e-02 6.27155168e-04 9.99495639e-01 -5.73925013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17587156000002 meters 0.0236621353752456 Centerline is valid? [True, True] Translation: X:134.48, Y:-18.62, Z:-5.74 [[ 9.87638939e-01 1.53573064e-01 3.13789780e-02 1.34483017e+02] [-1.53476809e-01 9.88137122e-01 -5.46774330e-03 -1.86194023e+01] [-3.18464311e-02 5.84210771e-04 9.99492603e-01 -5.74010773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20587156000002 meters 0.021267868697997884 Centerline is valid? [True, True] Translation: X:134.51, Y:-18.62, Z:-5.74 [[ 9.87334776e-01 1.55442438e-01 3.17441282e-02 1.34513472e+02] [-1.55344895e-01 9.87844810e-01 -5.53137022e-03 -1.86233768e+01] [-3.22180820e-02 5.30025929e-04 9.99480722e-01 -5.74039513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23587156000002 meters 0.017425915363064887 Centerline is valid? [True, True] Translation: X:134.54, Y:-18.63, Z:-5.74 [[ 9.86625007e-01 1.59756713e-01 3.23865442e-02 1.34542938e+02] [-1.59657493e-01 9.87156337e-01 -5.64361007e-03 -1.86262758e+01] [-3.28721869e-02 3.97372379e-04 9.99459485e-01 -5.74001108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26587156000002 meters 0.016769852898747797 Centerline is valid? [True, True] Translation: X:134.57, Y:-18.63, Z:-5.74 [[ 9.86262806e-01 1.61885200e-01 3.28459930e-02 1.34571127e+02] [-1.61784346e-01 9.86809542e-01 -5.72297488e-03 -1.86309933e+01] [-3.33392042e-02 3.30389764e-04 9.99444040e-01 -5.74205656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29587156000002 meters 0.014073076824305674 Centerline is valid? [True, True] Translation: X:134.60, Y:-18.64, Z:-5.74 [[ 9.85680298e-01 1.65436259e-01 3.26373055e-02 1.34600768e+02] [-1.65338673e-01 9.86220463e-01 -5.68525894e-03 -1.86358327e+01] [-3.31281265e-02 2.07638956e-04 9.99451091e-01 -5.74309976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32587156000002 meters 0.013294250227367138 Centerline is valid? [True, True] Translation: X:134.63, Y:-18.64, Z:-5.74 [[ 9.85402991e-01 1.67083865e-01 3.26178981e-02 1.34627898e+02] [-1.66987309e-01 9.85942675e-01 -5.68151393e-03 -1.86411851e+01] [-3.31086670e-02 1.51805783e-04 9.99451746e-01 -5.74450294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35587156000003 meters 0.01492150807808926 Centerline is valid? [True, True] Translation: X:134.66, Y:-18.65, Z:-5.75 [[ 9.85080753e-01 1.68916742e-01 3.29096264e-02 1.34656836e+02] [-1.68819545e-01 9.85630319e-01 -5.73017404e-03 -1.86457193e+01] [-3.34046479e-02 8.88959844e-05 9.99441905e-01 -5.74523887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38587156000003 meters 0.012211300718061948 Centerline is valid? [True, True] Translation: X:134.69, Y:-18.65, Z:-5.75 [[ 9.84782849e-01 1.70641902e-01 3.29253946e-02 1.34685221e+02] [-1.70545629e-01 9.85333111e-01 -5.73132504e-03 -1.86491949e+01] [-3.34204857e-02 2.88284707e-05 9.99441379e-01 -5.74575181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41587156000003 meters 0.012825722477480362 Centerline is valid? [True, True] Translation: X:134.71, Y:-18.65, Z:-5.75 [[ 9.84077058e-01 1.74558692e-01 3.34903953e-02 1.34713049e+02] [-1.74461404e-01 9.84646765e-01 -5.82813494e-03 -1.86512409e+01] [-3.39935610e-02 -1.07447502e-04 9.99422046e-01 -5.74681157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44587156000003 meters 0.013788460158257377 Centerline is valid? [True, True] Translation: X:134.74, Y:-18.65, Z:-5.75 [[ 9.83694679e-01 1.76733893e-01 3.33153030e-02 1.34741615e+02] [-1.76638939e-01 9.84258654e-01 -5.79552684e-03 -1.86541059e+01] [-3.38151413e-02 -1.83750849e-04 9.99428088e-01 -5.74795540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47587156000003 meters 0.015337360323513198 Centerline is valid? [True, True] Translation: X:134.77, Y:-18.66, Z:-5.75 [[ 9.83253876e-01 1.79165123e-01 3.33417845e-02 1.34769974e+02] [-1.79071465e-01 9.83818980e-01 -5.79865176e-03 -1.86562453e+01] [-3.38411966e-02 -2.69015359e-04 9.99427186e-01 -5.74946823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50587156000003 meters 0.01824596985821819 Centerline is valid? [True, True] Translation: X:134.80, Y:-18.66, Z:-5.75 [[ 9.82751994e-01 1.81961317e-01 3.29939042e-02 1.34798406e+02] [-1.81871244e-01 9.83305622e-01 -5.73615308e-03 -1.86567866e+01] [-3.34868495e-02 -3.63426549e-04 9.99439092e-01 -5.75183117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53587156000003 meters 0.022203081367945902 Centerline is valid? [True, True] Translation: X:134.83, Y:-18.66, Z:-5.75 [[ 9.81741937e-01 1.87531382e-01 3.18551295e-02 1.34828247e+02] [-1.87450418e-01 9.82258466e-01 -5.53603725e-03 -1.86556416e+01] [-3.23281513e-02 -5.36297395e-04 9.99477165e-01 -5.75378460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56587156000003 meters 0.026106465384347913 Centerline is valid? [True, True] Translation: X:134.86, Y:-18.65, Z:-5.76 [[ 9.81176039e-01 1.90510821e-01 3.16102346e-02 1.34857506e+02] [-1.90432680e-01 9.81684893e-01 -5.49228793e-03 -1.86544881e+01] [-3.20776300e-02 -6.30720371e-04 9.99485181e-01 -5.75613949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59587156000003 meters 0.034248900577785464 Centerline is valid? [True, True] Translation: X:134.89, Y:-18.65, Z:-5.76 [[ 9.80634383e-01 1.93269779e-01 3.16701771e-02 1.34887211e+02] [-1.93192817e-01 9.81145386e-01 -5.50148897e-03 -1.86514304e+01] [-3.21363197e-02 -7.23501485e-04 9.99483233e-01 -5.75926847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62587156000004 meters 0.032129837587792184 Centerline is valid? [True, True] Translation: X:134.92, Y:-18.65, Z:-5.76 [[ 9.80169606e-01 1.95598313e-01 3.17623047e-02 1.34917160e+02] [-1.95522166e-01 9.80683769e-01 -5.51617617e-03 -1.86540559e+01] [-3.22277314e-02 -8.03446392e-04 9.99480229e-01 -5.75872443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65587156000004 meters 0.033882833154951136 Centerline is valid? [True, True] Translation: X:134.95, Y:-18.65, Z:-5.76 [[ 9.79420873e-01 1.99277464e-01 3.19882039e-02 1.34947478e+02] [-1.99202213e-01 9.79942664e-01 -5.55463452e-03 -1.86538997e+01] [-3.24535192e-02 -9.31796026e-04 9.99472811e-01 -5.75802071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68587156000004 meters 0.04398886569328448 Centerline is valid? [True, True] Translation: X:134.98, Y:-18.65, Z:-5.76 [[ 9.79165947e-01 2.00474388e-01 3.23120420e-02 1.34975344e+02] [-2.00398251e-01 9.79698452e-01 -5.61105453e-03 -1.86525550e+01] [-3.27809302e-02 -9.81123165e-04 9.99462079e-01 -5.76013233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71587156 meters 0.03570368349538706 Centerline is valid? [True, True] Translation: X:135.00, Y:-18.66, Z:-5.76 [[ 9.79042713e-01 2.01081426e-01 3.22742483e-02 1.35004084e+02] [-2.01005934e-01 9.79574015e-01 -5.60028686e-03 -1.86564579e+01] [-3.27411287e-02 -1.00439539e-03 9.99463361e-01 -5.76013425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74587156 meters 0.03811991486991124 Centerline is valid? [True, True] Translation: X:135.03, Y:-18.65, Z:-5.76 [[ 9.79157724e-01 2.00485044e-01 3.24945923e-02 1.35032795e+02] [-2.00408239e-01 9.79696260e-01 -5.63702059e-03 -1.86546417e+01] [-3.29649689e-02 -9.92651758e-04 9.99456015e-01 -5.76321801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77587156 meters 0.033173907944990665 Centerline is valid? [True, True] Translation: X:135.06, Y:-18.66, Z:-5.76 [[ 9.79411617e-01 1.99280661e-01 3.22506174e-02 1.35060279e+02] [-1.99204422e-01 9.79941999e-01 -5.59257189e-03 -1.86647187e+01] [-3.27182259e-02 -9.47035729e-04 9.99464167e-01 -5.76350017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80587156 meters 0.03386879421731563 Centerline is valid? [True, True] Translation: X:135.09, Y:-18.67, Z:-5.77 [[ 9.79771805e-01 1.97589965e-01 3.17082811e-02 1.35088327e+02] [-1.97515436e-01 9.80284365e-01 -5.49694287e-03 -1.86673625e+01] [-3.21692730e-02 -8.77125318e-04 9.99482050e-01 -5.76710961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83587156000002 meters 0.030380639204682463 Centerline is valid? [True, True] Translation: X:135.12, Y:-18.68, Z:-5.77 [[ 9.80229995e-01 1.95406224e-01 3.10735423e-02 1.35116344e+02] [-1.95333601e-01 9.80722072e-01 -5.38536959e-03 -1.86750674e+01] [-3.15268436e-02 -7.90806112e-04 9.99502593e-01 -5.76884184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86587156000002 meters 0.02823810261647775 Centerline is valid? [True, True] Translation: X:135.14, Y:-18.68, Z:-5.77 [[ 9.81222370e-01 1.90401691e-01 3.08197535e-02 1.35144296e+02] [-1.90327839e-01 9.81706068e-01 -5.33950430e-03 -1.86799257e+01] [-3.12725896e-02 -6.26616006e-04 9.99510697e-01 -5.77329790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89587156000002 meters 0.02823810261647775 Centerline is valid? [True, True] Translation: X:135.17, Y:-18.68, Z:-5.77 [[ 9.81235575e-01 1.90333625e-01 3.08197735e-02 1.35171385e+02] [-1.90259743e-01 9.81719268e-01 -5.33938885e-03 -1.86844761e+01] [-3.12726307e-02 -6.24563904e-04 9.99510697e-01 -5.77453627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92587156000002 meters 0.02828477148875462 Centerline is valid? [True, True] Translation: X:135.20, Y:-18.69, Z:-5.77 [[ 9.81688022e-01 1.87975022e-01 3.08871907e-02 1.35198556e+02] [-1.87899728e-01 9.82173653e-01 -5.34856330e-03 -1.86949979e+01] [-3.13419812e-02 -5.53074188e-04 9.99508566e-01 -5.77366744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95587156000002 meters 0.022317590421327943 Centerline is valid? [True, True] Translation: X:135.23, Y:-18.70, Z:-5.78 [[ 9.82147250e-01 1.85505391e-01 3.12174414e-02 1.35225429e+02] [-1.85427276e-01 9.82643129e-01 -5.40432456e-03 -1.87007268e+01] [-3.16781356e-02 -4.80722601e-04 9.99498006e-01 -5.77519916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98587156000002 meters 0.020366994153669916 Centerline is valid? [True, True] Translation: X:135.25, Y:-18.71, Z:-5.78 [[ 9.82520471e-01 1.83483482e-01 3.14218973e-02 1.35253660e+02] [-1.83403374e-01 9.83022703e-01 -5.43757323e-03 -1.87066335e+01] [-3.18861433e-02 -4.20354978e-04 9.99491419e-01 -5.77582645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01587156000002 meters 0.017816961718067438 Centerline is valid? [True, True] Translation: X:135.28, Y:-18.71, Z:-5.78 [[ 9.83050370e-01 1.80623486e-01 3.14185758e-02 1.35282037e+02] [-1.80541982e-01 9.83552260e-01 -5.43547932e-03 -1.87108772e+01] [-3.18835865e-02 -3.29022008e-04 9.99491535e-01 -5.77684312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04587156000002 meters 0.017050395789611858 Centerline is valid? [True, True] Translation: X:135.31, Y:-18.71, Z:-5.78 [[ 9.83269243e-01 1.79370611e-01 3.17455554e-02 1.35309820e+02] [-1.79286786e-01 9.83781530e-01 -5.49087861e-03 -1.87147512e+01] [-3.22155933e-02 -2.92546561e-04 9.99480900e-01 -5.77821051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07587156000002 meters 0.02246065982339682 Centerline is valid? [True, True] Translation: X:135.34, Y:-18.72, Z:-5.78 [[ 9.83388970e-01 1.78672409e-01 3.19734894e-02 1.35338270e+02] [-1.78587104e-01 9.83908581e-01 -5.52732845e-03 -1.87194813e+01] [-3.24465716e-02 -2.74539031e-04 9.99473434e-01 -5.77805654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10587156000003 meters 0.014713073425939919 Centerline is valid? [True, True] Translation: X:135.37, Y:-18.72, Z:-5.78 [[ 9.83738993e-01 1.76659874e-01 3.23864563e-02 1.35366495e+02] [-1.76571308e-01 9.84271936e-01 -5.59723874e-03 -1.87219902e+01] [-3.28658875e-02 -2.12296968e-04 9.99459748e-01 -5.77876734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13587156000003 meters 0.02401697541323053 Centerline is valid? [True, True] Translation: X:135.39, Y:-18.73, Z:-5.78 [[ 9.83919661e-01 1.75549362e-01 3.29320812e-02 1.35394767e+02] [-1.75457238e-01 9.84470614e-01 -5.68933773e-03 -1.87271856e+01] [-3.34194258e-02 -1.80320772e-04 9.99441399e-01 -5.77958404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16587156000003 meters 0.017351816628340833 Centerline is valid? [True, True] Translation: X:135.42, Y:-18.73, Z:-5.78 [[ 9.84133014e-01 1.74338120e-01 3.29913860e-02 1.35423479e+02] [-1.74245037e-01 9.84685838e-01 -5.69796570e-03 -1.87327638e+01] [-3.34795232e-02 -1.41029128e-04 9.99439394e-01 -5.78078501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19587156000003 meters 0.012649238199462726 Centerline is valid? [True, True] Translation: X:135.45, Y:-18.74, Z:-5.78 [[ 9.84790800e-01 1.70671919e-01 3.25296334e-02 1.35450614e+02] [-1.70579471e-01 9.85327913e-01 -5.61679956e-03 -1.87405470e+01] [-3.30109858e-02 -1.75151177e-05 9.99454989e-01 -5.78333412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22587156000003 meters 0.01246468201782178 Centerline is valid? [True, True] Translation: X:135.48, Y:-18.75, Z:-5.78 [[ 9.85141982e-01 1.68633699e-01 3.25261601e-02 1.35478328e+02] [-1.68540229e-01 9.85678788e-01 -5.61406412e-03 -1.87467750e+01] [-3.30070664e-02 4.86837753e-05 9.99455117e-01 -5.78385789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25587156000003 meters 0.012518325101967822 Centerline is valid? [True, True] Translation: X:135.51, Y:-18.75, Z:-5.78 [[ 9.85514645e-01 1.66399647e-01 3.27420528e-02 1.35507132e+02] [-1.66303751e-01 9.86058387e-01 -5.64976697e-03 -1.87525920e+01] [-3.32256950e-02 1.22801881e-04 9.99447867e-01 -5.78321662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28587156000003 meters 0.013462776382389073 Centerline is valid? [True, True] Translation: X:135.54, Y:-18.76, Z:-5.78 [[ 9.85894770e-01 1.64064507e-01 3.30808056e-02 1.35535114e+02] [-1.63965357e-01 9.86449592e-01 -5.70654988e-03 -1.87594209e+01] [-3.35687895e-02 2.01951564e-04 9.99436389e-01 -5.78450260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31587156000003 meters 0.01716254836107552 Centerline is valid? [True, True] Translation: X:135.56, Y:-18.77, Z:-5.79 [[ 9.86719733e-01 1.59095675e-01 3.27526262e-02 1.35561687e+02] [-1.58995803e-01 9.87263102e-01 -5.64819155e-03 -1.87713910e+01] [-3.32340622e-02 3.65651953e-04 9.99447529e-01 -5.78740685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34587156000003 meters 0.01926185914974819 Centerline is valid? [True, True] Translation: X:135.59, Y:-18.78, Z:-5.79 [[ 9.87124396e-01 1.56625745e-01 3.24623448e-02 1.35590491e+02] [-1.56526344e-01 9.87657926e-01 -5.59679615e-03 -1.87802556e+01] [-3.29382945e-02 4.43521864e-04 9.99457289e-01 -5.78948398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37587156000004 meters 0.02159481375355779 Centerline is valid? [True, True] Translation: X:135.62, Y:-18.79, Z:-5.79 [[ 9.87453905e-01 1.54609148e-01 3.21060311e-02 1.35617814e+02] [-1.54510873e-01 9.87975585e-01 -5.53475158e-03 -1.87892079e+01] [-3.25756980e-02 5.04581181e-04 9.99469144e-01 -5.79190144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40587156000004 meters 0.02293718804571302 Centerline is valid? [True, True] Translation: X:135.65, Y:-18.80, Z:-5.79 [[ 9.87943411e-01 1.51422898e-01 3.22323222e-02 1.35646063e+02] [-1.51322195e-01 9.88468883e-01 -5.55521777e-03 -1.87968450e+01] [-3.27018347e-02 6.10775060e-04 9.99464965e-01 -5.79112355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43587156000004 meters 0.02376120904912958 Centerline is valid? [True, True] Translation: X:135.67, Y:-18.80, Z:-5.79 [[ 9.88029146e-01 1.50750175e-01 3.27535012e-02 1.35673864e+02] [-1.50645841e-01 9.88571683e-01 -5.64436148e-03 -1.88031148e+01] [-3.32300722e-02 6.42614931e-04 9.99447522e-01 -5.79170652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46587156 meters 0.024542588070322162 Centerline is valid? [True, True] Translation: X:135.70, Y:-18.81, Z:-5.79 [[ 9.88043275e-01 1.50664859e-01 3.27198291e-02 1.35702733e+02] [-1.50560743e-01 9.88584688e-01 -5.63706126e-03 -1.88097213e+01] [-3.31956291e-02 6.43338699e-04 9.99448666e-01 -5.79286957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49587156 meters 0.033814906572498984 Centerline is valid? [True, True] Translation: X:135.73, Y:-18.81, Z:-5.79 [[ 9.87963397e-01 1.51178731e-01 3.27615211e-02 1.35732283e+02] [-1.51074639e-01 9.88506246e-01 -5.64399237e-03 -1.88136997e+01] [-3.32382198e-02 6.26622898e-04 9.99447261e-01 -5.79397900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52587156 meters 0.022984643387846674 Centerline is valid? [True, True] Translation: X:135.76, Y:-18.82, Z:-5.79 [[ 9.87663370e-01 1.53070439e-01 3.30228449e-02 1.35762176e+02] [-1.52965764e-01 9.88215118e-01 -5.68819153e-03 -1.88166339e+01] [-3.35043685e-02 5.66653739e-04 9.99438410e-01 -5.79478731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55587156 meters 0.02036359525327099 Centerline is valid? [True, True] Translation: X:135.79, Y:-18.82, Z:-5.80 [[ 9.87463575e-01 1.54253923e-01 3.34875491e-02 1.35791557e+02] [-1.54146989e-01 9.88031094e-01 -5.76739958e-03 -1.88207778e+01] [-3.39763838e-02 5.33092151e-04 9.99422494e-01 -5.79614912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58587156000002 meters 0.019447884039309443 Centerline is valid? [True, True] Translation: X:135.82, Y:-18.83, Z:-5.80 [[ 9.87267639e-01 1.55539799e-01 3.33163692e-02 1.35820718e+02] [-1.55434714e-01 9.87829507e-01 -5.73710567e-03 -1.88255454e+01] [-3.38032408e-02 4.85538444e-04 9.99428389e-01 -5.79789353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61587156000002 meters 0.026634482469344318 Centerline is valid? [True, True] Translation: X:135.85, Y:-18.83, Z:-5.80 [[ 9.86926097e-01 1.57895775e-01 3.23388861e-02 1.35848909e+02] [-1.57798052e-01 9.87455706e-01 -5.56816771e-03 -1.88296087e+01] [-3.28124078e-02 3.92356795e-04 9.99461451e-01 -5.80036458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64587156000002 meters 0.02509748998091147 Centerline is valid? [True, True] Translation: X:135.88, Y:-18.83, Z:-5.80 [[ 9.86774610e-01 1.58844773e-01 3.23141956e-02 1.35876611e+02] [-1.58747737e-01 9.87303504e-01 -5.56301764e-03 -1.88342417e+01] [-3.27875749e-02 3.59639128e-04 9.99462278e-01 -5.80235571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67587156000002 meters 0.020764799104703253 Centerline is valid? [True, True] Translation: X:135.91, Y:-18.84, Z:-5.80 [[ 9.86677747e-01 1.59500959e-01 3.20385347e-02 1.35905303e+02] [-1.59405986e-01 9.87197717e-01 -5.51348382e-03 -1.88389642e+01] [-3.25077743e-02 3.32897571e-04 9.99471427e-01 -5.80420630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70587156000002 meters 0.028251279795847115 Centerline is valid? [True, True] Translation: X:135.93, Y:-18.84, Z:-5.81 [[ 9.86551627e-01 1.60320484e-01 3.18312671e-02 1.35933533e+02] [-1.60227210e-01 9.87064968e-01 -5.47631749e-03 -1.88429893e+01] [-3.22974945e-02 3.02434801e-04 9.99478254e-01 -5.80527937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73587156000002 meters 0.015265118231235438 Centerline is valid? [True, True] Translation: X:135.96, Y:-18.85, Z:-5.81 [[ 9.86301499e-01 1.61688669e-01 3.26516000e-02 1.35961955e+02] [-1.61591329e-01 9.86841783e-01 -5.61581609e-03 -1.88462589e+01] [-3.31299770e-02 2.62672412e-04 9.99451017e-01 -5.80570073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76587156000002 meters 0.014132029530544078 Centerline is valid? [True, True] Translation: X:135.99, Y:-18.85, Z:-5.81 [[ 9.86157767e-01 1.62445517e-01 3.32312116e-02 1.35990673e+02] [-1.62345172e-01 9.86717486e-01 -5.71388812e-03 -1.88508864e+01] [-3.37180131e-02 2.39868366e-04 9.99431357e-01 -5.80521316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79587156000002 meters 0.014083977228347729 Centerline is valid? [True, True] Translation: X:136.02, Y:-18.86, Z:-5.81 [[ 9.86002119e-01 1.63339138e-01 3.34685893e-02 1.36017499e+02] [-1.63237922e-01 9.86569958e-01 -5.75315278e-03 -1.88571574e+01] [-3.39588198e-02 2.09277871e-04 9.99423211e-01 -5.80751263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82587156000002 meters 0.013783896204611481 Centerline is valid? [True, True] Translation: X:136.05, Y:-18.86, Z:-5.81 [[ 9.85895132e-01 1.63941258e-01 3.36757133e-02 1.36045543e+02] [-1.63839212e-01 9.86470085e-01 -5.78650797e-03 -1.88624123e+01] [-3.41687312e-02 1.87487698e-04 9.99416061e-01 -5.80825826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85587156000003 meters 0.01290348897899953 Centerline is valid? [True, True] Translation: X:136.07, Y:-18.87, Z:-5.81 [[ 9.85565008e-01 1.65843520e-01 3.40226527e-02 1.36073483e+02] [-1.65740546e-01 9.86152074e-01 -5.84460598e-03 -1.88654102e+01] [-3.45207996e-02 1.21306103e-04 9.99403972e-01 -5.80833224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88587156000003 meters 0.012340985784424234 Centerline is valid? [True, True] Translation: X:136.10, Y:-18.87, Z:-5.81 [[ 9.85426477e-01 1.66710445e-01 3.37977321e-02 1.36101990e+02] [-1.66609408e-01 9.86005892e-01 -5.80389201e-03 -1.88685287e+01] [-3.42923325e-02 8.82886956e-05 9.99411841e-01 -5.80891271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91587156000003 meters 0.01270742251426056 Centerline is valid? [True, True] Translation: X:136.13, Y:-18.87, Z:-5.81 [[ 9.85285603e-01 1.67632567e-01 3.33407253e-02 1.36129014e+02] [-1.67534824e-01 9.85849542e-01 -5.72390930e-03 -1.88724630e+01] [-3.38284523e-02 5.39528900e-05 9.99427653e-01 -5.81261743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94587156000003 meters 0.013024881205810478 Centerline is valid? [True, True] Translation: X:136.16, Y:-18.87, Z:-5.82 [[ 9.85003813e-01 1.69502031e-01 3.21954882e-02 1.36156476e+02] [-1.69411952e-01 9.85529838e-01 -5.52533083e-03 -1.88749679e+01] [-3.26661690e-02 -1.18285598e-05 9.99466318e-01 -5.81577543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97587156000003 meters 0.013350821216871776 Centerline is valid? [True, True] Translation: X:136.18, Y:-18.88, Z:-5.82 [[ 9.84837601e-01 1.70517780e-01 3.19153001e-02 1.36184096e+02] [-1.70429855e-01 9.85354598e-01 -5.47540631e-03 -1.88782599e+01] [-3.23815418e-02 -4.69339389e-05 9.99475579e-01 -5.81807738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00587156000003 meters 0.02254042122362676 Centerline is valid? [True, True] Translation: X:136.21, Y:-18.88, Z:-5.82 [[ 9.84684997e-01 1.71402579e-01 3.18843687e-02 1.36212233e+02] [-1.71315352e-01 9.85201071e-01 -5.46811007e-03 -1.88819524e+01] [-3.23497623e-02 -7.79158889e-05 9.99476606e-01 -5.81932790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03587156000003 meters 0.014302847652867203 Centerline is valid? [True, True] Translation: X:136.24, Y:-18.88, Z:-5.82 [[ 9.84432246e-01 1.72842748e-01 3.19145277e-02 1.36240099e+02] [-1.72756156e-01 9.84949424e-01 -5.47194233e-03 -1.88838593e+01] [-3.23799812e-02 -1.26674653e-04 9.99475623e-01 -5.82057578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06587156000003 meters 0.01471640189666791 Centerline is valid? [True, True] Translation: X:136.27, Y:-18.89, Z:-5.82 [[ 9.84312413e-01 1.73558414e-01 3.17261685e-02 1.36268736e+02] [-1.73473276e-01 9.84823565e-01 -5.43768721e-03 -1.88871232e+01] [-3.21884348e-02 -1.51259359e-04 9.99481807e-01 -5.82241589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09587156000003 meters 0.022751891698843476 Centerline is valid? [True, True] Translation: X:136.30, Y:-18.89, Z:-5.82 [[ 9.84222779e-01 1.74113796e-01 3.14628082e-02 1.36297007e+02] [-1.74030394e-01 9.84725524e-01 -5.39115501e-03 -1.88917557e+01] [-3.19209047e-02 -1.69387335e-04 9.99490384e-01 -5.82186456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12587156000004 meters 0.016895058559686458 Centerline is valid? [True, True] Translation: X:136.33, Y:-18.90, Z:-5.82 [[ 9.84127685e-01 1.74649581e-01 3.14678179e-02 1.36325035e+02] [-1.74566471e-01 9.84630636e-01 -5.39062853e-03 -1.88953399e+01] [-3.19256485e-02 -1.88159133e-04 9.99490229e-01 -5.82395029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15587156000004 meters 0.016585431604162298 Centerline is valid? [True, True] Translation: X:136.35, Y:-18.90, Z:-5.83 [[ 9.83969470e-01 1.75530651e-01 3.15130551e-02 1.36353216e+02] [-1.75447815e-01 9.84473942e-01 -5.39644610e-03 -1.88966941e+01] [-3.19710233e-02 -2.18958457e-04 9.99488772e-01 -5.82769372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18587156000004 meters 0.0153181360575453 Centerline is valid? [True, True] Translation: X:136.38, Y:-18.90, Z:-5.83 [[ 9.83936706e-01 1.75637575e-01 3.19374409e-02 1.36381307e+02] [-1.75552616e-01 9.84454870e-01 -5.46703030e-03 -1.89021453e+01] [-3.24011852e-02 -2.27489524e-04 9.99474918e-01 -5.82592897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21587156 meters 0.02307128412616028 Centerline is valid? [True, True] Translation: X:136.41, Y:-18.91, Z:-5.83 [[ 9.83991808e-01 1.75246772e-01 3.23834988e-02 1.36409473e+02] [-1.75159263e-01 9.84524515e-01 -5.54179181e-03 -1.89072888e+01] [-3.28535296e-02 -2.19192052e-04 9.99460153e-01 -5.82564535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24587156 meters 0.029251826025758362 Centerline is valid? [True, True] Translation: X:136.44, Y:-18.91, Z:-5.83 [[ 9.84107318e-01 1.74574743e-01 3.25030184e-02 1.36438148e+02] [-1.74486274e-01 9.84643905e-01 -5.56064328e-03 -1.89126356e+01] [-3.29746469e-02 -1.99060832e-04 9.99456169e-01 -5.82607903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27587156 meters 0.022559101312698036 Centerline is valid? [True, True] Translation: X:136.47, Y:-18.92, Z:-5.83 [[ 9.84403368e-01 1.72783154e-01 3.31057546e-02 1.36465139e+02] [-1.72690411e-01 9.84959878e-01 -5.66221977e-03 -1.89179590e+01] [-3.35861762e-02 -1.43138167e-04 9.99435815e-01 -5.82718373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30587156 meters 0.013109341768693444 Centerline is valid? [True, True] Translation: X:136.49, Y:-18.92, Z:-5.83 [[ 9.84603593e-01 1.71531069e-01 3.36579495e-02 1.36492163e+02] [-1.71434546e-01 9.85178705e-01 -5.75456284e-03 -1.89230054e+01] [-3.41461814e-02 -1.04172023e-04 9.99416844e-01 -5.82806125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33587156000002 meters 0.0186833413592109 Centerline is valid? [True, True] Translation: X:136.52, Y:-18.93, Z:-5.83 [[ 9.84800930e-01 1.70338773e-01 3.39386229e-02 1.36520728e+02] [-1.70240006e-01 9.85385558e-01 -5.80019536e-03 -1.89293262e+01] [-3.44306270e-02 -6.56735611e-05 9.99407088e-01 -5.82850911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36587156000002 meters 0.012298173917324552 Centerline is valid? [True, True] Translation: X:136.55, Y:-18.94, Z:-5.83 [[ 9.85316964e-01 1.67397578e-01 3.35936143e-02 1.36548260e+02] [-1.67299153e-01 9.85889471e-01 -5.73965438e-03 -1.89385685e+01] [-3.40803948e-02 3.51956002e-05 9.99419094e-01 -5.83089769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39587156000002 meters 0.023468393336033278 Centerline is valid? [True, True] Translation: X:136.58, Y:-18.95, Z:-5.83 [[ 9.85625223e-01 1.65665594e-01 3.31335366e-02 1.36576392e+02] [-1.65568922e-01 9.86181982e-01 -5.65947426e-03 -1.89459126e+01] [-3.36132770e-02 9.22366302e-05 9.99434910e-01 -5.83233494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42587156000002 meters 0.013352176676244878 Centerline is valid? [True, True] Translation: X:136.60, Y:-18.95, Z:-5.83 [[ 9.85905363e-01 1.63931164e-01 3.34243823e-02 1.36603479e+02] [-1.63831839e-01 9.86471769e-01 -5.70769840e-03 -1.89526420e+01] [-3.39078792e-02 1.51272417e-04 9.99424951e-01 -5.83453828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45587156000002 meters 0.013994302710628476 Centerline is valid? [True, True] Translation: X:136.63, Y:-18.96, Z:-5.84 [[ 9.86178588e-01 1.62266217e-01 3.34883091e-02 1.36631197e+02] [-1.62165634e-01 9.86746995e-01 -5.71622463e-03 -1.89590471e+01] [-3.39720385e-02 2.06565473e-04 9.99422762e-01 -5.83549393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48587156000002 meters 0.02017571387831597 Centerline is valid? [True, True] Translation: X:136.66, Y:-18.97, Z:-5.84 [[ 9.86727697e-01 1.58797315e-01 3.39391438e-02 1.36658072e+02] [-1.58692013e-01 9.87311149e-01 -5.79138909e-03 -1.89715818e+01] [-3.44281521e-02 3.28652961e-04 9.99407121e-01 -5.83905380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51587156000002 meters 0.01673627403844706 Centerline is valid? [True, True] Translation: X:136.69, Y:-18.98, Z:-5.84 [[ 9.86906178e-01 1.57557128e-01 3.45245738e-02 1.36687968e+02] [-1.57447451e-01 9.87509802e-01 -5.88991233e-03 -1.89752653e+01] [-3.50213527e-02 3.76984743e-04 9.99386493e-01 -5.83625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54587156000002 meters 0.028092920853958588 Centerline is valid? [True, True] Translation: X:136.72, Y:-18.98, Z:-5.84 [[ 9.87105716e-01 1.56370289e-01 3.42145828e-02 1.36715885e+02] [-1.56261884e-01 9.87698416e-01 -5.83632618e-03 -1.89831121e+01] [-3.47063172e-02 4.14635761e-04 9.99397468e-01 -5.83814082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57587156000002 meters 0.03255550081581808 Centerline is valid? [True, True] Translation: X:136.75, Y:-18.99, Z:-5.84 [[ 9.87225485e-01 1.55628278e-01 3.41420723e-02 1.36745177e+02] [-1.55519936e-01 9.87815594e-01 -5.82258662e-03 -1.89890679e+01] [-3.46322305e-02 4.38432999e-04 9.99400028e-01 -5.83898233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60587156000003 meters 0.02877453428077222 Centerline is valid? [True, True] Translation: X:136.77, Y:-19.00, Z:-5.84 [[ 9.87360777e-01 1.54738835e-01 3.42722814e-02 1.36774687e+02] [-1.54629167e-01 9.87955298e-01 -5.84371712e-03 -1.89967472e+01] [-3.47637320e-02 4.70362739e-04 9.99395448e-01 -5.84103946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63587156000003 meters 0.02114763356973897 Centerline is valid? [True, True] Translation: X:136.80, Y:-19.00, Z:-5.84 [[ 9.87421308e-01 1.54329824e-01 3.43724706e-02 1.36804263e+02] [-1.54219266e-01 9.88019266e-01 -5.86080024e-03 -1.90028259e+01] [-3.48651595e-02 4.86181852e-04 9.99391907e-01 -5.84276223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66587156000003 meters 0.02566576636581905 Centerline is valid? [True, True] Translation: X:136.83, Y:-19.01, Z:-5.84 [[ 9.87478639e-01 1.54022986e-01 3.41007002e-02 1.36833240e+02] [-1.53913991e-01 9.88067142e-01 -5.81435494e-03 -1.90091983e+01] [-3.45893257e-02 4.92976447e-04 9.99401489e-01 -5.84467569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69587156000003 meters 0.0213324227724911 Centerline is valid? [True, True] Translation: X:136.86, Y:-19.02, Z:-5.85 [[ 9.87671110e-01 1.53030007e-01 3.29787001e-02 1.36862926e+02] [-1.52927500e-01 9.88221410e-01 -5.62349051e-03 -1.90167805e+01] [-3.34508203e-02 5.10808955e-04 9.99440234e-01 -5.84919101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72587156000003 meters 0.03194147547090822 Centerline is valid? [True, True] Translation: X:136.89, Y:-19.02, Z:-5.85 [[ 9.87794005e-01 1.52248298e-01 3.29159549e-02 1.36892230e+02] [-1.52145747e-01 9.88342131e-01 -5.61279127e-03 -1.90243060e+01] [-3.33867629e-02 5.36259017e-04 9.99442363e-01 -5.85076868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75587156000003 meters 0.02289122294983332 Centerline is valid? [True, True] Translation: X:136.92, Y:-19.03, Z:-5.85 [[ 9.87870125e-01 1.51628645e-01 3.34868568e-02 1.36920436e+02] [-1.51522145e-01 9.88437369e-01 -5.71027009e-03 -1.90319482e+01] [-3.39655012e-02 5.67004871e-04 9.99422845e-01 -5.85214153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78587156000003 meters 0.02151494948303696 Centerline is valid? [True, True] Translation: X:136.95, Y:-19.04, Z:-5.85 [[ 9.87930778e-01 1.51088498e-01 3.41327237e-02 1.36950368e+02] [-1.50977545e-01 9.88520061e-01 -5.81986869e-03 -1.90363671e+01] [-3.46201973e-02 5.96352581e-04 9.99400363e-01 -5.85074939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81587156000003 meters 0.02151494948303696 Centerline is valid? [True, True] Translation: X:136.98, Y:-19.04, Z:-5.85 [[ 9.87927130e-01 1.51112345e-01 3.41327660e-02 1.36980734e+02] [-1.51001415e-01 9.88516416e-01 -5.81962069e-03 -1.90415880e+01] [-3.46202161e-02 5.95265203e-04 9.99400363e-01 -5.85213840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84587156000003 meters 0.035006173622895306 Centerline is valid? [True, True] Translation: X:137.01, Y:-19.05, Z:-5.85 [[ 9.88004670e-01 1.50451936e-01 3.47992279e-02 1.37010651e+02] [-1.50336235e-01 9.88617124e-01 -5.93283443e-03 -1.90524874e+01] [-3.52957190e-02 6.30083216e-04 9.99376713e-01 -5.85218525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87587156000004 meters 0.022328496597610163 Centerline is valid? [True, True] Translation: X:137.04, Y:-19.06, Z:-5.85 [[ 9.87979563e-01 1.50438270e-01 3.55627718e-02 1.37042606e+02] [-1.50317217e-01 9.88619191e-01 -6.06877985e-03 -1.90572608e+01] [-3.60710154e-02 6.50133590e-04 9.99349018e-01 -5.85242111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90587156000004 meters 0.0246231506399824 Centerline is valid? [True, True] Translation: X:137.07, Y:-19.07, Z:-5.85 [[ 9.87935233e-01 1.50693794e-01 3.57121148e-02 1.37073327e+02] [-1.50571659e-01 9.88580274e-01 -6.10059734e-03 -1.90650176e+01] [-3.62236144e-02 6.49762687e-04 9.99343498e-01 -5.85393722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93587156000004 meters 0.022098778945571256 Centerline is valid? [True, True] Translation: X:137.11, Y:-19.07, Z:-5.86 [[ 9.87841172e-01 1.51274477e-01 3.58587773e-02 1.37105052e+02] [-1.51151512e-01 9.88491592e-01 -6.13131365e-03 -1.90702073e+01] [-3.63736112e-02 6.36655650e-04 9.99338058e-01 -5.85532848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96587156 meters 0.021126721392063747 Centerline is valid? [True, True] Translation: X:137.14, Y:-19.08, Z:-5.86 [[ 9.87636274e-01 1.52673359e-01 3.55729502e-02 1.37135633e+02] [-1.52553013e-01 9.88276531e-01 -6.08913987e-03 -1.90763222e+01] [-3.60855612e-02 5.87094704e-04 9.99348532e-01 -5.85746433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99587156 meters 0.03308801338654517 Centerline is valid? [True, True] Translation: X:137.17, Y:-19.08, Z:-5.86 [[ 9.87431910e-01 1.53985300e-01 3.55914429e-02 1.37166609e+02] [-1.53865576e-01 9.88072990e-01 -6.09517747e-03 -1.90827791e+01] [-3.61055111e-02 5.42274853e-04 9.99347836e-01 -5.85875209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02587156 meters 0.019761088878293375 Centerline is valid? [True, True] Translation: X:137.20, Y:-19.09, Z:-5.86 [[ 9.87218194e-01 1.55194947e-01 3.62596891e-02 1.37196338e+02] [-1.55071219e-01 9.87883730e-01 -6.21721343e-03 -1.90882862e+01] [-3.67852370e-02 5.14912033e-04 9.99323061e-01 -5.86075859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05587156 meters 0.018068075974502825 Centerline is valid? [True, True] Translation: X:137.23, Y:-19.09, Z:-5.86 [[ 9.86958633e-01 1.56836048e-01 3.62644633e-02 1.37227946e+02] [-1.56713385e-01 9.87624548e-01 -6.21827318e-03 -1.90925967e+01] [-3.67909236e-02 4.54051575e-04 9.99322882e-01 -5.86153019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08587156000002 meters 0.020680200131162767 Centerline is valid? [True, True] Translation: X:137.26, Y:-19.09, Z:-5.86 [[ 9.86282394e-01 1.61199334e-01 3.55220232e-02 1.37257911e+02] [-1.61084414e-01 9.86921827e-01 -6.09253639e-03 -1.90943802e+01] [-3.60395729e-02 2.86917080e-04 9.99350322e-01 -5.86366100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11587156000002 meters 0.024037945520218297 Centerline is valid? [True, True] Translation: X:137.29, Y:-19.10, Z:-5.87 [[ 9.85906944e-01 1.63567652e-01 3.51158121e-02 1.37287542e+02] [-1.63456840e-01 9.86532100e-01 -6.02308525e-03 -1.90972468e+01] [-3.56280577e-02 1.98281889e-04 9.99365100e-01 -5.86576124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14587156000002 meters 0.012638690844534742 Centerline is valid? [True, True] Translation: X:137.32, Y:-19.10, Z:-5.87 [[ 9.85537508e-01 1.65793958e-01 3.50454419e-02 1.37317220e+02] [-1.65685026e-01 9.86160408e-01 -6.01018734e-03 -1.90999796e+01] [-3.55568801e-02 1.16760087e-04 9.99367647e-01 -5.86886351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17587156000002 meters 0.01217231960504779 Centerline is valid? [True, True] Translation: X:137.35, Y:-19.10, Z:-5.87 [[ 9.85213917e-01 1.67694311e-01 3.51020784e-02 1.37347099e+02] [-1.67586262e-01 9.85839042e-01 -6.01906167e-03 -1.91031840e+01] [-3.56143617e-02 4.74372318e-05 9.99365606e-01 -5.87011186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20587156000002 meters 0.011964044010167011 Centerline is valid? [True, True] Translation: X:137.38, Y:-19.10, Z:-5.87 [[ 9.84637191e-01 1.70865052e-01 3.59824416e-02 1.37376277e+02] [-1.70753653e-01 9.85294438e-01 -6.16934307e-03 -1.91042265e+01] [-3.65074247e-02 -6.95687332e-05 9.99333379e-01 -5.86951862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23587156000002 meters 0.012247798667507168 Centerline is valid? [True, True] Translation: X:137.40, Y:-19.11, Z:-5.87 [[ 9.84437393e-01 1.71928126e-01 3.63832327e-02 1.37403854e+02] [-1.71815020e-01 9.85109490e-01 -6.23634949e-03 -1.91077684e+01] [-3.69136717e-02 -1.11890222e-04 9.99318452e-01 -5.87023880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26587156000002 meters 0.0233247214898056 Centerline is valid? [True, True] Translation: X:137.43, Y:-19.11, Z:-5.87 [[ 9.84303426e-01 1.72659199e-01 3.65454067e-02 1.37432695e+02] [-1.72545676e-01 9.84981614e-01 -6.26171256e-03 -1.91118189e+01] [-3.70776960e-02 -1.42326776e-04 9.99312376e-01 -5.87189522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29587156000002 meters 0.0126626252316173 Centerline is valid? [True, True] Translation: X:137.46, Y:-19.12, Z:-5.87 [[ 9.84257239e-01 1.72871586e-01 3.67845355e-02 1.37461103e+02] [-1.72756767e-01 9.84944360e-01 -6.30143287e-03 -1.91159753e+01] [-3.73200594e-02 -1.52546494e-04 9.99303352e-01 -5.87285240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32587156000002 meters 0.012926524795596413 Centerline is valid? [True, True] Translation: X:137.49, Y:-19.12, Z:-5.88 [[ 9.84270596e-01 1.72821163e-01 3.66638645e-02 1.37488484e+02] [-1.72707122e-01 9.84953208e-01 -6.27910243e-03 -1.91202725e+01] [-3.71973528e-02 -1.51774651e-04 9.99307927e-01 -5.87568150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35587156000003 meters 0.012559016276434586 Centerline is valid? [True, True] Translation: X:137.52, Y:-19.13, Z:-5.88 [[ 9.84358821e-01 1.72366207e-01 3.64362745e-02 1.37516284e+02] [-1.72253350e-01 9.85032930e-01 -6.23788154e-03 -1.91262660e+01] [-3.69661302e-02 -1.35956612e-04 9.99316510e-01 -5.87648742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38587156000003 meters 0.01279680013910773 Centerline is valid? [True, True] Translation: X:137.54, Y:-19.13, Z:-5.88 [[ 9.84459237e-01 1.71943020e-01 3.57156670e-02 1.37543994e+02] [-1.71834371e-01 9.85106889e-01 -6.11272044e-03 -1.91314799e+01] [-3.62347892e-02 -1.19455057e-04 9.99343297e-01 -5.88001211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41587156000003 meters 0.012620066865912022 Centerline is valid? [True, True] Translation: X:137.57, Y:-19.14, Z:-5.88 [[ 9.84506484e-01 1.71790366e-01 3.51433248e-02 1.37572091e+02] [-1.71685116e-01 9.85133523e-01 -6.01363474e-03 -1.91367211e+01] [-3.56539519e-02 -1.13123391e-04 9.99364189e-01 -5.88170333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44587156000003 meters 0.01495375735051894 Centerline is valid? [True, True] Translation: X:137.60, Y:-19.14, Z:-5.88 [[ 9.84476235e-01 1.71972892e-01 3.50979714e-02 1.37601085e+02] [-1.71868090e-01 9.85101675e-01 -6.00417882e-03 -1.91410380e+01] [-3.56076264e-02 -1.21249950e-04 9.99365840e-01 -5.88256569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47587156000003 meters 0.012712227184821808 Centerline is valid? [True, True] Translation: X:137.63, Y:-19.14, Z:-5.88 [[ 9.84437099e-01 1.72052964e-01 3.57963066e-02 1.37628956e+02] [-1.71944061e-01 9.85087692e-01 -6.12197856e-03 -1.91449202e+01] [-3.63158057e-02 -1.28259529e-04 9.99340355e-01 -5.88318091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50587156000003 meters 0.012935060636793828 Centerline is valid? [True, True] Translation: X:137.66, Y:-19.15, Z:-5.88 [[ 9.84381356e-01 1.72278545e-01 3.62415291e-02 1.37656340e+02] [-1.72167150e-01 9.85048264e-01 -6.19591898e-03 -1.91480429e+01] [-3.67670792e-02 -1.40453639e-04 9.99323852e-01 -5.88411511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53587156000003 meters 0.021832353425763066 Centerline is valid? [True, True] Translation: X:137.69, Y:-19.15, Z:-5.88 [[ 9.84294001e-01 1.72678210e-01 3.67090514e-02 1.37685321e+02] [-1.72564285e-01 9.84978279e-01 -6.27353604e-03 -1.91505577e+01] [-3.72409213e-02 -1.59667328e-04 9.99306304e-01 -5.88328208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56587156000003 meters 0.012486243720453555 Centerline is valid? [True, True] Translation: X:137.71, Y:-19.15, Z:-5.89 [[ 9.84367654e-01 1.72220459e-01 3.68840691e-02 1.37713489e+02] [-1.72105189e-01 9.85058421e-01 -6.30168552e-03 -1.91543647e+01] [-3.74182420e-02 -1.44764291e-04 9.99299682e-01 -5.88510020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59587156000003 meters 0.018538939161163004 Centerline is valid? [True, True] Translation: X:137.74, Y:-19.16, Z:-5.89 [[ 9.84474002e-01 1.71723904e-01 3.63571251e-02 1.37741376e+02] [-1.71611631e-01 9.85145109e-01 -6.20992896e-03 -1.91596509e+01] [-3.68834372e-02 -1.25791920e-04 9.99319567e-01 -5.88663495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62587156000004 meters 0.012153889083343491 Centerline is valid? [True, True] Translation: X:137.77, Y:-19.17, Z:-5.89 [[ 9.84675152e-01 1.70598669e-01 3.62068841e-02 1.37768985e+02] [-1.70486626e-01 9.85340594e-01 -6.18252265e-03 -1.91655634e+01] [-3.67308429e-02 -8.50130745e-05 9.99325191e-01 -5.88977225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65587156000004 meters 0.02329504566572385 Centerline is valid? [True, True] Translation: X:137.80, Y:-19.17, Z:-5.89 [[ 9.85226974e-01 1.67497273e-01 3.56717328e-02 1.37797897e+02] [-1.67386553e-01 9.85872539e-01 -6.08925744e-03 -1.91741721e+01] [-3.61877158e-02 2.83322932e-05 9.99345010e-01 -5.89042831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68587156000004 meters 0.012382144288328326 Centerline is valid? [True, True] Translation: X:137.83, Y:-19.18, Z:-5.89 [[ 9.85604249e-01 1.65275748e-01 3.56116747e-02 1.37826498e+02] [-1.65163986e-01 9.86247391e-01 -6.07801887e-03 -1.91820685e+01] [-3.61264703e-02 1.08755070e-04 9.99347220e-01 -5.89305556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71587156 meters 0.013456269072621064 Centerline is valid? [True, True] Translation: X:137.86, Y:-19.19, Z:-5.89 [[ 9.86023085e-01 1.62758849e-01 3.56094608e-02 1.37856154e+02] [-1.62645479e-01 9.86665859e-01 -6.07709758e-03 -1.91914299e+01] [-3.61237406e-02 2.00440688e-04 9.99347305e-01 -5.89482375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74587156 meters 0.015027917426974532 Centerline is valid? [True, True] Translation: X:137.89, Y:-19.20, Z:-5.90 [[ 9.86424332e-01 1.60321177e-01 3.55550016e-02 1.37885768e+02] [-1.60206571e-01 9.87064859e-01 -6.06780359e-03 -1.92006952e+01] [-3.60678900e-02 2.89284221e-04 9.99349300e-01 -5.89603599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77587156 meters 0.01628728049391659 Centerline is valid? [True, True] Translation: X:137.92, Y:-19.21, Z:-5.90 [[ 9.86775472e-01 1.58122370e-01 3.56578645e-02 1.37915673e+02] [-1.58005668e-01 9.87419454e-01 -6.08525124e-03 -1.92084879e+01] [-3.61714835e-02 3.70631965e-04 9.99345529e-01 -5.89674616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80587156 meters 0.019197078240497715 Centerline is valid? [True, True] Translation: X:137.95, Y:-19.22, Z:-5.90 [[ 9.87239587e-01 1.55281013e-01 3.52959710e-02 1.37945008e+02] [-1.55164860e-01 9.87870228e-01 -6.02325536e-03 -1.92183942e+01] [-3.58031361e-02 4.69701733e-04 9.99358752e-01 -5.89873246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83587156000002 meters 0.024461522282342756 Centerline is valid? [True, True] Translation: X:137.98, Y:-19.23, Z:-5.90 [[ 9.87343941e-01 1.54653781e-01 3.51304688e-02 1.37975181e+02] [-1.54538193e-01 9.87968605e-01 -5.99855226e-03 -1.92251948e+01] [-3.56354990e-02 4.93635073e-04 9.99364732e-01 -5.89933132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86587156000002 meters 0.02044122844182676 Centerline is valid? [True, True] Translation: X:138.01, Y:-19.23, Z:-5.90 [[ 9.87326068e-01 1.54738672e-01 3.52587339e-02 1.38005870e+02] [-1.54622304e-01 9.87955313e-01 -6.02010616e-03 -1.92313535e+01] [-3.57655967e-02 4.92021065e-04 9.99360085e-01 -5.90145589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89587156000002 meters 0.029220226112261098 Centerline is valid? [True, True] Translation: X:138.04, Y:-19.24, Z:-5.90 [[ 9.87207757e-01 1.55380463e-01 3.57457119e-02 1.38037020e+02] [-1.55261033e-01 9.87854584e-01 -6.11000379e-03 -1.92354956e+01] [-3.62609406e-02 4.81926981e-04 9.99342240e-01 -5.90100602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92587156000002 meters 0.017904009500302666 Centerline is valid? [True, True] Translation: X:138.07, Y:-19.24, Z:-5.90 [[ 9.86871047e-01 1.57396468e-01 3.62199889e-02 1.38067765e+02] [-1.57275167e-01 9.87535407e-01 -6.19204223e-03 -1.92375672e+01] [-3.67431271e-02 4.14242377e-04 9.99324657e-01 -5.90223676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95587156000002 meters 0.01583514212713774 Centerline is valid? [True, True] Translation: X:138.10, Y:-19.24, Z:-5.90 [[ 9.86647949e-01 1.58701547e-01 3.66011532e-02 1.38099728e+02] [-1.58578564e-01 9.87326533e-01 -6.25754323e-03 -1.92394429e+01] [-3.71303715e-02 3.69833862e-04 9.99310362e-01 -5.90146396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98587156000002 meters 0.01468511448683886 Centerline is valid? [True, True] Translation: X:138.13, Y:-19.24, Z:-5.90 [[ 9.86415877e-01 1.59968999e-01 3.73314508e-02 1.38131103e+02] [-1.59841929e-01 9.87121984e-01 -6.38332699e-03 -1.92422597e+01] [-3.78718302e-02 3.29483963e-04 9.99282551e-01 -5.90175228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01587156000002 meters 0.013099656759493926 Centerline is valid? [True, True] Translation: X:138.16, Y:-19.24, Z:-5.90 [[ 9.86035144e-01 1.62141064e-01 3.80127712e-02 1.38161463e+02] [-1.62010879e-01 9.86767557e-01 -6.50100643e-03 -1.92421494e+01] [-3.85638495e-02 2.51738323e-04 9.99256106e-01 -5.90142753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04587156000002 meters 0.012678087737653857 Centerline is valid? [True, True] Translation: X:138.19, Y:-19.25, Z:-5.90 [[ 9.85960438e-01 1.62499091e-01 3.84195362e-02 1.38191646e+02] [-1.62366397e-01 9.86708664e-01 -6.57002703e-03 -1.92458532e+01] [-3.89765127e-02 2.39745042e-04 9.99240098e-01 -5.90231297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07587156000002 meters 0.013031041831877475 Centerline is valid? [True, True] Translation: X:138.22, Y:-19.25, Z:-5.90 [[ 9.85982729e-01 1.62329222e-01 3.85652819e-02 1.38221487e+02] [-1.62195392e-01 9.86736623e-01 -6.59487883e-03 -1.92521904e+01] [-3.91243176e-02 2.47325620e-04 9.99234320e-01 -5.90434138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10587156000003 meters 0.023017114014966058 Centerline is valid? [True, True] Translation: X:138.25, Y:-19.26, Z:-5.91 [[ 9.86070616e-01 1.61880268e-01 3.82036411e-02 1.38250744e+02] [-1.61748582e-01 9.86810372e-01 -6.53350431e-03 -1.92596583e+01] [-3.87573947e-02 2.63111845e-04 9.99248615e-01 -5.90576293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13587156000003 meters 0.028121082418580058 Centerline is valid? [True, True] Translation: X:138.28, Y:-19.27, Z:-5.91 [[ 9.86327705e-01 1.60448065e-01 3.76042102e-02 1.38281736e+02] [-1.60319427e-01 9.87044234e-01 -6.43134344e-03 -1.92669041e+01] [-3.81489155e-02 3.14726794e-04 9.99272016e-01 -5.90681479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16587156000003 meters 0.014821612037588196 Centerline is valid? [True, True] Translation: X:138.31, Y:-19.27, Z:-5.91 [[ 9.86420129e-01 1.59826779e-01 3.78249991e-02 1.38311452e+02] [-1.59696129e-01 9.87145017e-01 -6.47013711e-03 -1.92722475e+01] [-3.83728605e-02 3.41767558e-04 9.99263432e-01 -5.90955171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19587156000003 meters 0.01474442421578067 Centerline is valid? [True, True] Translation: X:138.34, Y:-19.28, Z:-5.91 [[ 9.86434029e-01 1.59728650e-01 3.78769767e-02 1.38342044e+02] [-1.59597552e-01 9.87160898e-01 -6.47941952e-03 -1.92768801e+01] [-3.84256192e-02 3.46447143e-04 9.99261403e-01 -5.91036704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22587156000003 meters 0.015070752058351043 Centerline is valid? [True, True] Translation: X:138.37, Y:-19.28, Z:-5.91 [[ 9.86382913e-01 1.60066688e-01 3.77810072e-02 1.38371780e+02] [-1.59936464e-01 9.87106146e-01 -6.46400082e-03 -1.92825435e+01] [-3.83285357e-02 3.33419245e-04 9.99265136e-01 -5.91290832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25587156000003 meters 0.014075490062497606 Centerline is valid? [True, True] Translation: X:138.40, Y:-19.29, Z:-5.91 [[ 9.86218230e-01 1.61136651e-01 3.75310979e-02 1.38402129e+02] [-1.61008899e-01 9.86932062e-01 -6.42177836e-03 -1.92853358e+01] [-3.80754277e-02 2.90434146e-04 9.99274826e-01 -5.91392010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28587156000003 meters 0.012989658476062729 Centerline is valid? [True, True] Translation: X:138.43, Y:-19.29, Z:-5.91 [[ 9.86078210e-01 1.61986856e-01 3.75502495e-02 1.38432359e+02] [-1.61859590e-01 9.86792882e-01 -6.42505531e-03 -1.92877738e+01] [-3.80950934e-02 2.57739067e-04 9.99274085e-01 -5.91446203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31587156000003 meters 0.012739166766547473 Centerline is valid? [True, True] Translation: X:138.46, Y:-19.29, Z:-5.92 [[ 9.85933252e-01 1.63122774e-01 3.64222986e-02 1.38461458e+02] [-1.63003812e-01 9.86605756e-01 -6.23215532e-03 -1.92903016e+01] [-3.69510559e-02 2.07515633e-04 9.99317055e-01 -5.91763286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34587156000003 meters 0.012687551087012087 Centerline is valid? [True, True] Translation: X:138.49, Y:-19.29, Z:-5.92 [[ 9.85899427e-01 1.63337602e-01 3.63750847e-02 1.38489870e+02] [-1.63219108e-01 9.86570214e-01 -6.22372165e-03 -1.92943823e+01] [-3.69031428e-02 1.98854745e-04 9.99318827e-01 -5.91926141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37587156000004 meters 0.012890061111959566 Centerline is valid? [True, True] Translation: X:138.52, Y:-19.30, Z:-5.92 [[ 9.85950172e-01 1.62963437e-01 3.66766503e-02 1.38519413e+02] [-1.62842743e-01 9.86632086e-01 -6.27442133e-03 -1.92997812e+01] [-3.72088612e-02 2.13740438e-04 9.99307488e-01 -5.92038325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40587156000004 meters 0.013385429795766854 Centerline is valid? [True, True] Translation: X:138.55, Y:-19.31, Z:-5.92 [[ 9.86066399e-01 1.62188160e-01 3.69872597e-02 1.38548423e+02] [-1.62064904e-01 9.86759819e-01 -6.32656996e-03 -1.93067145e+01] [-3.75236364e-02 2.44081361e-04 9.99295711e-01 -5.92190761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43587156000004 meters 0.02539868189779022 Centerline is valid? [True, True] Translation: X:138.58, Y:-19.32, Z:-5.92 [[ 9.86564595e-01 1.59241559e-01 3.65024059e-02 1.38577949e+02] [-1.59119525e-01 9.87239587e-01 -6.24291943e-03 -1.93175866e+01] [-3.70307524e-02 3.50797789e-04 9.99314065e-01 -5.92315466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46587156 meters 0.017663389178019916 Centerline is valid? [True, True] Translation: X:138.61, Y:-19.33, Z:-5.93 [[ 9.86880078e-01 1.57299455e-01 3.63949570e-02 1.38607035e+02] [-1.57176782e-01 9.87550860e-01 -6.22552658e-03 -1.93277098e+01] [-3.69211430e-02 4.23405940e-04 9.99318092e-01 -5.92658364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49587156 meters 0.019009090028764587 Centerline is valid? [True, True] Translation: X:138.64, Y:-19.34, Z:-5.93 [[ 9.87171796e-01 1.55386555e-01 3.66996506e-02 1.38638308e+02] [-1.55260524e-01 9.87853618e-01 -6.27689973e-03 -1.93380131e+01] [-3.72292284e-02 4.98371399e-04 9.99306628e-01 -5.92730444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52587156 meters 0.020652170613765824 Centerline is valid? [True, True] Translation: X:138.67, Y:-19.35, Z:-5.93 [[ 9.87478304e-01 1.53427566e-01 3.66957995e-02 1.38669059e+02] [-1.53299981e-01 9.88159728e-01 -6.28238712e-03 -1.93484082e+01] [-3.72252026e-02 5.78255627e-04 9.99306735e-01 -5.92873550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55587156 meters 0.024608592646200286 Centerline is valid? [True, True] Translation: X:138.70, Y:-19.36, Z:-5.93 [[ 9.87990570e-01 1.50297689e-01 3.58502179e-02 1.38697931e+02] [-1.50173616e-01 9.88640548e-01 -6.14424672e-03 -1.93625831e+01] [-3.63664451e-02 6.86700964e-04 9.99338286e-01 -5.93193483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58587156000002 meters 0.026368448848436154 Centerline is valid? [True, True] Translation: X:138.73, Y:-19.37, Z:-5.93 [[ 9.88145547e-01 1.49290678e-01 3.57864592e-02 1.38727670e+02] [-1.49166294e-01 9.88793087e-01 -6.13585631e-03 -1.93722555e+01] [-3.63014296e-02 7.24985590e-04 9.99340623e-01 -5.93345691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61587156000002 meters 0.03588256638127322 Centerline is valid? [True, True] Translation: X:138.76, Y:-19.38, Z:-5.93 [[ 9.88186274e-01 1.49002315e-01 3.58636083e-02 1.38759352e+02] [-1.48877011e-01 9.88836568e-01 -6.15440106e-03 -1.93787561e+01] [-3.63802674e-02 7.42427841e-04 9.99337743e-01 -5.93263149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64587156000002 meters 0.03410942468649589 Centerline is valid? [True, True] Translation: X:138.79, Y:-19.39, Z:-5.93 [[ 9.88131601e-01 1.49414931e-01 3.56527435e-02 1.38789530e+02] [-1.49291149e-01 9.88774316e-01 -6.12418890e-03 -1.93910220e+01] [-3.61675623e-02 7.28865530e-04 9.99345474e-01 -5.93497189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67587156000002 meters 0.023466980069981196 Centerline is valid? [True, True] Translation: X:138.82, Y:-19.39, Z:-5.94 [[ 9.87952334e-01 1.50581945e-01 3.57108332e-02 1.38821511e+02] [-1.50458280e-01 9.88597287e-01 -6.14080461e-03 -1.93948999e+01] [-3.62283272e-02 6.93831689e-04 9.99343298e-01 -5.93593050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70587156000002 meters 0.023466980069981196 Centerline is valid? [True, True] Translation: X:138.85, Y:-19.40, Z:-5.94 [[ 9.87923475e-01 1.50771398e-01 3.57098393e-02 1.38853505e+02] [-1.50647648e-01 9.88568412e-01 -6.14657859e-03 -1.94005848e+01] [-3.62283473e-02 6.92745996e-04 9.99343298e-01 -5.93739531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73587156000002 meters 0.022399799849765638 Centerline is valid? [True, True] Translation: X:138.88, Y:-19.41, Z:-5.94 [[ 9.87672001e-01 1.52347146e-01 3.59773036e-02 1.38884425e+02] [-1.52222310e-01 9.88326833e-01 -6.19999970e-03 -1.94072113e+01] [-3.65018868e-02 6.47017858e-04 9.99333375e-01 -5.93850975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76587156000002 meters 0.02085610568644252 Centerline is valid? [True, True] Translation: X:138.92, Y:-19.41, Z:-5.94 [[ 9.87384862e-01 1.54097381e-01 3.64023631e-02 1.38916583e+02] [-1.53970498e-01 9.88055485e-01 -6.28046751e-03 -1.94128618e+01] [-3.69353582e-02 5.96348562e-04 9.99317479e-01 -5.93896645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79587156000002 meters 0.017152710597422068 Centerline is valid? [True, True] Translation: X:138.95, Y:-19.42, Z:-5.94 [[ 9.86677698e-01 1.58376383e-01 3.72027098e-02 1.38947152e+02] [-1.58246793e-01 9.87378712e-01 -6.42124008e-03 -1.94150771e+01] [-3.77501365e-02 4.48484860e-04 9.99287109e-01 -5.93877867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82587156000002 meters 0.015322783827092392 Centerline is valid? [True, True] Translation: X:138.98, Y:-19.42, Z:-5.94 [[ 9.86262398e-01 1.60898632e-01 3.73913405e-02 1.38977959e+02] [-1.60769556e-01 9.86970874e-01 -6.45324200e-03 -1.94189481e+01] [-3.79424818e-02 3.53200726e-04 9.99279862e-01 -5.94000627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85587156000003 meters 0.013824730111953332 Centerline is valid? [True, True] Translation: X:139.01, Y:-19.42, Z:-5.94 [[ 9.85873499e-01 1.63193861e-01 3.76989152e-02 1.39008590e+02] [-1.63064102e-01 9.86593984e-01 -6.51223743e-03 -1.94233075e+01] [-3.82562801e-02 2.72902533e-04 9.99267923e-01 -5.94113497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88587156000003 meters 0.012546947991714826 Centerline is valid? [True, True] Translation: X:139.04, Y:-19.43, Z:-5.94 [[ 9.85534144e-01 1.65241828e-01 3.76508829e-02 1.39040928e+02] [-1.65113652e-01 9.86253060e-01 -6.51025697e-03 -1.94277130e+01] [-3.82090652e-02 1.99405767e-04 9.99269747e-01 -5.94232815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91587156000003 meters 0.021376594189495755 Centerline is valid? [True, True] Translation: X:139.07, Y:-19.43, Z:-5.94 [[ 9.85016646e-01 1.68397734e-01 3.72076618e-02 1.39072341e+02] [-1.68274536e-01 9.85719126e-01 -6.44082671e-03 -1.94317745e+01] [-3.77609245e-02 8.32194844e-05 9.99286798e-01 -5.94412507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94587156000003 meters 0.011070713443217882 Centerline is valid? [True, True] Translation: X:139.10, Y:-19.44, Z:-5.95 [[ 9.84822056e-01 1.69549301e-01 3.71288648e-02 1.39103088e+02] [-1.69427410e-01 9.85521706e-01 -6.42807048e-03 -1.94363597e+01] [-3.76811771e-02 3.98582025e-05 9.99289811e-01 -5.94627127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97587156000003 meters 0.010834863341011004 Centerline is valid? [True, True] Translation: X:139.13, Y:-19.44, Z:-5.95 [[ 9.84644634e-01 1.70542511e-01 3.72853382e-02 1.39134062e+02] [-1.70420267e-01 9.85350319e-01 -6.45606283e-03 -1.94412123e+01] [-3.78401530e-02 2.75034671e-06 9.99283805e-01 -5.94716609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00587156000003 meters 0.010896203376344797 Centerline is valid? [True, True] Translation: X:139.17, Y:-19.45, Z:-5.95 [[ 9.84474371e-01 1.71554453e-01 3.71386868e-02 1.39166101e+02] [-1.71433895e-01 9.85174639e-01 -6.43047415e-03 -1.94464774e+01] [-3.76912688e-02 -3.61927475e-05 9.99289431e-01 -5.94843064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03587156000003 meters 0.021247051522230605 Centerline is valid? [True, True] Translation: X:139.20, Y:-19.45, Z:-5.95 [[ 9.84267715e-01 1.72856949e-01 3.65724044e-02 1.39195887e+02] [-1.72740657e-01 9.84946937e-01 -6.34003737e-03 -1.94521574e+01] [-3.71177972e-02 -7.72470784e-05 9.99310894e-01 -5.95104829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06587156000003 meters 0.01144115269522455 Centerline is valid? [True, True] Translation: X:139.23, Y:-19.46, Z:-5.95 [[ 9.84170342e-01 1.73325702e-01 3.69721271e-02 1.39225766e+02] [-1.73207164e-01 9.84864555e-01 -6.40989485e-03 -1.94572714e+01] [-3.75235370e-02 -9.54088582e-05 9.99295740e-01 -5.95293088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09587156000003 meters 0.011335573193295962 Centerline is valid? [True, True] Translation: X:139.26, Y:-19.46, Z:-5.95 [[ 9.84049209e-01 1.73944094e-01 3.72908375e-02 1.39256665e+02] [-1.73823952e-01 9.84755522e-01 -6.46497554e-03 -1.94618601e+01] [-3.78469024e-02 -1.20186684e-04 9.99283542e-01 -5.95282789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12587156000004 meters 0.011923131436370655 Centerline is valid? [True, True] Translation: X:139.29, Y:-19.47, Z:-5.96 [[ 9.84029475e-01 1.74091957e-01 3.71212004e-02 1.39286600e+02] [-1.73972973e-01 9.84729392e-01 -6.43656513e-03 -1.94662650e+01] [-3.76748913e-02 -1.24315805e-04 9.99290042e-01 -5.95606396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15587156000004 meters 0.01409506561465778 Centerline is valid? [True, True] Translation: X:139.32, Y:-19.47, Z:-5.96 [[ 9.84048540e-01 1.74067568e-01 3.67280988e-02 1.39316329e+02] [-1.73951055e-01 9.84733704e-01 -6.36894417e-03 -1.94727067e+01] [-3.72760234e-02 -1.21541315e-04 9.99305000e-01 -5.95713120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18587156000004 meters 0.011465336029055914 Centerline is valid? [True, True] Translation: X:139.35, Y:-19.48, Z:-5.96 [[ 9.84103016e-01 1.73800626e-01 3.65321294e-02 1.39347432e+02] [-1.73685177e-01 9.84780854e-01 -6.33476547e-03 -1.94794605e+01] [-3.70771278e-02 -1.11027547e-04 9.99312401e-01 -5.95856910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21587156 meters 0.011417299075814253 Centerline is valid? [True, True] Translation: X:139.38, Y:-19.49, Z:-5.96 [[ 9.84285308e-01 1.72828768e-01 3.62305002e-02 1.39377188e+02] [-1.72714523e-01 9.84951883e-01 -6.28346159e-03 -1.94856114e+01] [-3.67712623e-02 -7.28146348e-05 9.99323706e-01 -5.96132081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24587156 meters 0.011132783911020232 Centerline is valid? [True, True] Translation: X:139.41, Y:-19.49, Z:-5.96 [[ 9.84442003e-01 1.71934693e-01 3.62271193e-02 1.39407322e+02] [-1.71819851e-01 9.85108349e-01 -6.28323055e-03 -1.94924871e+01] [-3.67679430e-02 -3.90621570e-05 9.99323830e-01 -5.96226724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27587156 meters 0.010942148087864157 Centerline is valid? [True, True] Translation: X:139.44, Y:-19.50, Z:-5.96 [[ 9.84630270e-01 1.70782810e-01 3.65576694e-02 1.39438626e+02] [-1.70665078e-01 9.85308699e-01 -6.34028180e-03 -1.95002578e+01] [-3.71034008e-02 3.71586988e-06 9.99311432e-01 -5.96233667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30587156 meters 0.011134570131324389 Centerline is valid? [True, True] Translation: X:139.47, Y:-19.51, Z:-5.96 [[ 9.84823795e-01 1.69592491e-01 3.68846834e-02 1.39469940e+02] [-1.69471570e-01 9.85514274e-01 -6.40337105e-03 -1.95081881e+01] [-3.74363456e-02 5.52869846e-05 9.99299013e-01 -5.96370042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33587156000002 meters 0.012133421713001283 Centerline is valid? [True, True] Translation: X:139.50, Y:-19.52, Z:-5.96 [[ 9.85236245e-01 1.67036526e-01 3.75278748e-02 1.39500809e+02] [-1.66909222e-01 9.85950695e-01 -6.52217905e-03 -1.95183757e+01] [-3.80900764e-02 1.62138785e-04 9.99274297e-01 -5.96426457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36587156000002 meters 0.012941376335112522 Centerline is valid? [True, True] Translation: X:139.53, Y:-19.53, Z:-5.97 [[ 9.85480476e-01 1.65533032e-01 3.77762709e-02 1.39532998e+02] [-1.65402672e-01 9.86204220e-01 -6.57212934e-03 -1.95268639e+01] [-3.83430222e-02 2.28409001e-04 9.99264610e-01 -5.96532886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39587156000002 meters 0.028064287680726937 Centerline is valid? [True, True] Translation: X:139.56, Y:-19.54, Z:-5.96 [[ 9.85726241e-01 1.63988921e-01 3.80973887e-02 1.39564449e+02] [-1.63854892e-01 9.86462136e-01 -6.63546936e-03 -1.95355476e+01] [-3.86697749e-02 2.98312742e-04 9.99252000e-01 -5.96460359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42587156000002 meters 0.016153709502915205 Centerline is valid? [True, True] Translation: X:139.59, Y:-19.55, Z:-5.97 [[ 9.86161003e-01 1.61257529e-01 3.85030494e-02 1.39594898e+02] [-1.61118287e-01 9.86912274e-01 -6.71277409e-03 -1.95466696e+01] [-3.90816174e-02 4.16330640e-04 9.99235935e-01 -5.96693791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45587156000002 meters 0.01732055590796559 Centerline is valid? [True, True] Translation: X:139.63, Y:-19.56, Z:-5.97 [[ 9.86346197e-01 1.60173681e-01 3.82827769e-02 1.39625809e+02] [-1.60034960e-01 9.87088738e-01 -6.68086145e-03 -1.95554942e+01] [-3.88585962e-02 4.63059598e-04 9.99244612e-01 -5.96861744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48587156000002 meters 0.019769755263896176 Centerline is valid? [True, True] Translation: X:139.66, Y:-19.57, Z:-5.97 [[ 9.86522648e-01 1.59024157e-01 3.85276964e-02 1.39655539e+02] [-1.58882517e-01 9.87274556e-01 -6.73027830e-03 -1.95658775e+01] [-3.91076912e-02 5.18194585e-04 9.99234867e-01 -5.97084654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51587156000002 meters 0.019887665373069713 Centerline is valid? [True, True] Translation: X:139.69, Y:-19.57, Z:-5.97 [[ 9.86670485e-01 1.58147915e-01 3.83482880e-02 1.39686627e+02] [-1.58006700e-01 9.87415276e-01 -6.70485803e-03 -1.95729882e+01] [-3.89260447e-02 5.56199106e-04 9.99241940e-01 -5.97183704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54587156000002 meters 0.020135404631821334 Centerline is valid? [True, True] Translation: X:139.72, Y:-19.58, Z:-5.97 [[ 9.86967172e-01 1.56407187e-01 3.78496188e-02 1.39718221e+02] [-1.56268106e-01 9.87692464e-01 -6.62383171e-03 -1.95810442e+01] [-3.84197981e-02 6.22816218e-04 9.99261493e-01 -5.97266102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57587156000002 meters 0.023926505280783786 Centerline is valid? [True, True] Translation: X:139.75, Y:-19.59, Z:-5.98 [[ 9.87050525e-01 1.55917477e-01 3.76961655e-02 1.39748071e+02] [-1.55778892e-01 9.87769873e-01 -6.60409594e-03 -1.95931313e+01] [-3.82648306e-02 6.46309468e-04 9.99267424e-01 -5.97661943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60587156000003 meters 0.02312749362856579 Centerline is valid? [True, True] Translation: X:139.78, Y:-19.60, Z:-5.98 [[ 9.87102753e-01 1.55727179e-01 3.71106684e-02 1.39780029e+02] [-1.55592620e-01 9.87799893e-01 -6.50452328e-03 -1.95988904e+01] [-3.76708453e-02 6.46486717e-04 9.99289993e-01 -5.97812168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63587156000003 meters 0.029043532006159157 Centerline is valid? [True, True] Translation: X:139.81, Y:-19.61, Z:-5.98 [[ 9.87117772e-01 1.55755214e-01 3.65898657e-02 1.39811086e+02] [-1.55624209e-01 9.87795475e-01 -6.41908253e-03 -1.96077649e+01] [-3.71431094e-02 6.42121533e-04 9.99309750e-01 -5.97944450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66587156000003 meters 0.02957585628038739 Centerline is valid? [True, True] Translation: X:139.84, Y:-19.61, Z:-5.98 [[ 9.87034106e-01 1.56256268e-01 3.67103700e-02 1.39843264e+02] [-1.56124502e-01 9.87716346e-01 -6.44674242e-03 -1.96118430e+01] [-3.72667765e-02 6.31766415e-04 9.99305153e-01 -5.97985668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69587156000003 meters 0.023081899628008253 Centerline is valid? [True, True] Translation: X:139.87, Y:-19.62, Z:-5.98 [[ 9.86914047e-01 1.56993046e-01 3.67946586e-02 1.39873076e+02] [-1.56860944e-01 9.87599519e-01 -6.46799924e-03 -1.96205293e+01] [-3.73538180e-02 6.11714432e-04 9.99301915e-01 -5.98281065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72587156000003 meters 0.022434097188901807 Centerline is valid? [True, True] Translation: X:139.90, Y:-19.63, Z:-5.98 [[ 9.86768999e-01 1.57852061e-01 3.70090522e-02 1.39903208e+02] [-1.57718776e-01 9.87462597e-01 -6.51211535e-03 -1.96265408e+01] [-3.75730056e-02 5.88931123e-04 9.99293712e-01 -5.98355691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75587156000003 meters 0.02018748707591969 Centerline is valid? [True, True] Translation: X:139.93, Y:-19.63, Z:-5.98 [[ 9.86373355e-01 1.60292938e-01 3.70645108e-02 1.39934506e+02] [-1.60160846e-01 9.87069361e-01 -6.52530775e-03 -1.96304997e+01] [-3.76312037e-02 5.00106305e-04 9.99291570e-01 -5.98440448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78587156000003 meters 0.01647719126891429 Centerline is valid? [True, True] Translation: X:139.97, Y:-19.63, Z:-5.98 [[ 9.86093593e-01 1.61985482e-01 3.71500994e-02 1.39966894e+02] [-1.61853872e-01 9.86793043e-01 -6.54320480e-03 -1.96311636e+01] [-3.77193639e-02 4.39324882e-04 9.99288275e-01 -5.98421130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81587156000003 meters 0.018160885847574876 Centerline is valid? [True, True] Translation: X:140.00, Y:-19.64, Z:-5.99 [[ 9.85828873e-01 1.63606667e-01 3.70714419e-02 1.39997402e+02] [-1.63476511e-01 9.86525576e-01 -6.53594169e-03 -1.96363115e+01] [-3.76412492e-02 3.83010071e-04 9.99291244e-01 -5.98607477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84587156000003 meters 0.014704634587806254 Centerline is valid? [True, True] Translation: X:140.03, Y:-19.64, Z:-5.99 [[ 9.85511887e-01 1.65476284e-01 3.72010772e-02 1.40029549e+02] [-1.65346320e-01 9.86213718e-01 -6.56479542e-03 -1.96400461e+01] [-3.77745306e-02 3.18622688e-04 9.99286237e-01 -5.98806336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87587156000004 meters 0.012360724960892055 Centerline is valid? [True, True] Translation: X:140.06, Y:-19.64, Z:-5.99 [[ 9.84928735e-01 1.68773144e-01 3.78287278e-02 1.40062096e+02] [-1.68640936e-01 9.85654902e-01 -6.68201888e-03 -1.96417997e+01] [-3.84138163e-02 2.01840331e-04 9.99261897e-01 -5.98786883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90587156000004 meters 0.011353545566630808 Centerline is valid? [True, True] Translation: X:140.09, Y:-19.64, Z:-5.99 [[ 9.84636801e-01 1.70368191e-01 3.82759548e-02 1.40094158e+02] [-1.70233791e-01 9.85380463e-01 -6.76748862e-03 -1.96447430e+01] [-3.88693429e-02 1.47657469e-04 9.99244291e-01 -5.98817519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93587156000004 meters 0.010830420741599976 Centerline is valid? [True, True] Translation: X:140.13, Y:-19.65, Z:-5.99 [[ 9.84360585e-01 1.71933586e-01 3.83807311e-02 1.40125839e+02] [-1.71799379e-01 9.85108539e-01 -6.79264235e-03 -1.96487484e+01] [-3.89770693e-02 9.26236254e-05 9.99240101e-01 -5.99013150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96587156 meters 0.029194101712342 Centerline is valid? [True, True] Translation: X:140.16, Y:-19.65, Z:-5.99 [[ 9.83979895e-01 1.74249913e-01 3.76899694e-02 1.40157687e+02] [-1.74121929e-01 9.84701461e-01 -6.67728701e-03 -1.96519110e+01] [-3.82768846e-02 7.66599901e-06 9.99267172e-01 -5.99416797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99587156 meters 0.01075358142622781 Centerline is valid? [True, True] Translation: X:140.19, Y:-19.66, Z:-6.00 [[ 9.83792271e-01 1.75432121e-01 3.70990396e-02 1.40190079e+02] [-1.75308714e-01 9.84491529e-01 -6.57911701e-03 -1.96562410e+01] [-3.76778787e-02 -3.13004592e-05 9.99289936e-01 -5.99523764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02587156 meters 0.011128958006596275 Centerline is valid? [True, True] Translation: X:140.22, Y:-19.66, Z:-6.00 [[ 9.83694418e-01 1.76157896e-01 3.62448328e-02 1.40220748e+02] [-1.76040311e-01 9.84361922e-01 -6.43550567e-03 -1.96600117e+01] [-3.68116984e-02 -4.99806404e-05 9.99322218e-01 -5.99865963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05587156 meters 0.01145971709740469 Centerline is valid? [True, True] Translation: X:140.25, Y:-19.66, Z:-6.00 [[ 9.83586506e-01 1.76859801e-01 3.57518662e-02 1.40252425e+02] [-1.76745757e-01 9.84236052e-01 -6.35073489e-03 -1.96644572e+01] [-3.63114653e-02 -7.24935034e-05 9.99340519e-01 -6.00142341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08587156000002 meters 0.011109417441875154 Centerline is valid? [True, True] Translation: X:140.28, Y:-19.67, Z:-6.00 [[ 9.83657042e-01 1.76441616e-01 3.58772984e-02 1.40284743e+02] [-1.76326281e-01 9.84311106e-01 -6.37878644e-03 -1.96712380e+01] [-3.64399066e-02 -5.15724072e-05 9.99335845e-01 -6.00174768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11587156000002 meters 0.024434639545311228 Centerline is valid? [True, True] Translation: X:140.32, Y:-19.68, Z:-6.00 [[ 9.83775451e-01 1.75711530e-01 3.62121706e-02 1.40316076e+02] [-1.75593259e-01 9.84441699e-01 -6.44587805e-03 -1.96783938e+01] [-3.67813858e-02 -1.73164646e-05 9.99323336e-01 -6.00246583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14587156000002 meters 0.010964478684341843 Centerline is valid? [True, True] Translation: X:140.35, Y:-19.69, Z:-6.00 [[ 9.83881108e-01 1.74975445e-01 3.68993154e-02 1.40348568e+02] [-1.74851856e-01 9.84572797e-01 -6.57534622e-03 -1.96860464e+01] [-3.74805864e-02 1.74451254e-05 9.99297356e-01 -6.00402176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17587156000002 meters 0.01105590380889036 Centerline is valid? [True, True] Translation: X:140.38, Y:-19.69, Z:-6.00 [[ 9.84037918e-01 1.74014708e-01 3.72593172e-02 1.40379193e+02] [-1.73887724e-01 9.84743052e-01 -6.64695700e-03 -1.96941995e+01] [-3.78475220e-02 6.19198780e-05 9.99283524e-01 -6.00462433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20587156000002 meters 0.011657299381033317 Centerline is valid? [True, True] Translation: X:140.41, Y:-19.71, Z:-6.01 [[ 9.84326551e-01 1.72370510e-01 3.72779917e-02 1.40410286e+02] [-1.72241963e-01 9.85032177e-01 -6.65705507e-03 -1.97056879e+01] [-3.78675013e-02 1.31881597e-04 9.99282760e-01 -6.00653216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23587156000002 meters 0.012173649002226216 Centerline is valid? [True, True] Translation: X:140.44, Y:-19.71, Z:-6.01 [[ 9.84432208e-01 1.71814764e-01 3.70528567e-02 1.40442346e+02] [-1.71687105e-01 9.85129261e-01 -6.62393839e-03 -1.97134202e+01] [-3.76399438e-02 1.59320592e-04 9.99291354e-01 -6.00854995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26587156000002 meters 0.012203763597972256 Centerline is valid? [True, True] Translation: X:140.48, Y:-19.72, Z:-6.01 [[ 9.84460733e-01 1.71683957e-01 3.69009988e-02 1.40475016e+02] [-1.71556987e-01 9.85152064e-01 -6.60381686e-03 -1.97195457e+01] [-3.74868646e-02 1.70574225e-04 9.99297106e-01 -6.01013386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29587156000002 meters 0.011965654007788018 Centerline is valid? [True, True] Translation: X:140.51, Y:-19.73, Z:-6.01 [[ 9.84407899e-01 1.71974205e-01 3.69589277e-02 1.40507754e+02] [-1.71846771e-01 9.85101439e-01 -6.62133730e-03 -1.97255962e+01] [-3.75469921e-02 1.66824342e-04 9.99294849e-01 -6.01139093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32587156000002 meters 0.012165787810520566 Centerline is valid? [True, True] Translation: X:140.54, Y:-19.73, Z:-6.01 [[ 9.84334619e-01 1.72395813e-01 3.69464708e-02 1.40538819e+02] [-1.72268482e-01 9.85027745e-01 -6.62657318e-03 -1.97326294e+01] [-3.75356923e-02 1.58052937e-04 9.99295275e-01 -6.01346963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35587156000003 meters 0.0233569444937662 Centerline is valid? [True, True] Translation: X:140.57, Y:-19.74, Z:-6.01 [[ 9.84248159e-01 1.72834128e-01 3.72011567e-02 1.40571222e+02] [-1.72705085e-01 9.84950934e-01 -6.67920114e-03 -1.97388325e+01] [-3.77957079e-02 1.49162500e-04 9.99285476e-01 -6.01257742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38587156000003 meters 0.011902285228072317 Centerline is valid? [True, True] Translation: X:140.60, Y:-19.75, Z:-6.02 [[ 9.84199704e-01 1.73045832e-01 3.74977795e-02 1.40602555e+02] [-1.72914590e-01 9.84913762e-01 -6.73994578e-03 -1.97473347e+01] [-3.80983986e-02 1.49539477e-04 9.99273981e-01 -6.01547650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41587156000003 meters 0.012279429843143144 Centerline is valid? [True, True] Translation: X:140.63, Y:-19.76, Z:-6.02 [[ 9.84221963e-01 1.72942343e-01 3.73908219e-02 1.40633742e+02] [-1.72811514e-01 9.84931937e-01 -6.72755063e-03 -1.97557861e+01] [-3.79908930e-02 1.59838538e-04 9.99278073e-01 -6.01784344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44587156000003 meters 0.011957021533887521 Centerline is valid? [True, True] Translation: X:140.67, Y:-19.76, Z:-6.02 [[ 9.84312273e-01 1.72384867e-01 3.75873221e-02 1.40665680e+02] [-1.72252001e-01 9.85029655e-01 -6.76951039e-03 -1.97631031e+01] [-3.81915881e-02 1.88820698e-04 9.99270417e-01 -6.01722786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47587156000003 meters 0.012602386407043874 Centerline is valid? [True, True] Translation: X:140.70, Y:-19.77, Z:-6.02 [[ 9.84379311e-01 1.72071459e-01 3.72664081e-02 1.40697057e+02] [-1.71940344e-01 9.85084448e-01 -6.71922442e-03 -1.97712573e+01] [-3.78667458e-02 2.06666489e-04 9.99282776e-01 -6.01986613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50587156000003 meters 0.014089114941607953 Centerline is valid? [True, True] Translation: X:140.73, Y:-19.78, Z:-6.02 [[ 9.84553662e-01 1.71044952e-01 3.73859633e-02 1.40727329e+02] [-1.70911984e-01 9.85263193e-01 -6.74787459e-03 -1.97813413e+01] [-3.79892035e-02 2.53935473e-04 9.99278117e-01 -6.02283441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53587156000003 meters 0.029488639354839755 Centerline is valid? [True, True] Translation: X:140.76, Y:-19.79, Z:-6.02 [[ 9.84697207e-01 1.70150527e-01 3.76856700e-02 1.40759725e+02] [-1.70014503e-01 9.85418038e-01 -6.80874985e-03 -1.97885796e+01] [-3.82946514e-02 2.97446507e-04 9.99266447e-01 -6.02157892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56587156000003 meters 0.014082944515818395 Centerline is valid? [True, True] Translation: X:140.79, Y:-19.80, Z:-6.02 [[ 9.84670178e-01 1.70252746e-01 3.79294525e-02 1.40790940e+02] [-1.70114734e-01 9.85400381e-01 -6.86052394e-03 -1.97975606e+01] [-3.85437200e-02 3.02994616e-04 9.99256869e-01 -6.02365238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59587156000003 meters 0.015024973895407408 Centerline is valid? [True, True] Translation: X:140.82, Y:-19.81, Z:-6.03 [[ 9.84654752e-01 1.70209742e-01 3.85183531e-02 1.40821653e+02] [-1.70067090e-01 9.85407806e-01 -6.97433252e-03 -1.98075669e+01] [-3.91433851e-02 3.16605433e-04 9.99233554e-01 -6.02506597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62587156000004 meters 0.015024973895407408 Centerline is valid? [True, True] Translation: X:140.85, Y:-19.81, Z:-6.03 [[ 9.84624548e-01 1.70384656e-01 3.85171201e-02 1.40853576e+02] [-1.70241872e-01 9.85377577e-01 -6.98113451e-03 -1.98135595e+01] [-3.91433847e-02 3.16569771e-04 9.99233554e-01 -6.02653051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65587156000004 meters 0.028558024750507876 Centerline is valid? [True, True] Translation: X:140.89, Y:-19.82, Z:-6.02 [[ 9.84692050e-01 1.69870128e-01 3.90602916e-02 1.40885122e+02] [-1.69722595e-01 9.85466396e-01 -7.08680264e-03 -1.98225759e+01] [-3.96964409e-02 3.48904165e-04 9.99211725e-01 -6.02460839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68587156000004 meters 0.014359150228678754 Centerline is valid? [True, True] Translation: X:140.92, Y:-19.83, Z:-6.03 [[ 9.84620357e-01 1.70274377e-01 3.91074077e-02 1.40916827e+02] [-1.70126504e-01 9.85396631e-01 -7.10294786e-03 -1.98296314e+01] [-3.97457578e-02 3.40500506e-04 9.99209767e-01 -6.02706417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71587156 meters 0.026318523765054155 Centerline is valid? [True, True] Translation: X:140.95, Y:-19.84, Z:-6.03 [[ 9.84635230e-01 1.70298283e-01 3.86258787e-02 1.40947610e+02] [-1.70153753e-01 9.85392499e-01 -7.02301473e-03 -1.98365666e+01] [-3.92576585e-02 3.42769492e-04 9.99229062e-01 -6.02904033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74587156 meters 0.014468210039638269 Centerline is valid? [True, True] Translation: X:140.98, Y:-19.84, Z:-6.03 [[ 9.84559239e-01 1.70873320e-01 3.80185985e-02 1.40979644e+02] [-1.70733471e-01 9.85292954e-01 -6.91929935e-03 -1.98425229e+01] [-3.86417809e-02 3.21412798e-04 9.99253076e-01 -6.03227304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77587156 meters 0.014893772762221981 Centerline is valid? [True, True] Translation: X:141.01, Y:-19.85, Z:-6.03 [[ 9.84565239e-01 1.70885132e-01 3.78095353e-02 1.41010864e+02] [-1.70746541e-01 9.85290904e-01 -6.88865362e-03 -1.98492593e+01] [-3.84305597e-02 3.26481524e-04 9.99261220e-01 -6.03437508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80587156 meters 0.015397433192960087 Centerline is valid? [True, True] Translation: X:141.04, Y:-19.86, Z:-6.04 [[ 9.84634861e-01 1.70303856e-01 3.86107103e-02 1.41042353e+02] [-1.70158600e-01 9.85391529e-01 -7.04177031e-03 -1.98593012e+01] [-3.92459075e-02 3.63628136e-04 9.99229516e-01 -6.03534727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83587156000002 meters 0.016057363608317256 Centerline is valid? [True, True] Translation: X:141.07, Y:-19.87, Z:-6.04 [[ 9.84733999e-01 1.69725466e-01 3.86292384e-02 1.41074213e+02] [-1.69579336e-01 9.85491304e-01 -7.05251347e-03 -1.98688122e+01] [-3.92657696e-02 3.94129205e-04 9.99228725e-01 -6.03641644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86587156000002 meters 0.019106594840125012 Centerline is valid? [True, True] Translation: X:141.10, Y:-19.88, Z:-6.04 [[ 9.84919241e-01 1.68668065e-01 3.85379437e-02 1.41104715e+02] [-1.68521523e-01 9.85672810e-01 -7.04332948e-03 -1.98786420e+01] [-3.91737880e-02 4.42637777e-04 9.99232315e-01 -6.03772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89587156000002 meters 0.020064386564332196 Centerline is valid? [True, True] Translation: X:141.13, Y:-19.89, Z:-6.04 [[ 9.85312082e-01 1.66435356e-01 3.82017340e-02 1.41133859e+02] [-1.66289436e-01 9.86052224e-01 -6.98824008e-03 -1.98928769e+01] [-3.88319950e-02 5.33052589e-04 9.99245611e-01 -6.04102202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92587156000002 meters 0.021000586950103636 Centerline is valid? [True, True] Translation: X:141.16, Y:-19.90, Z:-6.04 [[ 9.85500704e-01 1.65364220e-01 3.79873232e-02 1.41164438e+02] [-1.65218917e-01 9.86232397e-01 -6.95474507e-03 -1.99025027e+01] [-3.86143948e-02 5.77681773e-04 9.99254019e-01 -6.04226012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95587156000002 meters 0.021882103676658094 Centerline is valid? [True, True] Translation: X:141.20, Y:-19.91, Z:-6.04 [[ 9.85666987e-01 1.64329401e-01 3.81633027e-02 1.41195260e+02] [-1.64181726e-01 9.86405319e-01 -6.99332429e-03 -1.99119815e+01] [-3.87936935e-02 6.27371987e-04 9.99247044e-01 -6.04369003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98587156000002 meters 0.02225967874801554 Centerline is valid? [True, True] Translation: X:141.23, Y:-19.92, Z:-6.05 [[ 9.85797089e-01 1.63529856e-01 3.82372401e-02 1.41226099e+02] [-1.63380757e-01 9.86538161e-01 -7.01329140e-03 -1.99206931e+01] [-3.88693790e-02 6.66453033e-04 9.99244078e-01 -6.04527264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01587156000002 meters 0.03404192503790508 Centerline is valid? [True, True] Translation: X:141.25, Y:-19.94, Z:-6.05 [[ 9.86019890e-01 1.62288208e-01 3.77798073e-02 1.41254414e+02] [-1.62141480e-01 9.86743142e-01 -6.93631087e-03 -1.99358033e+01] [-3.84046472e-02 7.13666611e-04 9.99262015e-01 -6.04770672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04587156000002 meters 0.03134253472543245 Centerline is valid? [True, True] Translation: X:141.29, Y:-19.94, Z:-6.05 [[ 9.85974877e-01 1.62606502e-01 3.75854652e-02 1.41287688e+02] [-1.62461419e-01 9.86690750e-01 -6.90303626e-03 -1.99395691e+01] [-3.82077094e-02 7.00032313e-04 9.99269574e-01 -6.04734628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07587156000002 meters 0.022126324114057964 Centerline is valid? [True, True] Translation: X:141.32, Y:-19.95, Z:-6.05 [[ 9.85803900e-01 1.63602876e-01 3.77461130e-02 1.41318890e+02] [-1.63456982e-01 9.86526050e-01 -6.94028006e-03 -1.99471251e+01] [-3.83729736e-02 6.71889446e-04 9.99263260e-01 -6.04922153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10587156000003 meters 0.02543425644144617 Centerline is valid? [True, True] Translation: X:141.35, Y:-19.95, Z:-6.05 [[ 9.85582893e-01 1.64913684e-01 3.78131940e-02 1.41349929e+02] [-1.64767982e-01 9.86307803e-01 -6.95917409e-03 -1.99533710e+01] [-3.84431113e-02 6.28439269e-04 9.99260593e-01 -6.05011192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13587156000003 meters 0.018757608977672233 Centerline is valid? [True, True] Translation: X:141.38, Y:-19.96, Z:-6.05 [[ 9.84918376e-01 1.68720535e-01 3.83298027e-02 1.41380628e+02] [-1.68573436e-01 9.85663806e-01 -7.06106679e-03 -1.99588688e+01] [-3.89716462e-02 4.93187878e-04 9.99240195e-01 -6.05183499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16587156000003 meters 0.01603737958434842 Centerline is valid? [True, True] Translation: X:141.41, Y:-19.96, Z:-6.05 [[ 9.84494528e-01 1.71187783e-01 3.82787998e-02 1.41412961e+02] [-1.71042707e-01 9.85238338e-01 -7.05762930e-03 -1.99624821e+01] [-3.89219210e-02 4.00887873e-04 9.99242175e-01 -6.05296491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19587156000003 meters 0.014539058549682734 Centerline is valid? [True, True] Translation: X:141.44, Y:-19.97, Z:-6.05 [[ 9.84121560e-01 1.73321482e-01 3.82677419e-02 1.41443476e+02] [-1.73177845e-01 9.84865250e-01 -7.06218034e-03 -1.99667998e+01] [-3.89125967e-02 3.22918879e-04 9.99242566e-01 -6.05449499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22587156000003 meters 0.011963253733702108 Centerline is valid? [True, True] Translation: X:141.48, Y:-19.97, Z:-6.06 [[ 9.83489266e-01 1.76970261e-01 3.78205115e-02 1.41475923e+02] [-1.76832407e-01 9.84216182e-01 -6.98616418e-03 -1.99703162e+01] [-3.84599027e-02 1.82925380e-04 9.99260128e-01 -6.05681264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25587156000003 meters 0.011158302686115538 Centerline is valid? [True, True] Translation: X:141.51, Y:-19.98, Z:-6.06 [[ 9.83196986e-01 1.78658402e-01 3.74815042e-02 1.41508369e+02] [-1.78524185e-01 9.83911155e-01 -6.92485436e-03 -1.99752413e+01] [-3.81156536e-02 1.17140940e-04 9.99273328e-01 -6.05861066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28587156000003 meters 0.01078553110327434 Centerline is valid? [True, True] Translation: X:141.54, Y:-19.98, Z:-6.06 [[ 9.82884597e-01 1.80495218e-01 3.68692933e-02 1.41541338e+02] [-1.80366375e-01 9.83575861e-01 -6.81888649e-03 -1.99799733e+01] [-3.74945233e-02 5.21977304e-05 9.99296832e-01 -6.06133188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31587156000003 meters 0.024170818417324803 Centerline is valid? [True, True] Translation: X:141.57, Y:-19.98, Z:-6.06 [[ 9.82591020e-01 1.82222886e-01 3.61898745e-02 1.41573596e+02] [-1.82099663e-01 9.83257250e-01 -6.70022226e-03 -1.99842251e+01] [-3.68048903e-02 -6.58571831e-06 9.99322470e-01 -6.06296607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34587156000003 meters 0.011398068438007693 Centerline is valid? [True, True] Translation: X:141.61, Y:-19.99, Z:-6.07 [[ 9.81909342e-01 1.85864542e-01 3.61720480e-02 1.41605876e+02] [-1.85743639e-01 9.82575368e-01 -6.70424688e-03 -1.99880077e+01] [-3.67878452e-02 -1.35765200e-04 9.99323089e-01 -6.06516489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37587156000004 meters 0.017003680345766343 Centerline is valid? [True, True] Translation: X:141.64, Y:-19.99, Z:-6.07 [[ 9.81593693e-01 1.87469703e-01 3.64545265e-02 1.41637356e+02] [-1.87347752e-01 9.82270367e-01 -6.76355021e-03 -1.99917878e+01] [-3.70761619e-02 -1.90615356e-04 9.99312425e-01 -6.06632960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40587156000004 meters 0.012682871731887708 Centerline is valid? [True, True] Translation: X:141.67, Y:-20.00, Z:-6.07 [[ 9.81288625e-01 1.88986329e-01 3.68347863e-02 1.41669972e+02] [-1.88862630e-01 9.81979688e-01 -6.84098700e-03 -1.99972724e+01] [-3.74638650e-02 -2.43731865e-04 9.99297953e-01 -6.06707202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43587156000004 meters 0.026968111951620837 Centerline is valid? [True, True] Translation: X:141.70, Y:-20.00, Z:-6.07 [[ 9.80855012e-01 1.91071152e-01 3.76199451e-02 1.41702952e+02] [-1.90943359e-01 9.81576136e-01 -6.99449349e-03 -2.00009510e+01] [-3.82632863e-02 -3.22694686e-04 9.99267640e-01 -6.06607117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46587156 meters 0.025794117327492604 Centerline is valid? [True, True] Translation: X:141.74, Y:-20.01, Z:-6.07 [[ 9.80659220e-01 1.91983921e-01 3.80744964e-02 1.41735316e+02] [-1.91853405e-01 9.81398007e-01 -7.08681360e-03 -2.00059944e+01] [-3.87267892e-02 -3.54972688e-04 9.99249773e-01 -6.06658106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49587156 meters 0.022033027838041626 Centerline is valid? [True, True] Translation: X:141.77, Y:-20.01, Z:-6.07 [[ 9.80512859e-01 1.92651314e-01 3.84708329e-02 1.41767300e+02] [-1.92518269e-01 9.81267206e-01 -7.16848509e-03 -2.00109368e+01] [-3.91311848e-02 -3.77546369e-04 9.99234011e-01 -6.06859076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52587156 meters 0.014924449706216088 Centerline is valid? [True, True] Translation: X:141.80, Y:-20.02, Z:-6.07 [[ 9.80394922e-01 1.93207674e-01 3.86858057e-02 1.41799448e+02] [-1.93073286e-01 9.81157805e-01 -7.21577603e-03 -2.00179946e+01] [-3.93510235e-02 -3.94885446e-04 9.99225370e-01 -6.07002747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55587156 meters 0.015061782450049096 Centerline is valid? [True, True] Translation: X:141.83, Y:-20.02, Z:-6.07 [[ 9.80360136e-01 1.93397375e-01 3.86194183e-02 1.41830321e+02] [-1.93263293e-01 9.81120431e-01 -7.21108081e-03 -2.00244586e+01] [-3.92849044e-02 -3.94259787e-04 9.99227972e-01 -6.07128782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58587156000002 meters 0.014993110213721506 Centerline is valid? [True, True] Translation: X:141.86, Y:-20.03, Z:-6.07 [[ 9.80391170e-01 1.93305144e-01 3.82919600e-02 1.41862933e+02] [-1.93172986e-01 9.81138612e-01 -7.15687270e-03 -2.00317965e+01] [-3.89531808e-02 -3.80437471e-04 9.99240964e-01 -6.07350319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61587156000002 meters 0.014782392631195034 Centerline is valid? [True, True] Translation: X:141.90, Y:-20.04, Z:-6.08 [[ 9.80432474e-01 1.93214220e-01 3.76885852e-02 1.41895454e+02] [-1.93085852e-01 9.81156528e-01 -7.05129604e-03 -2.00386680e+01] [-3.83408121e-02 -3.63812974e-04 9.99264655e-01 -6.07592452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64587156000002 meters 0.02971301230041524 Centerline is valid? [True, True] Translation: X:141.93, Y:-20.05, Z:-6.08 [[ 9.80462032e-01 1.93118743e-01 3.74079452e-02 1.41926896e+02] [-1.92991933e-01 9.81175330e-01 -7.00609250e-03 -2.00450779e+01] [-3.80567608e-02 -3.50223981e-04 9.99275518e-01 -6.07708629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67587156000002 meters 0.014739289736832625 Centerline is valid? [True, True] Translation: X:141.96, Y:-20.05, Z:-6.08 [[ 9.80417472e-01 1.93307430e-01 3.76007759e-02 1.41959334e+02] [-1.93179188e-01 9.81138172e-01 -7.04899064e-03 -2.00513919e+01] [-3.82541788e-02 -3.52733774e-04 9.99267979e-01 -6.07940010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70587156000002 meters 0.02722571528026963 Centerline is valid? [True, True] Translation: X:141.99, Y:-20.06, Z:-6.08 [[ 9.80439251e-01 1.93200809e-01 3.75808922e-02 1.41992317e+02] [-1.93072320e-01 9.81159177e-01 -7.05321620e-03 -2.00573660e+01] [-3.82355244e-02 -3.40580026e-04 9.99268697e-01 -6.07983246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73587156000002 meters 0.016271420542598947 Centerline is valid? [True, True] Translation: X:142.02, Y:-20.06, Z:-6.08 [[ 9.80382171e-01 1.93564175e-01 3.71982470e-02 1.42024381e+02] [-1.93438459e-01 9.81087554e-01 -6.98384388e-03 -2.00610820e+01] [-3.78465591e-02 -3.48735564e-04 9.99283501e-01 -6.08475466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76587156000002 meters 0.014704381576466734 Centerline is valid? [True, True] Translation: X:142.06, Y:-20.07, Z:-6.08 [[ 9.80361581e-01 1.93620462e-01 3.74471379e-02 1.42055916e+02] [-1.93492841e-01 9.81076448e-01 -7.03731064e-03 -2.00699057e+01] [-3.81010724e-02 -3.46644131e-04 9.99273830e-01 -6.08413769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79587156000002 meters 0.014753653830025729 Centerline is valid? [True, True] Translation: X:142.09, Y:-20.08, Z:-6.09 [[ 9.80299612e-01 1.93863883e-01 3.78082649e-02 1.42088583e+02] [-1.93733686e-01 9.81028374e-01 -7.11253564e-03 -2.00760341e+01] [-3.84698444e-02 -3.52318591e-04 9.99259699e-01 -6.08532123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82587156000002 meters 0.014924297473627795 Centerline is valid? [True, True] Translation: X:142.12, Y:-20.08, Z:-6.09 [[ 9.80242693e-01 1.94139534e-01 3.78695686e-02 1.42120704e+02] [-1.94008841e-01 9.80973860e-01 -7.13131397e-03 -2.00818496e+01] [-3.85335269e-02 -3.56612693e-04 9.99257244e-01 -6.08631403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85587156000003 meters 0.015316232910205846 Centerline is valid? [True, True] Translation: X:142.15, Y:-20.09, Z:-6.09 [[ 9.80155225e-01 1.94609022e-01 3.77235035e-02 1.42152472e+02] [-1.94479404e-01 9.80880826e-01 -7.11104889e-03 -2.00860127e+01] [-3.83861355e-02 -3.66512753e-04 9.99262913e-01 -6.08793119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88587156000003 meters 0.026402542548737494 Centerline is valid? [True, True] Translation: X:142.19, Y:-20.09, Z:-6.09 [[ 9.80124073e-01 1.94787551e-01 3.76113300e-02 1.42185147e+02] [-1.94658582e-01 9.80845389e-01 -7.09649818e-03 -2.00912685e+01] [-3.82732091e-02 -3.65919464e-04 9.99267245e-01 -6.08912245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91587156000003 meters 0.015690809041105105 Centerline is valid? [True, True] Translation: X:142.22, Y:-20.10, Z:-6.09 [[ 9.80096740e-01 1.94998484e-01 3.72286324e-02 1.42216655e+02] [-1.94872014e-01 9.80803476e-01 -7.03131227e-03 -2.00963603e+01] [-3.78850674e-02 -3.63452335e-04 9.99282037e-01 -6.09205176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94587156000003 meters 0.016341854852389863 Centerline is valid? [True, True] Translation: X:142.25, Y:-20.10, Z:-6.09 [[ 9.80028264e-01 1.95432548e-01 3.67521459e-02 1.42248485e+02] [-1.95309361e-01 9.80717076e-01 -6.94769703e-03 -2.01013445e+01] [-3.74012632e-02 -3.69098659e-04 9.99300260e-01 -6.09419119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97587156000003 meters 0.016408478674544917 Centerline is valid? [True, True] Translation: X:142.28, Y:-20.11, Z:-6.09 [[ 9.79936067e-01 1.95813948e-01 3.71779878e-02 1.42281070e+02] [-1.95687917e-01 9.80640990e-01 -7.03468443e-03 -2.01060495e+01] [-3.78357481e-02 -3.81742016e-04 9.99283899e-01 -6.09490177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00587156000003 meters 0.016915497590558833 Centerline is valid? [True, True] Translation: X:142.31, Y:-20.11, Z:-6.10 [[ 9.79822081e-01 1.96336410e-01 3.74259719e-02 1.42313122e+02] [-1.96208804e-01 9.80536514e-01 -7.08867322e-03 -2.01096100e+01] [-3.80892967e-02 -3.97666649e-04 9.99274260e-01 -6.09551325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03587156000003 meters 0.01740919711435577 Centerline is valid? [True, True] Translation: X:142.35, Y:-20.11, Z:-6.10 [[ 9.79701533e-01 1.96969698e-01 3.72537859e-02 1.42346404e+02] [-1.96843482e-01 9.80409489e-01 -7.06237493e-03 -2.01129106e+01] [-3.79150391e-02 -4.14145403e-04 9.99280881e-01 -6.09732367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06587156000003 meters 0.01550301141926105 Centerline is valid? [True, True] Translation: X:142.38, Y:-20.12, Z:-6.10 [[ 9.79695853e-01 1.97045521e-01 3.70013264e-02 1.42379069e+02] [-1.96920815e-01 9.80394256e-01 -7.02113501e-03 -2.01202287e+01] [-3.76593710e-02 -4.07754474e-04 9.99290551e-01 -6.09717322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09587156000003 meters 0.017606479854189044 Centerline is valid? [True, True] Translation: X:142.41, Y:-20.12, Z:-6.10 [[ 9.79648738e-01 1.97275120e-01 3.70253496e-02 1.42411681e+02] [-1.97150131e-01 9.80348081e-01 -7.03322983e-03 -2.01208856e+01] [-3.76852117e-02 -4.09457787e-04 9.99289576e-01 -6.10033672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12587156000004 meters 0.018922125191779497 Centerline is valid? [True, True] Translation: X:142.44, Y:-20.13, Z:-6.10 [[ 9.79672181e-01 1.97006184e-01 3.78283044e-02 1.42442687e+02] [-1.96875230e-01 9.80402164e-01 -7.19311409e-03 -2.01284134e+01] [-3.85040394e-02 -4.00562336e-04 9.99258364e-01 -6.09817859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15587156000004 meters 0.01630351227723666 Centerline is valid? [True, True] Translation: X:142.47, Y:-20.13, Z:-6.10 [[ 9.79790519e-01 1.96314710e-01 3.83545659e-02 1.42474089e+02] [-1.96179284e-01 9.80540869e-01 -7.30013897e-03 -2.01311936e+01] [-3.90413441e-02 -3.71764346e-04 9.99237527e-01 -6.10121804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18587156000004 meters 0.013480454544462308 Centerline is valid? [True, True] Translation: X:142.50, Y:-20.14, Z:-6.10 [[ 9.80261642e-01 1.93703821e-01 3.95719991e-02 1.42504780e+02] [-1.93557260e-01 9.81060017e-01 -7.53857113e-03 -2.01400592e+01] [-4.02827561e-02 -2.69675609e-04 9.99188284e-01 -6.10029981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21587156 meters 0.011337409519496192 Centerline is valid? [True, True] Translation: X:142.54, Y:-20.15, Z:-6.10 [[ 9.80589325e-01 1.92027394e-01 3.96239339e-02 1.42536368e+02] [-1.91878810e-01 9.81389547e-01 -7.55514054e-03 -2.01488360e+01] [-4.03373085e-02 -1.94503126e-04 9.99186101e-01 -6.10039227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24587156 meters 0.011132574600343824 Centerline is valid? [True, True] Translation: X:142.57, Y:-20.16, Z:-6.10 [[ 9.80922470e-01 1.90437589e-01 3.90465538e-02 1.42567989e+02] [-1.90291976e-01 9.81699297e-01 -7.44679419e-03 -2.01551892e+01] [-3.97501240e-02 -1.25518141e-04 9.99209644e-01 -6.10486714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27587156 meters 0.01057226528505713 Centerline is valid? [True, True] Translation: X:142.60, Y:-20.16, Z:-6.11 [[ 9.81249515e-01 1.88862226e-01 3.84766123e-02 1.42599522e+02] [-1.88719346e-01 9.82003593e-01 -7.34518417e-03 -2.01636187e+01] [-3.91713993e-02 -5.38227181e-05 9.99232505e-01 -6.10758345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30587156 meters 0.010659613431291536 Centerline is valid? [True, True] Translation: X:142.63, Y:-20.17, Z:-6.11 [[ 9.81497906e-01 1.87657645e-01 3.80324658e-02 1.42630212e+02] [-1.87516879e-01 9.82234498e-01 -7.26717001e-03 -2.01715059e+01] [-3.87205400e-02 9.82839199e-07 9.99250079e-01 -6.11030935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33587156000002 meters 0.01078079108005559 Centerline is valid? [True, True] Translation: X:142.66, Y:-20.18, Z:-6.11 [[ 9.81852533e-01 1.85990954e-01 3.70535819e-02 1.42661928e+02] [-1.85855933e-01 9.82551454e-01 -7.08605918e-03 -2.01775692e+01] [-3.77249937e-02 7.08371247e-05 9.99288157e-01 -6.11106726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36587156000002 meters 0.02269593852350866 Centerline is valid? [True, True] Translation: X:142.69, Y:-20.18, Z:-6.11 [[ 9.81959301e-01 1.85499203e-01 3.66875600e-02 1.42694322e+02] [-1.85366264e-01 9.82644410e-01 -7.02221483e-03 -2.01833802e+01] [-3.73534410e-02 9.48932196e-05 9.99302112e-01 -6.11273966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39587156000002 meters 0.019784907048501835 Centerline is valid? [True, True] Translation: X:142.73, Y:-20.19, Z:-6.12 [[ 9.82026500e-01 1.85248067e-01 3.61539296e-02 1.42725664e+02] [-1.85118531e-01 9.82691784e-01 -6.92731926e-03 -2.01887906e+01] [-3.68114421e-02 1.10048749e-04 9.99322223e-01 -6.11522212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42587156000002 meters 0.012048077808499466 Centerline is valid? [True, True] Translation: X:142.76, Y:-20.19, Z:-6.12 [[ 9.82086411e-01 1.84996719e-01 3.58119382e-02 1.42757361e+02] [-1.84869214e-01 9.82739130e-01 -6.86843841e-03 -2.01945872e+01] [-3.64644316e-02 1.24875169e-04 9.99334944e-01 -6.11964792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45587156000002 meters 0.012578448380799852 Centerline is valid? [True, True] Translation: X:142.79, Y:-20.20, Z:-6.12 [[ 9.82266859e-01 1.84230789e-01 3.47970556e-02 1.42789384e+02] [-1.84109704e-01 9.82883000e-01 -6.68016996e-03 -2.01988009e+01] [-3.54321274e-02 1.55233974e-04 9.99372073e-01 -6.12232102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48587156000002 meters 0.013053274641118114 Centerline is valid? [True, True] Translation: X:142.82, Y:-20.20, Z:-6.12 [[ 9.82346316e-01 1.83839770e-01 3.46215741e-02 1.42821152e+02] [-1.83719458e-01 9.82956209e-01 -6.65225218e-03 -2.02047841e+01] [-3.52544398e-02 1.74158613e-04 9.99378354e-01 -6.12477461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51587156000002 meters 0.013053274641118114 Centerline is valid? [True, True] Translation: X:142.85, Y:-20.21, Z:-6.13 [[ 9.82312380e-01 1.84021232e-01 3.46204214e-02 1.42853008e+02] [-1.83900821e-01 9.82922253e-01 -6.65824528e-03 -2.02111110e+01] [-3.52544411e-02 1.73752858e-04 9.99378354e-01 -6.12623913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54587156000002 meters 0.013345074740362482 Centerline is valid? [True, True] Translation: X:142.89, Y:-20.22, Z:-6.13 [[ 9.82461407e-01 1.83142209e-01 3.50501792e-02 1.42885508e+02] [-1.83017987e-01 9.83086408e-01 -6.74767288e-03 -2.02166349e+01] [-3.56931385e-02 2.14514953e-04 9.99362774e-01 -6.12728571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57587156000002 meters 0.013592538731174582 Centerline is valid? [True, True] Translation: X:142.92, Y:-20.22, Z:-6.13 [[ 9.82505708e-01 1.82929351e-01 3.49197001e-02 1.42917940e+02] [-1.82805676e-01 9.83126035e-01 -6.72935734e-03 -2.02225193e+01] [-3.55614632e-02 2.28112627e-04 9.99367465e-01 -6.12828388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60587156000003 meters 0.01985938400419664 Centerline is valid? [True, True] Translation: X:142.95, Y:-20.23, Z:-6.13 [[ 9.82536831e-01 1.82797085e-01 3.47361622e-02 1.42949215e+02] [-1.82674380e-01 9.83150634e-01 -6.70089425e-03 -2.02277410e+01] [-3.53757838e-02 2.38468519e-04 9.99374053e-01 -6.12919567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63587156000003 meters 0.01415191955838906 Centerline is valid? [True, True] Translation: X:142.98, Y:-20.23, Z:-6.13 [[ 9.82554216e-01 1.82767225e-01 3.43999252e-02 1.42982195e+02] [-1.82646653e-01 9.83156184e-01 -6.64210234e-03 -2.02328576e+01] [-3.50344578e-02 2.43194434e-04 9.99386075e-01 -6.13146201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66587156000003 meters 0.015008220021572814 Centerline is valid? [True, True] Translation: X:143.01, Y:-20.24, Z:-6.13 [[ 9.82689554e-01 1.82122795e-01 3.39489166e-02 1.43013069e+02] [-1.82004719e-01 9.83275757e-01 -6.56258878e-03 -2.02381634e+01] [-3.45763437e-02 2.70124400e-04 9.99402023e-01 -6.13432563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69587156000003 meters 0.015290520597069321 Centerline is valid? [True, True] Translation: X:143.05, Y:-20.24, Z:-6.14 [[ 9.82774159e-01 1.81706320e-01 3.37307885e-02 1.43045260e+02] [-1.81589442e-01 9.83352801e-01 -6.52248002e-03 -2.02445788e+01] [-3.43544412e-02 2.84969764e-04 9.99409671e-01 -6.13623218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72587156000003 meters 0.02428359484364059 Centerline is valid? [True, True] Translation: X:143.08, Y:-20.25, Z:-6.14 [[ 9.82862644e-01 1.81204778e-01 3.38504304e-02 1.43076543e+02] [-1.81086516e-01 9.83445337e-01 -6.55302427e-03 -2.02516299e+01] [-3.44774872e-02 3.10866262e-04 9.99405426e-01 -6.13714251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75587156000003 meters 0.016608700419471333 Centerline is valid? [True, True] Translation: X:143.11, Y:-20.26, Z:-6.14 [[ 9.83019797e-01 1.80270045e-01 3.42751910e-02 1.43108427e+02] [-1.80148104e-01 9.83617094e-01 -6.63877060e-03 -2.02585730e+01] [-3.49104353e-02 3.51432242e-04 9.99390383e-01 -6.13792587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78587156000003 meters 0.017298268523052666 Centerline is valid? [True, True] Translation: X:143.14, Y:-20.27, Z:-6.14 [[ 9.83220127e-01 1.78981298e-01 3.52686320e-02 1.43140816e+02] [-1.78851099e-01 9.83852388e-01 -6.83829541e-03 -2.02661925e+01] [-3.59230548e-02 4.15716091e-04 9.99354472e-01 -6.13712226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81587156000003 meters 0.01839490584830498 Centerline is valid? [True, True] Translation: X:143.17, Y:-20.27, Z:-6.14 [[ 9.83317709e-01 1.78444351e-01 3.52689234e-02 1.43170879e+02] [-1.78313521e-01 9.83949906e-01 -6.84621758e-03 -2.02741792e+01] [-3.59245227e-02 4.43081059e-04 9.99354408e-01 -6.13873596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84587156000003 meters 0.01900762293005229 Centerline is valid? [True, True] Translation: X:143.20, Y:-20.28, Z:-6.14 [[ 9.83382761e-01 1.78070891e-01 3.53426518e-02 1.43203219e+02] [-1.77939183e-01 9.84017554e-01 -6.86300675e-03 -2.02815954e+01] [-3.59998915e-02 4.60119930e-04 9.99351688e-01 -6.14038161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87587156000004 meters 0.01982805689496119 Centerline is valid? [True, True] Translation: X:143.23, Y:-20.29, Z:-6.14 [[ 9.83524300e-01 1.77320863e-01 3.51747623e-02 1.43233681e+02] [-1.77189671e-01 9.84152971e-01 -6.83748783e-03 -2.02889111e+01] [-3.58297761e-02 4.92230884e-04 9.99357786e-01 -6.14204812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90587156000004 meters 0.02031658645726168 Centerline is valid? [True, True] Translation: X:143.27, Y:-20.30, Z:-6.14 [[ 9.83544919e-01 1.77270400e-01 3.48510689e-02 1.43266177e+02] [-1.77141400e-01 9.84162060e-01 -6.77964633e-03 -2.02962271e+01] [-3.55009304e-02 4.94519575e-04 9.99369521e-01 -6.14443327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93587156000004 meters 0.020518853090715237 Centerline is valid? [True, True] Translation: X:143.30, Y:-20.30, Z:-6.15 [[ 9.83550821e-01 1.77299279e-01 3.45361827e-02 1.43298748e+02] [-1.77172389e-01 9.84156858e-01 -6.72490949e-03 -2.03036541e+01] [-3.51813427e-02 4.95432251e-04 9.99380822e-01 -6.14669692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96587156 meters 0.023412145596520148 Centerline is valid? [True, True] Translation: X:143.33, Y:-20.31, Z:-6.15 [[ 9.83525833e-01 1.77465173e-01 3.43954679e-02 1.43331256e+02] [-1.77339187e-01 9.84126957e-01 -6.70405466e-03 -2.03110147e+01] [-3.50392434e-02 4.93946631e-04 9.99385815e-01 -6.14781976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99587156 meters 0.02447721932399242 Centerline is valid? [True, True] Translation: X:143.36, Y:-20.32, Z:-6.15 [[ 9.83469542e-01 1.77780100e-01 3.43787179e-02 1.43363055e+02] [-1.77654197e-01 9.84070118e-01 -6.70742002e-03 -2.03180804e+01] [-3.50235148e-02 4.89019774e-04 9.99386369e-01 -6.14916093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02587156 meters 0.019780042690854285 Centerline is valid? [True, True] Translation: X:143.39, Y:-20.33, Z:-6.15 [[ 9.83329985e-01 1.78618780e-01 3.40216389e-02 1.43393780e+02] [-1.78495719e-01 9.83918248e-01 -6.64529416e-03 -2.03251118e+01] [-3.46614857e-02 4.61800103e-04 9.99399003e-01 -6.15240671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05587156 meters 0.01884429157992891 Centerline is valid? [True, True] Translation: X:143.43, Y:-20.33, Z:-6.15 [[ 9.83165149e-01 1.79472352e-01 3.42923324e-02 1.43425756e+02] [-1.79347753e-01 9.83762920e-01 -6.70076147e-03 -2.03310646e+01] [-3.49381265e-02 4.37702401e-04 9.99389381e-01 -6.15317144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08587156000002 meters 0.021060216990437874 Centerline is valid? [True, True] Translation: X:143.46, Y:-20.34, Z:-6.15 [[ 9.82990196e-01 1.80440772e-01 3.42257515e-02 1.43456913e+02] [-1.80317043e-01 9.83585767e-01 -6.69350943e-03 -2.03370784e+01] [-3.48717440e-02 4.08167863e-04 9.99391712e-01 -6.15386282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11587156000002 meters 0.017754161380006146 Centerline is valid? [True, True] Translation: X:143.49, Y:-20.34, Z:-6.16 [[ 9.82879734e-01 1.81093747e-01 3.39482418e-02 1.43488128e+02] [-1.80972210e-01 9.83465762e-01 -6.64488649e-03 -2.03443514e+01] [-3.45902809e-02 3.87435931e-04 9.99401502e-01 -6.15678449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14587156000002 meters 0.026223443485828626 Centerline is valid? [True, True] Translation: X:143.52, Y:-20.35, Z:-6.16 [[ 9.82683860e-01 1.82276679e-01 3.32812660e-02 1.43520572e+02] [-1.82160353e-01 9.83247219e-01 -6.52014013e-03 -2.03502700e+01] [-3.39121817e-02 3.44709304e-04 9.99424757e-01 -6.15826935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17587156000002 meters 0.014652221354352629 Centerline is valid? [True, True] Translation: X:143.55, Y:-20.36, Z:-6.16 [[ 9.82278685e-01 1.84422956e-01 3.34179407e-02 1.43552864e+02] [-1.84306641e-01 9.82846934e-01 -6.55493557e-03 -2.03551363e+01] [-3.40536011e-02 2.79625100e-04 9.99419969e-01 -6.15948601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20587156000002 meters 0.014373987170589813 Centerline is valid? [True, True] Translation: X:143.58, Y:-20.36, Z:-6.16 [[ 9.82012662e-01 1.85757655e-01 3.38411799e-02 1.43583044e+02] [-1.85639127e-01 9.82595561e-01 -6.63908527e-03 -2.03615867e+01] [-3.44854541e-02 2.37418706e-04 9.99405172e-01 -6.16194272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23587156000002 meters 0.01347072209227398 Centerline is valid? [True, True] Translation: X:143.62, Y:-20.37, Z:-6.16 [[ 9.81728251e-01 1.87198097e-01 3.41542628e-02 1.43615202e+02] [-1.87078043e-01 9.82322164e-01 -6.70605826e-03 -2.03669179e+01] [-3.48058507e-02 1.94014201e-04 9.99394074e-01 -6.16241605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26587156000002 meters 0.014283860691487503 Centerline is valid? [True, True] Translation: X:143.65, Y:-20.37, Z:-6.16 [[ 9.81125559e-01 1.90094856e-01 3.54483162e-02 1.43646100e+02] [-1.89967188e-01 9.81765723e-01 -6.96650154e-03 -2.03703518e+01] [-3.61262379e-02 1.00995778e-04 9.99347229e-01 -6.16205032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29587156000002 meters 0.011064748117979603 Centerline is valid? [True, True] Translation: X:143.68, Y:-20.38, Z:-6.16 [[ 9.80782827e-01 1.91870011e-01 3.53686882e-02 1.43678339e+02] [-1.91743885e-01 9.81420347e-01 -6.95596416e-03 -2.03751921e+01] [-3.60461912e-02 4.05605019e-05 9.99350124e-01 -6.16207654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32587156000002 meters 0.01096893055420276 Centerline is valid? [True, True] Translation: X:143.71, Y:-20.38, Z:-6.16 [[ 9.80434475e-01 1.93602072e-01 3.55875961e-02 1.43710336e+02] [-1.93475237e-01 9.81080138e-01 -7.00680861e-03 -2.03799042e+01] [-3.62708164e-02 -1.56018573e-05 9.99341997e-01 -6.16365736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35587156000003 meters 0.011185016167700157 Centerline is valid? [True, True] Translation: X:143.74, Y:-20.38, Z:-6.16 [[ 9.80006444e-01 1.95694836e-01 3.59291132e-02 1.43743006e+02] [-1.95566816e-01 9.80664837e-01 -7.07796994e-03 -2.03837006e+01] [-3.66195401e-02 -9.00861093e-05 9.99329276e-01 -6.16444066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38587156000003 meters 0.013013422342999443 Centerline is valid? [True, True] Translation: X:143.78, Y:-20.38, Z:-6.17 [[ 9.79155721e-01 1.99881800e-01 3.60741021e-02 1.43776122e+02] [-1.99755312e-01 9.79819988e-01 -7.11386859e-03 -2.03837939e+01] [-3.67680591e-02 -2.40408398e-04 9.99323797e-01 -6.16586033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41587156000003 meters 0.014348818478321847 Centerline is valid? [True, True] Translation: X:143.81, Y:-20.39, Z:-6.17 [[ 9.78740539e-01 2.01952935e-01 3.58046064e-02 1.43807966e+02] [-2.01829492e-01 9.79395179e-01 -7.06685434e-03 -2.03876459e+01] [-3.64940309e-02 -3.09808690e-04 9.99333823e-01 -6.16790947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44587156000003 meters 0.015626510739955843 Centerline is valid? [True, True] Translation: X:143.84, Y:-20.39, Z:-6.17 [[ 9.78366276e-01 2.03768567e-01 3.57463324e-02 1.43839480e+02] [-2.03646510e-01 9.79019016e-01 -7.06154211e-03 -2.03918202e+01] [-3.64352594e-02 -3.70841185e-04 9.99335947e-01 -6.16930481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47587156000003 meters 0.01858454826868621 Centerline is valid? [True, True] Translation: X:143.87, Y:-20.39, Z:-6.17 [[ 9.77805511e-01 2.06445166e-01 3.57320095e-02 1.43870459e+02] [-2.06324716e-01 9.78458062e-01 -7.06627414e-03 -2.03924302e+01] [-3.64210709e-02 -4.62954929e-04 9.99336425e-01 -6.17133231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50587156000003 meters 0.029035856505594735 Centerline is valid? [True, True] Translation: X:143.90, Y:-20.40, Z:-6.17 [[ 9.77632252e-01 2.07307284e-01 3.54805711e-02 1.43901505e+02] [-2.07189079e-01 9.78275753e-01 -7.01688013e-03 -2.03963024e+01] [-3.61644327e-02 -4.91258529e-04 9.99345732e-01 -6.17263307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53587156000003 meters 0.024854179910671202 Centerline is valid? [True, True] Translation: X:143.93, Y:-20.40, Z:-6.17 [[ 9.77464124e-01 2.08138184e-01 3.52474608e-02 1.43931911e+02] [-2.08022038e-01 9.78099294e-01 -6.97160934e-03 -2.04024263e+01] [-3.59265746e-02 -5.17750632e-04 9.99354298e-01 -6.17336540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56587156000003 meters 0.019789723621976788 Centerline is valid? [True, True] Translation: X:143.96, Y:-20.41, Z:-6.18 [[ 9.77359544e-01 2.08575046e-01 3.55636331e-02 1.43961779e+02] [-2.08457059e-01 9.78006217e-01 -7.03515785e-03 -2.04066415e+01] [-3.62488126e-02 -5.37611673e-04 9.99342651e-01 -6.17535223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59587156000003 meters 0.0208917273905007 Centerline is valid? [True, True] Translation: X:143.99, Y:-20.41, Z:-6.18 [[ 9.77257215e-01 2.08893479e-01 3.64945223e-02 1.43992517e+02] [-2.08769437e-01 9.77938238e-01 -7.21977581e-03 -2.04089845e+01] [-3.71975529e-02 -5.63362846e-04 9.99307773e-01 -6.17592601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62587156000004 meters 0.01993705780536522 Centerline is valid? [True, True] Translation: X:144.02, Y:-20.42, Z:-6.18 [[ 9.77264722e-01 2.08802376e-01 3.68134497e-02 1.44023140e+02] [-2.08676078e-01 9.77957693e-01 -7.28323732e-03 -2.04158486e+01] [-3.75227536e-02 -5.64435393e-04 9.99295614e-01 -6.17646936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65587156000004 meters 0.019519486727620276 Centerline is valid? [True, True] Translation: X:144.05, Y:-20.42, Z:-6.18 [[ 9.77296009e-01 2.08639276e-01 3.69075045e-02 1.44054045e+02] [-2.08512181e-01 9.77992505e-01 -7.30275459e-03 -2.04226742e+01] [-3.76189042e-02 -5.58711331e-04 9.99292002e-01 -6.17813523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68587156000004 meters 0.0268195742643899 Centerline is valid? [True, True] Translation: X:144.08, Y:-20.43, Z:-6.18 [[ 9.77387176e-01 2.08322340e-01 3.62782398e-02 1.44083365e+02] [-2.08199301e-01 9.78060077e-01 -7.17886374e-03 -2.04280710e+01] [-3.69778157e-02 -5.36574831e-04 9.99315943e-01 -6.18040941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71587156 meters 0.020058541666092822 Centerline is valid? [True, True] Translation: X:144.11, Y:-20.43, Z:-6.18 [[ 9.77493358e-01 2.07964839e-01 3.54592955e-02 1.44113526e+02] [-2.07846973e-01 9.78136170e-01 -7.01919743e-03 -2.04316513e+01] [-3.61437658e-02 -5.08888366e-04 9.99346471e-01 -6.18472704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74587156 meters 0.023728284363368317 Centerline is valid? [True, True] Translation: X:144.14, Y:-20.44, Z:-6.19 [[ 9.77501589e-01 2.07958696e-01 3.52678948e-02 1.44143761e+02] [-2.07842076e-01 9.78137478e-01 -6.98184400e-03 -2.04373894e+01] [-3.59487848e-02 -5.05388848e-04 9.99353506e-01 -6.18503778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77587156 meters 0.018761093120200193 Centerline is valid? [True, True] Translation: X:144.17, Y:-20.44, Z:-6.19 [[ 9.77457448e-01 2.08140555e-01 3.54181675e-02 1.44174894e+02] [-2.08023066e-01 9.78098791e-01 -7.01137118e-03 -2.04433153e+01] [-3.61018175e-02 -5.14478825e-04 9.99347984e-01 -6.18655602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80587156 meters 0.03066205502636518 Centerline is valid? [True, True] Translation: X:144.20, Y:-20.45, Z:-6.19 [[ 9.77461719e-01 2.08260621e-01 3.45846998e-02 1.44204394e+02] [-2.08148630e-01 9.78073238e-01 -6.84759114e-03 -2.04452066e+01] [-3.52524529e-02 -5.05499673e-04 9.99378311e-01 -6.18970829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83587156000002 meters 0.01975739723469338 Centerline is valid? [True, True] Translation: X:144.23, Y:-20.45, Z:-6.19 [[ 9.77510228e-01 2.08062646e-01 3.44048033e-02 1.44233727e+02] [-2.07951706e-01 9.78115376e-01 -6.81165908e-03 -2.04506455e+01] [-3.50691189e-02 -4.96071110e-04 9.99384766e-01 -6.19156343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86587156000002 meters 0.01952485878010744 Centerline is valid? [True, True] Translation: X:144.26, Y:-20.46, Z:-6.19 [[ 9.77610036e-01 2.07618294e-01 3.42529162e-02 1.44261502e+02] [-2.07508084e-01 9.78209801e-01 -6.78086807e-03 -2.04555627e+01] [-3.49143706e-02 -4.78712343e-04 9.99390193e-01 -6.19329366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89587156000002 meters 0.019386213985083393 Centerline is valid? [True, True] Translation: X:144.29, Y:-20.46, Z:-6.20 [[ 9.77707078e-01 2.07133236e-01 3.44193479e-02 1.44289506e+02] [-2.07021696e-01 9.78312632e-01 -6.81254352e-03 -2.04606255e+01] [-3.50839870e-02 -4.64879772e-04 9.99384259e-01 -6.19524525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92587156000002 meters 0.018150816300053475 Centerline is valid? [True, True] Translation: X:144.32, Y:-20.47, Z:-6.20 [[ 9.78010473e-01 2.05673400e-01 3.45538212e-02 1.44317290e+02] [-2.05560121e-01 9.78620601e-01 -6.83788992e-03 -2.04668223e+01] [-3.52214533e-02 -4.15359694e-04 9.99379446e-01 -6.19605189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95587156000002 meters 0.0175180846888798 Centerline is valid? [True, True] Translation: X:144.35, Y:-20.47, Z:-6.20 [[ 9.78151399e-01 2.04956833e-01 3.48215085e-02 1.44346051e+02] [-2.04841386e-01 9.78770934e-01 -6.88947542e-03 -2.04728241e+01] [-3.54943255e-02 -3.93936058e-04 9.99369800e-01 -6.19669062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98587156000002 meters 0.01537786592810818 Centerline is valid? [True, True] Translation: X:144.38, Y:-20.48, Z:-6.20 [[ 9.78288601e-01 2.04163019e-01 3.56212612e-02 1.44376505e+02] [-2.04041729e-01 9.78936832e-01 -7.04640948e-03 -2.04813793e+01] [-3.63095808e-02 -3.74801624e-04 9.99340519e-01 -6.19525257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01587156000002 meters 0.014810207430427233 Centerline is valid? [True, True] Translation: X:144.41, Y:-20.49, Z:-6.20 [[ 9.78402243e-01 2.03499110e-01 3.62927521e-02 1.44406135e+02] [-2.03372722e-01 9.79075066e-01 -7.17985698e-03 -2.04874661e+01] [-3.69944232e-02 -3.56167626e-04 9.99315409e-01 -6.19512253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04587156000002 meters 0.01500830016410752 Centerline is valid? [True, True] Translation: X:144.44, Y:-20.49, Z:-6.20 [[ 9.78448619e-01 2.03214582e-01 3.66351406e-02 1.44436660e+02] [-2.03085490e-01 9.79134166e-01 -7.25048581e-03 -2.04903538e+01] [-3.73441223e-02 -3.45837664e-04 9.99302405e-01 -6.19561915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07587156000002 meters 0.015418681715420686 Centerline is valid? [True, True] Translation: X:144.47, Y:-20.49, Z:-6.20 [[ 9.78438948e-01 2.03327669e-01 3.62640915e-02 1.44466911e+02] [-2.03201240e-01 9.79110688e-01 -7.17750504e-03 -2.04944250e+01] [-3.69659449e-02 -3.46157896e-04 9.99316466e-01 -6.19851256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10587156000003 meters 0.015762324543294605 Centerline is valid? [True, True] Translation: X:144.50, Y:-20.50, Z:-6.20 [[ 9.78403053e-01 2.03590906e-01 3.57520349e-02 1.44496513e+02] [-2.03468173e-01 9.79055984e-01 -7.07689200e-03 -2.04993168e+01] [-3.64440346e-02 -3.50348489e-04 9.99335634e-01 -6.20092601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13587156000003 meters 0.016545985653254092 Centerline is valid? [True, True] Translation: X:144.52, Y:-20.50, Z:-6.20 [[ 9.78321438e-01 2.04064737e-01 3.52809803e-02 1.44524930e+02] [-2.03945552e-01 9.78957328e-01 -6.98291257e-03 -2.05047617e+01] [-3.59635404e-02 -3.63865937e-04 9.99353036e-01 -6.20290780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16587156000003 meters 0.016168435571396304 Centerline is valid? [True, True] Translation: X:144.55, Y:-20.51, Z:-6.20 [[ 9.78278617e-01 2.04209524e-01 3.56289012e-02 1.44554226e+02] [-2.04088123e-01 9.78927132e-01 -7.05037378e-03 -2.05098216e+01] [-3.63178515e-02 -3.74205644e-04 9.99340219e-01 -6.20283685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19587156000003 meters 0.03040637488909044 Centerline is valid? [True, True] Translation: X:144.58, Y:-20.51, Z:-6.20 [[ 9.78194890e-01 2.04546059e-01 3.59953870e-02 1.44584553e+02] [-2.04422414e-01 9.78856862e-01 -7.12179721e-03 -2.05145765e+01] [-3.66910671e-02 -3.91758280e-04 9.99326579e-01 -6.20263378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22587156000003 meters 0.016718201188523057 Centerline is valid? [True, True] Translation: X:144.61, Y:-20.52, Z:-6.21 [[ 9.78155788e-01 2.04778156e-01 3.57373931e-02 1.44613527e+02] [-2.04656437e-01 9.78808331e-01 -7.07064985e-03 -2.05179112e+01] [-3.64279727e-02 -3.97690477e-04 9.99336202e-01 -6.20548206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25587156000003 meters 0.018562539481550244 Centerline is valid? [True, True] Translation: X:144.64, Y:-20.52, Z:-6.21 [[ 9.78127193e-01 2.04949602e-01 3.55366728e-02 1.44642449e+02] [-2.04829333e-01 9.78772445e-01 -7.03168493e-03 -2.05234742e+01] [-3.62234572e-02 -4.01070763e-04 9.99343635e-01 -6.20665877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28587156000003 meters 0.017559197596943212 Centerline is valid? [True, True] Translation: X:144.67, Y:-20.53, Z:-6.21 [[ 9.77965521e-01 2.05672110e-01 3.58109356e-02 1.44670760e+02] [-2.05550490e-01 9.78620865e-01 -7.08515998e-03 -2.05263361e+01] [-3.65025486e-02 -4.31913180e-04 9.99333467e-01 -6.20795574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31587156000003 meters 0.018358100020701106 Centerline is valid? [True, True] Translation: X:144.70, Y:-20.53, Z:-6.21 [[ 9.77853878e-01 2.06224461e-01 3.56828291e-02 1.44699027e+02] [-2.06104125e-01 9.78504608e-01 -7.05849361e-03 -2.05293924e+01] [-3.63714467e-02 -4.52202929e-04 9.99338238e-01 -6.20938632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34587156000003 meters 0.01760056382707092 Centerline is valid? [True, True] Translation: X:144.73, Y:-20.53, Z:-6.21 [[ 9.77676162e-01 2.07101027e-01 3.54751516e-02 1.44728610e+02] [-2.06982727e-01 9.78319442e-01 -7.01572144e-03 -2.05344772e+01] [-3.61589936e-02 -4.83639985e-04 9.99345933e-01 -6.20970880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37587156000004 meters 0.020584316727482094 Centerline is valid? [True, True] Translation: X:144.76, Y:-20.53, Z:-6.21 [[ 9.77419991e-01 2.08318838e-01 3.54037066e-02 1.44758056e+02] [-2.08201784e-01 9.78060828e-01 -7.00236815e-03 -2.05343870e+01] [-3.60857038e-02 -5.26860256e-04 9.99348560e-01 -6.21281302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40587156000004 meters 0.028460812814797818 Centerline is valid? [True, True] Translation: X:144.79, Y:-20.53, Z:-6.21 [[ 9.76945074e-01 2.10450658e-01 3.59004625e-02 1.44787386e+02] [-2.10331780e-01 9.77604287e-01 -7.09930421e-03 -2.05343701e+01] [-3.65904993e-02 -6.15377931e-04 9.99330154e-01 -6.21183937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43587156000004 meters 0.028460812814797818 Centerline is valid? [True, True] Translation: X:144.82, Y:-20.54, Z:-6.21 [[ 9.76955045e-01 2.10404305e-01 3.59008002e-02 1.44815171e+02] [-2.10285460e-01 9.77614264e-01 -7.09759646e-03 -2.05397729e+01] [-3.65904992e-02 -6.15383592e-04 9.99330154e-01 -6.21311541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46587156 meters 0.023414077259351036 Centerline is valid? [True, True] Translation: X:144.84, Y:-20.54, Z:-6.21 [[ 9.76769657e-01 2.11239571e-01 3.60399742e-02 1.44843362e+02] [-2.11120432e-01 9.77434100e-01 -7.12342492e-03 -2.05413853e+01] [-3.67314489e-02 -6.50829606e-04 9.99324961e-01 -6.21482079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49587156 meters 0.023376434029266074 Centerline is valid? [True, True] Translation: X:144.87, Y:-20.55, Z:-6.22 [[ 9.76636681e-01 2.11876492e-01 3.59046593e-02 1.44871531e+02] [-2.11758760e-01 9.77296218e-01 -7.09439419e-03 -2.05451205e+01] [-3.65926230e-02 -6.74480517e-04 9.99330038e-01 -6.21590019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52587156 meters 0.024420197305179178 Centerline is valid? [True, True] Translation: X:144.90, Y:-20.55, Z:-6.22 [[ 9.76517980e-01 2.12512291e-01 3.53717592e-02 1.44899962e+02] [-2.12398503e-01 9.77158150e-01 -6.98747953e-03 -2.05456743e+01] [-3.60487281e-02 -6.89509322e-04 9.99349796e-01 -6.21819056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55587156 meters 0.02501789173031538 Centerline is valid? [True, True] Translation: X:144.93, Y:-20.55, Z:-6.22 [[ 9.76540117e-01 2.12448313e-01 3.51442070e-02 1.44927469e+02] [-2.12336021e-01 9.77172065e-01 -6.94036734e-03 -2.05483532e+01] [-3.58164067e-02 -6.84833942e-04 9.99358152e-01 -6.22059281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58587156000002 meters 0.026451685435576702 Centerline is valid? [True, True] Translation: X:144.96, Y:-20.55, Z:-6.22 [[ 9.76571397e-01 2.12288598e-01 3.52399966e-02 1.44955895e+02] [-2.12175665e-01 9.77206777e-01 -6.95720073e-03 -2.05497513e+01] [-3.59136979e-02 -6.82866473e-04 9.99354662e-01 -6.22238748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61587156000002 meters 0.02459703136462441 Centerline is valid? [True, True] Translation: X:144.98, Y:-20.56, Z:-6.22 [[ 9.76624019e-01 2.12008579e-01 3.54667232e-02 1.44984502e+02] [-2.11894101e-01 9.77267569e-01 -6.99924055e-03 -2.05553191e+01] [-3.61443774e-02 -6.79563008e-04 9.99346347e-01 -6.22252595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64587156000002 meters 0.02311871822215892 Centerline is valid? [True, True] Translation: X:145.01, Y:-20.56, Z:-6.22 [[ 9.76930444e-01 2.10605906e-01 3.53844675e-02 1.45013112e+02] [-2.10491100e-01 9.77570846e-01 -6.98129730e-03 -2.05582055e+01] [-3.60611262e-02 -6.27873612e-04 9.99349389e-01 -6.22415028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67587156000002 meters 0.02253083684759538 Centerline is valid? [True, True] Translation: X:145.04, Y:-20.56, Z:-6.23 [[ 9.77175145e-01 2.09504587e-01 3.51648210e-02 1.45040203e+02] [-2.09390547e-01 9.77807489e-01 -6.93637278e-03 -2.05619277e+01] [-3.58376273e-02 -5.85130029e-04 9.99357455e-01 -6.22651519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70587156000002 meters 0.021112311559404216 Centerline is valid? [True, True] Translation: X:145.07, Y:-20.57, Z:-6.23 [[ 9.77396396e-01 2.08530733e-01 3.48025745e-02 1.45068397e+02] [-2.08418491e-01 9.78015662e-01 -6.86272607e-03 -2.05675655e+01] [-3.54685523e-02 -5.45896353e-04 9.99370644e-01 -6.22781447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73587156000002 meters 0.023190313801419594 Centerline is valid? [True, True] Translation: X:145.10, Y:-20.57, Z:-6.23 [[ 9.77629375e-01 2.07488687e-01 3.44854975e-02 1.45095857e+02] [-2.07377889e-01 9.78237287e-01 -6.79864463e-03 -2.05726195e+01] [-3.51456414e-02 -5.04974986e-04 9.99382074e-01 -6.22909781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76587156000002 meters 0.01922723876989047 Centerline is valid? [True, True] Translation: X:145.12, Y:-20.58, Z:-6.23 [[ 9.78081539e-01 2.05232064e-01 3.51610886e-02 1.45123104e+02] [-2.05115502e-01 9.78713243e-01 -6.92962377e-03 -2.05762568e+01] [-3.58348040e-02 -4.34347252e-04 9.99357633e-01 -6.23087128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79587156000002 meters 0.017209943704994127 Centerline is valid? [True, True] Translation: X:145.15, Y:-20.58, Z:-6.23 [[ 9.78343073e-01 2.03967596e-01 3.52427487e-02 1.45151150e+02] [-2.03849752e-01 9.78977562e-01 -6.94346757e-03 -2.05829561e+01] [-3.59181026e-02 -3.91132197e-04 9.99354660e-01 -6.23126038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82587156000002 meters 0.016325087796994247 Centerline is valid? [True, True] Translation: X:145.18, Y:-20.59, Z:-6.23 [[ 9.78628420e-01 2.02622408e-01 3.50795617e-02 1.45178102e+02] [-2.02504845e-01 9.79256883e-01 -6.90977150e-03 -2.05875868e+01] [-3.57519767e-02 -3.41682427e-04 9.99360635e-01 -6.23355080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85587156000003 meters 0.015413106772721171 Centerline is valid? [True, True] Translation: X:145.21, Y:-20.59, Z:-6.23 [[ 9.78883273e-01 2.01418125e-01 3.49038328e-02 1.45206171e+02] [-2.01301057e-01 9.79505309e-01 -6.87276038e-03 -2.05919621e+01] [-3.55727880e-02 -2.98548250e-04 9.99367043e-01 -6.23494783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88587156000003 meters 0.021589008881521165 Centerline is valid? [True, True] Translation: X:145.23, Y:-20.60, Z:-6.24 [[ 9.79237246e-01 1.99697189e-01 3.48632741e-02 1.45233773e+02] [-1.99579358e-01 9.79857631e-01 -6.86321221e-03 -2.05960948e+01] [-3.55316094e-02 -2.37276847e-04 9.99368525e-01 -6.23636040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91587156000003 meters 0.013516922244018991 Centerline is valid? [True, True] Translation: X:145.26, Y:-20.60, Z:-6.24 [[ 9.79349112e-01 1.99166334e-01 3.47575649e-02 1.45261590e+02] [-1.99048959e-01 9.79965675e-01 -6.84023661e-03 -2.06019692e+01] [-3.54235654e-02 -2.19477462e-04 9.99372364e-01 -6.23734426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94587156000003 meters 0.013489729178748635 Centerline is valid? [True, True] Translation: X:145.29, Y:-20.61, Z:-6.24 [[ 9.79389951e-01 1.99020595e-01 3.44401915e-02 1.45290391e+02] [-1.98905322e-01 9.79995284e-01 -6.77611329e-03 -2.06052555e+01] [-3.50998114e-02 -2.13880122e-04 9.99383789e-01 -6.23864006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97587156000003 meters 0.013870633345896928 Centerline is valid? [True, True] Translation: X:145.32, Y:-20.61, Z:-6.24 [[ 9.79350712e-01 1.99271786e-01 3.41018879e-02 1.45318653e+02] [-1.99158971e-01 9.79944236e-01 -6.70806261e-03 -2.06073408e+01] [-3.47546761e-02 -2.22151027e-04 9.99395849e-01 -6.24069301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00587156000003 meters 0.01390499469848777 Centerline is valid? [True, True] Translation: X:145.35, Y:-20.61, Z:-6.24 [[ 9.79284605e-01 1.99605289e-01 3.40498211e-02 1.45347857e+02] [-1.99493105e-01 9.79876356e-01 -6.69537064e-03 -2.06097712e+01] [-3.47010460e-02 -2.36031134e-04 9.99397709e-01 -6.24155767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03587156000003 meters 0.01460588109960581 Centerline is valid? [True, True] Translation: X:145.38, Y:-20.61, Z:-6.24 [[ 9.79218254e-01 1.99922039e-01 3.40996905e-02 1.45376186e+02] [-1.99809773e-01 9.79811776e-01 -6.70359214e-03 -2.06116640e+01] [-3.47514741e-02 -2.49171631e-04 9.99395954e-01 -6.24363936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06587156000003 meters 0.014347967835351463 Centerline is valid? [True, True] Translation: X:145.41, Y:-20.61, Z:-6.24 [[ 9.79066974e-01 2.00600502e-01 3.44571920e-02 1.45405591e+02] [-2.00486369e-01 9.79673089e-01 -6.77160038e-03 -2.06132118e+01] [-3.51151702e-02 -2.78347027e-04 9.99383233e-01 -6.24260578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09587156000003 meters 0.029982005773778575 Centerline is valid? [True, True] Translation: X:145.43, Y:-20.62, Z:-6.25 [[ 9.79027874e-01 2.00827606e-01 3.42446264e-02 1.45433187e+02] [-2.00715068e-01 9.79626557e-01 -6.72834693e-03 -2.06150803e+01] [-3.48981833e-02 -2.86173330e-04 9.99390832e-01 -6.24598721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12587156000004 meters 0.01549459955622623 Centerline is valid? [True, True] Translation: X:145.46, Y:-20.62, Z:-6.25 [[ 9.79090078e-01 2.00462260e-01 3.46049432e-02 1.45461471e+02] [-2.00347216e-01 9.79701385e-01 -6.79621060e-03 -2.06193583e+01] [-3.52648945e-02 -2.78901654e-04 9.99377961e-01 -6.24718603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15587156000004 meters 0.027479733709492058 Centerline is valid? [True, True] Translation: X:145.49, Y:-20.62, Z:-6.25 [[ 9.79075283e-01 2.00480301e-01 3.49175958e-02 1.45490339e+02] [-2.00363242e-01 9.79697692e-01 -6.85585330e-03 -2.06241598e+01] [-3.55831516e-02 -2.83806202e-04 9.99366679e-01 -6.24646046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18587156000004 meters 0.014206362022315273 Centerline is valid? [True, True] Translation: X:145.52, Y:-20.63, Z:-6.25 [[ 9.79302515e-01 1.99242903e-01 3.56209297e-02 1.45519413e+02] [-1.99120305e-01 9.79950104e-01 -6.99274244e-03 -2.06278530e+01] [-3.62999881e-02 -2.44840126e-04 9.99340908e-01 -6.24681048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21587156000004 meters 0.027647430063071233 Centerline is valid? [True, True] Translation: X:145.55, Y:-20.63, Z:-6.25 [[ 9.79435079e-01 1.98604238e-01 3.55426911e-02 1.45547569e+02] [-1.98481819e-01 9.80079745e-01 -6.97568281e-03 -2.06328861e+01] [-3.62200718e-02 -2.22349544e-04 9.99343813e-01 -6.24753655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24587156 meters 0.012960562652819604 Centerline is valid? [True, True] Translation: X:145.58, Y:-20.64, Z:-6.25 [[ 9.79663220e-01 1.97462013e-01 3.56192257e-02 1.45576057e+02] [-1.97338374e-01 9.80310522e-01 -6.98897859e-03 -2.06383884e+01] [-3.62979595e-02 -1.82194815e-04 9.99340995e-01 -6.24894403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27587156 meters 0.011875286976873442 Centerline is valid? [True, True] Translation: X:145.60, Y:-20.65, Z:-6.25 [[ 9.80126080e-01 1.95121688e-01 3.57826035e-02 1.45604224e+02] [-1.94995415e-01 9.80779036e-01 -7.01930192e-03 -2.06462476e+01] [-3.64644454e-02 -9.76427499e-05 9.99334946e-01 -6.25020306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30587156 meters 0.01155709199300195 Centerline is valid? [True, True] Translation: X:145.63, Y:-20.65, Z:-6.25 [[ 9.80370734e-01 1.93880006e-01 3.58297008e-02 1.45631699e+02] [-1.93752634e-01 9.81025250e-01 -7.02682256e-03 -2.06536232e+01] [-3.65122015e-02 -5.32077071e-05 9.99333206e-01 -6.25089614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33587156000002 meters 0.011578948931046348 Centerline is valid? [True, True] Translation: X:145.66, Y:-20.66, Z:-6.25 [[ 9.80623875e-01 1.92528979e-01 3.61857477e-02 1.45658214e+02] [-1.92398206e-01 9.81291288e-01 -7.09494972e-03 -2.06602774e+01] [-3.68747424e-02 -4.59583963e-06 9.99319895e-01 -6.25278569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36587156000002 meters 0.011356751667410847 Centerline is valid? [True, True] Translation: X:145.69, Y:-20.67, Z:-6.25 [[ 9.80837315e-01 1.91401307e-01 3.63827105e-02 1.45686405e+02] [-1.91268417e-01 9.81511864e-01 -7.13122574e-03 -2.06668430e+01] [-3.70749879e-02 3.57088752e-05 9.99312486e-01 -6.25168271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39587156000002 meters 0.016099776251973136 Centerline is valid? [True, True] Translation: X:145.71, Y:-20.67, Z:-6.25 [[ 9.81054993e-01 1.90188468e-01 3.68706871e-02 1.45713200e+02] [-1.90051196e-01 9.81747595e-01 -7.22514566e-03 -2.06738194e+01] [-3.75718478e-02 8.09470340e-05 9.99293926e-01 -6.25219567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42587156000002 meters 0.011445581453320891 Centerline is valid? [True, True] Translation: X:145.74, Y:-20.68, Z:-6.25 [[ 9.81108495e-01 1.89873402e-01 3.70703788e-02 1.45741879e+02] [-1.89734502e-01 9.81808578e-01 -7.26194074e-03 -2.06790940e+01] [-3.77748653e-02 9.12218849e-05 9.99286271e-01 -6.25337224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45587156000002 meters 0.02665064638468577 Centerline is valid? [True, True] Translation: X:145.77, Y:-20.68, Z:-6.25 [[ 9.81102011e-01 1.90019757e-01 3.64874763e-02 1.45770433e+02] [-1.89885356e-01 9.81780263e-01 -7.14606105e-03 -2.06839818e+01] [-3.71805768e-02 8.25774422e-05 9.99308560e-01 -6.25356948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48587156000002 meters 0.011477681721721205 Centerline is valid? [True, True] Translation: X:145.80, Y:-20.69, Z:-6.26 [[ 9.81141402e-01 1.89860129e-01 3.62585316e-02 1.45798183e+02] [-1.89727365e-01 9.81811145e-01 -7.09949767e-03 -2.06885532e+01] [-3.69469420e-02 8.63754300e-05 9.99317225e-01 -6.25640681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51587156000002 meters 0.011751636502450442 Centerline is valid? [True, True] Translation: X:145.83, Y:-20.70, Z:-6.26 [[ 9.81230704e-01 1.89616830e-01 3.50965010e-02 1.45825745e+02] [-1.89492367e-01 9.81858162e-01 -6.86973380e-03 -2.06953724e+01] [-3.57624031e-02 9.02747010e-05 9.99360317e-01 -6.25950650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54587156000002 meters 0.011646325321573678 Centerline is valid? [True, True] Translation: X:145.85, Y:-20.70, Z:-6.26 [[ 9.81237671e-01 1.89568867e-01 3.51607498e-02 1.45853906e+02] [-1.89443981e-01 9.81867423e-01 -6.88053596e-03 -2.07013560e+01] [-3.58275302e-02 9.04486784e-05 9.99357984e-01 -6.25992167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57587156000002 meters 0.014104434171650714 Centerline is valid? [True, True] Translation: X:145.88, Y:-20.71, Z:-6.26 [[ 9.81235098e-01 1.89455187e-01 3.58387190e-02 1.45882497e+02] [-1.89325428e-01 9.81889364e-01 -7.01134439e-03 -2.07070291e+01] [-3.65179925e-02 9.45963793e-05 9.99332991e-01 -6.26040388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60587156000003 meters 0.01177954567704865 Centerline is valid? [True, True] Translation: X:145.91, Y:-20.71, Z:-6.26 [[ 9.81286258e-01 1.89164952e-01 3.59708321e-02 1.45910146e+02] [-1.89034103e-01 9.81945319e-01 -7.03547935e-03 -2.07122751e+01] [-3.66522563e-02 1.04105244e-04 9.99328075e-01 -6.26213541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63587156000003 meters 0.011775475020575712 Centerline is valid? [True, True] Translation: X:145.94, Y:-20.72, Z:-6.26 [[ 9.81296614e-01 1.89195340e-01 3.55257574e-02 1.45937983e+02] [-1.89067813e-01 9.81939465e-01 -6.94612239e-03 -2.07174025e+01] [-3.61983172e-02 9.94291462e-05 9.99344621e-01 -6.26357492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66587156000003 meters 0.01177589183032107 Centerline is valid? [True, True] Translation: X:145.97, Y:-20.72, Z:-6.27 [[ 9.81309359e-01 1.89194470e-01 3.51766160e-02 1.45966663e+02] [-1.89069500e-01 9.81939633e-01 -6.87612886e-03 -2.07227713e+01] [-3.58422389e-02 9.67844261e-05 9.99357456e-01 -6.26505183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69587156000003 meters 0.012220302584457792 Centerline is valid? [True, True] Translation: X:145.99, Y:-20.73, Z:-6.27 [[ 9.81347482e-01 1.89063588e-01 3.48149180e-02 1.45993778e+02] [-1.88941151e-01 9.81964842e-01 -6.80379200e-03 -2.07282589e+01] [-3.54733747e-02 9.89134964e-05 9.99370617e-01 -6.26824576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72587156000003 meters 0.012027492101041726 Centerline is valid? [True, True] Translation: X:146.02, Y:-20.73, Z:-6.27 [[ 9.81390418e-01 1.88882242e-01 3.45882494e-02 1.46022510e+02] [-1.88761363e-01 9.81999739e-01 -6.75721543e-03 -2.07334339e+01] [-3.52419699e-02 1.02541382e-04 9.99378804e-01 -6.26872971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75587156000003 meters 0.012531055399946964 Centerline is valid? [True, True] Translation: X:146.05, Y:-20.74, Z:-6.27 [[ 9.81527035e-01 1.88247979e-01 3.41669007e-02 1.46048915e+02] [-1.88129699e-01 9.82121522e-01 -6.67331257e-03 -2.07419405e+01] [-3.48122861e-02 1.22227955e-04 9.99393861e-01 -6.27269814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78587156000003 meters 0.02066283941157465 Centerline is valid? [True, True] Translation: X:146.08, Y:-20.75, Z:-6.27 [[ 9.81575679e-01 1.88057299e-01 3.38177131e-02 1.46077216e+02] [-1.87941388e-01 9.82158051e-01 -6.60287733e-03 -2.07482414e+01] [-3.44560584e-02 1.25475851e-04 9.99406206e-01 -6.27284992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81587156000003 meters 0.012968040448811212 Centerline is valid? [True, True] Translation: X:146.10, Y:-20.75, Z:-6.28 [[ 9.81742695e-01 1.87278886e-01 3.32851171e-02 1.46104286e+02] [-1.87166202e-01 9.82306773e-01 -6.49738857e-03 -2.07547402e+01] [-3.39130196e-02 1.48914829e-04 9.99424777e-01 -6.27554041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84587156000003 meters 0.01367580095153009 Centerline is valid? [True, True] Translation: X:146.13, Y:-20.76, Z:-6.28 [[ 9.81867742e-01 1.86674817e-01 3.29886468e-02 1.46131451e+02] [-1.86563860e-01 9.82421745e-01 -6.43746626e-03 -2.07620523e+01] [-3.36104768e-02 1.66251186e-04 9.99434994e-01 -6.27904289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87587156000004 meters 0.02785392561787482 Centerline is valid? [True, True] Translation: X:146.16, Y:-20.77, Z:-6.28 [[ 9.81953641e-01 1.86199215e-01 3.31194812e-02 1.46159604e+02] [-1.86087180e-01 9.82511995e-01 -6.46079463e-03 -2.07691875e+01] [-3.37432824e-02 1.81089963e-04 9.99430517e-01 -6.27856930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90587156000004 meters 0.013759610839591622 Centerline is valid? [True, True] Translation: X:146.19, Y:-20.78, Z:-6.28 [[ 9.82054790e-01 1.85565858e-01 3.36704873e-02 1.46187354e+02] [-1.85449749e-01 9.82631808e-01 -6.56660158e-03 -2.07767011e+01] [-3.43042289e-02 2.04579122e-04 9.99411416e-01 -6.27972840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93587156000004 meters 0.014842922312821473 Centerline is valid? [True, True] Translation: X:146.21, Y:-20.79, Z:-6.28 [[ 9.82338345e-01 1.84124289e-01 3.33110005e-02 1.46213572e+02] [-1.84009867e-01 9.82902937e-01 -6.49502952e-03 -2.07868577e+01] [-3.39373729e-02 2.50763779e-04 9.99423930e-01 -6.28187006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96587156000004 meters 0.015535558311409915 Centerline is valid? [True, True] Translation: X:146.24, Y:-20.80, Z:-6.28 [[ 9.82533608e-01 1.83150698e-01 3.29170317e-02 1.46241645e+02] [-1.83038501e-01 9.83084810e-01 -6.41585460e-03 -2.07953495e+01] [-3.35353021e-02 2.78708635e-04 9.99437495e-01 -6.28332160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99587156 meters 0.01608370184224059 Centerline is valid? [True, True] Translation: X:146.27, Y:-20.80, Z:-6.28 [[ 9.82674445e-01 1.82383183e-01 3.29743736e-02 1.46270049e+02] [-1.82270189e-01 9.83227482e-01 -6.42623517e-03 -2.08039688e+01] [-3.35933476e-02 3.04651774e-04 9.99435538e-01 -6.28480783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02587156 meters 0.01661506697350374 Centerline is valid? [True, True] Translation: X:146.30, Y:-20.81, Z:-6.29 [[ 9.82812274e-01 1.81603892e-01 3.31671530e-02 1.46298854e+02] [-1.81489156e-01 9.83371708e-01 -6.46299317e-03 -2.08127490e+01] [-3.37893446e-02 3.32430412e-04 9.99428922e-01 -6.28567867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05587156 meters 0.018317452898367077 Centerline is valid? [True, True] Translation: X:146.33, Y:-20.83, Z:-6.29 [[ 9.83048047e-01 1.80314785e-01 3.32131945e-02 1.46326659e+02] [-1.80199027e-01 9.83608884e-01 -6.47102426e-03 -2.08254268e+01] [-3.38356145e-02 3.76342431e-04 9.99427341e-01 -6.28818260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08587156000002 meters 0.017077078170831532 Centerline is valid? [True, True] Translation: X:146.36, Y:-20.83, Z:-6.29 [[ 9.83104932e-01 1.79983425e-01 3.33265447e-02 1.46356067e+02] [-1.79866703e-01 9.83669566e-01 -6.49257578e-03 -2.08320461e+01] [-3.39508638e-02 3.88547572e-04 9.99423428e-01 -6.28688036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11587156000002 meters 0.018153358386338563 Centerline is valid? [True, True] Translation: X:146.38, Y:-20.84, Z:-6.29 [[ 9.83123121e-01 1.79767123e-01 3.39515879e-02 1.46384062e+02] [-1.79645846e-01 9.83709113e-01 -6.61447279e-03 -2.08417161e+01] [-3.45875511e-02 4.03579405e-04 9.99401590e-01 -6.28836432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14587156000002 meters 0.01695088457958315 Centerline is valid? [True, True] Translation: X:146.41, Y:-20.85, Z:-6.29 [[ 9.82947041e-01 1.80675171e-01 3.42286025e-02 1.46413084e+02] [-1.80552476e-01 9.83542751e-01 -6.66788449e-03 -2.08516718e+01] [-3.48700150e-02 3.74118399e-04 9.99391786e-01 -6.28825396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17587156000002 meters 0.0163768533515672 Centerline is valid? [True, True] Translation: X:146.44, Y:-20.86, Z:-6.29 [[ 9.82739859e-01 1.81857004e-01 3.39175289e-02 1.46441495e+02] [-1.81737230e-01 9.83324932e-01 -6.60740978e-03 -2.08582510e+01] [-3.45535556e-02 3.29287212e-04 9.99402793e-01 -6.29011503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20587156000002 meters 0.01454524002206078 Centerline is valid? [True, True] Translation: X:146.47, Y:-20.86, Z:-6.29 [[ 9.82451510e-01 1.83501903e-01 3.34078134e-02 1.46471365e+02] [-1.83386671e-01 9.83019318e-01 -6.50758895e-03 -2.08622851e+01] [-3.40346809e-02 2.66842917e-04 9.99420617e-01 -6.29090779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23587156000002 meters 0.01283693114330447 Centerline is valid? [True, True] Translation: X:146.50, Y:-20.86, Z:-6.29 [[ 9.81513523e-01 1.88617045e-01 3.24778958e-02 1.46499789e+02] [-1.88510927e-01 9.82050713e-01 -6.32674025e-03 -2.08644009e+01] [-3.30882717e-02 8.73428855e-05 9.99452429e-01 -6.29441742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26587156000002 meters 0.012182529530825666 Centerline is valid? [True, True] Translation: X:146.53, Y:-20.87, Z:-6.29 [[ 9.80920192e-01 1.91650739e-01 3.26430980e-02 1.46529899e+02] [-1.91545244e-01 9.81463190e-01 -6.35810680e-03 -2.08673288e+01] [-3.32565349e-02 -1.58348057e-05 9.99446848e-01 -6.29384924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29587156000002 meters 0.012811781341093304 Centerline is valid? [True, True] Translation: X:146.56, Y:-20.87, Z:-6.30 [[ 9.80322116e-01 1.94629784e-01 3.29817571e-02 1.46558785e+02] [-1.94523796e-01 9.80876768e-01 -6.42336335e-03 -2.08703957e+01] [-3.36012171e-02 -1.18771436e-04 9.99435313e-01 -6.29550923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32587156000002 meters 0.012811781341093304 Centerline is valid? [True, True] Translation: X:146.59, Y:-20.88, Z:-6.30 [[ 9.80331503e-01 1.94582460e-01 3.29819644e-02 1.46586582e+02] [-1.94476481e-01 9.80886157e-01 -6.42229875e-03 -2.08757172e+01] [-3.36012190e-02 -1.18234597e-04 9.99435313e-01 -6.29678512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35587156000003 meters 0.01450721756490296 Centerline is valid? [True, True] Translation: X:146.61, Y:-20.88, Z:-6.30 [[ 9.79761578e-01 1.97392815e-01 3.32163786e-02 1.46614033e+02] [-1.97286990e-01 9.80324451e-01 -6.46639843e-03 -2.08781606e+01] [-3.38392487e-02 -2.17630617e-04 9.99427265e-01 -6.29845846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38587156000003 meters 0.018846752909765604 Centerline is valid? [True, True] Translation: X:146.64, Y:-20.88, Z:-6.30 [[ 9.78792571e-01 2.01900352e-01 3.46604968e-02 1.46641936e+02] [-2.01788024e-01 9.79405990e-01 -6.74531304e-03 -2.08784845e+01] [-3.53085793e-02 -3.91810866e-04 9.99376381e-01 -6.29870610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41587156000003 meters 0.01974536387938391 Centerline is valid? [True, True] Translation: X:146.67, Y:-20.88, Z:-6.30 [[ 9.78396415e-01 2.03744180e-01 3.50537340e-02 1.46670451e+02] [-2.03630563e-01 9.79024051e-01 -6.81921327e-03 -2.08830946e+01] [-3.57078236e-02 -4.66117775e-04 9.99362164e-01 -6.29817476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44587156000003 meters 0.020373068785400083 Centerline is valid? [True, True] Translation: X:146.70, Y:-20.89, Z:-6.30 [[ 9.78117624e-01 2.05062697e-01 3.51454769e-02 1.46698770e+02] [-2.04949396e-01 9.78748703e-01 -6.83538361e-03 -2.08882272e+01] [-3.58002721e-02 -5.17235094e-04 9.99358831e-01 -6.29891655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47587156000003 meters 0.021622722608265615 Centerline is valid? [True, True] Translation: X:146.73, Y:-20.89, Z:-6.30 [[ 9.77962772e-01 2.05859324e-01 3.47958986e-02 1.46725824e+02] [-2.05748823e-01 9.78581445e-01 -6.76589158e-03 -2.08929136e+01] [-3.54434426e-02 -5.42425101e-04 9.99371537e-01 -6.30120153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50587156000003 meters 0.025905085644210832 Centerline is valid? [True, True] Translation: X:146.75, Y:-20.90, Z:-6.30 [[ 9.77848582e-01 2.06462303e-01 3.44306248e-02 1.46753955e+02] [-2.06354571e-01 9.78454395e-01 -6.69238163e-03 -2.09012428e+01] [-3.50705207e-02 -5.60780939e-04 9.99384683e-01 -6.30297545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53587156000003 meters 0.02184183288245596 Centerline is valid? [True, True] Translation: X:146.78, Y:-20.91, Z:-6.30 [[ 9.77836480e-01 2.06565597e-01 3.41536452e-02 1.46782174e+02] [-2.06459712e-01 9.78432593e-01 -6.63690570e-03 -2.09078131e+01] [-3.47879961e-02 -5.61543263e-04 9.99394557e-01 -6.30476752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56587156000003 meters 0.022537995560780972 Centerline is valid? [True, True] Translation: X:146.81, Y:-20.91, Z:-6.31 [[ 9.77797873e-01 2.06737890e-01 3.42164494e-02 1.46809881e+02] [-2.06631773e-01 9.78396198e-01 -6.64758774e-03 -2.09127895e+01] [-3.48515523e-02 -5.70208477e-04 9.99392337e-01 -6.30666537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59587156000003 meters 0.022283014834034477 Centerline is valid? [True, True] Translation: X:146.84, Y:-20.92, Z:-6.31 [[ 9.77825388e-01 2.06586056e-01 3.43469340e-02 1.46837848e+02] [-2.06479122e-01 9.78428269e-01 -6.67044139e-03 -2.09200759e+01] [-3.49840314e-02 -5.69397832e-04 9.99387709e-01 -6.30732269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62587156000004 meters 0.022028426653133943 Centerline is valid? [True, True] Translation: X:146.87, Y:-20.93, Z:-6.31 [[ 9.77871993e-01 2.06402159e-01 3.41249855e-02 1.46865731e+02] [-2.06296549e-01 9.78467084e-01 -6.62568648e-03 -2.09263125e+01] [-3.47577311e-02 -5.60793490e-04 9.99395610e-01 -6.30867090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65587156000004 meters 0.023184200711987516 Centerline is valid? [True, True] Translation: X:146.89, Y:-20.93, Z:-6.31 [[ 9.77922175e-01 2.06121173e-01 3.43843399e-02 1.46893595e+02] [-2.06013837e-01 9.78526317e-01 -6.67433680e-03 -2.09323750e+01] [-3.50217036e-02 -5.56667831e-04 9.99386397e-01 -6.30956719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68587156000004 meters 0.022249062568783742 Centerline is valid? [True, True] Translation: X:146.92, Y:-20.94, Z:-6.31 [[ 9.77991212e-01 2.05716694e-01 3.48400711e-02 1.46921248e+02] [-2.05606295e-01 9.78611434e-01 -6.76117280e-03 -2.09374594e+01] [-3.54857780e-02 -5.50970337e-04 9.99370030e-01 -6.31132160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71587156000004 meters 0.03195896079168444 Centerline is valid? [True, True] Translation: X:146.95, Y:-20.95, Z:-6.31 [[ 9.78215420e-01 2.04521734e-01 3.55732034e-02 1.46948622e+02] [-2.04405933e-01 9.78861885e-01 -6.90109897e-03 -2.09480135e+01] [-3.62326776e-02 -5.20612388e-04 9.99343245e-01 -6.31140243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74587156 meters 0.01885694720809665 Centerline is valid? [True, True] Translation: X:146.98, Y:-20.96, Z:-6.31 [[ 9.78467628e-01 2.03349350e-01 3.53573529e-02 1.46976307e+02] [-2.03234245e-01 9.79106131e-01 -6.85755629e-03 -2.09567689e+01] [-3.60130806e-02 -4.75928083e-04 9.99351205e-01 -6.31275429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77587156 meters 0.01871902716576393 Centerline is valid? [True, True] Translation: X:147.00, Y:-20.96, Z:-6.32 [[ 9.78692380e-01 2.02389948e-01 3.46343009e-02 1.47003636e+02] [-2.02278958e-01 9.79304918e-01 -6.71576443e-03 -2.09626937e+01] [-3.52767444e-02 -4.33122837e-04 9.99377488e-01 -6.31589297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80587156 meters 0.017951569744585595 Centerline is valid? [True, True] Translation: X:147.03, Y:-20.97, Z:-6.32 [[ 9.78848658e-01 2.01688282e-01 3.43094893e-02 1.47031350e+02] [-2.01579011e-01 9.79449678e-01 -6.65056828e-03 -2.09694560e+01] [-3.49457600e-02 -4.06173107e-04 9.99389128e-01 -6.31738429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83587156000002 meters 0.01680475421471992 Centerline is valid? [True, True] Translation: X:147.06, Y:-20.98, Z:-6.32 [[ 9.79117870e-01 2.00350982e-01 3.44627395e-02 1.47059589e+02] [-2.00239973e-01 9.79724121e-01 -6.67834117e-03 -2.09787014e+01] [-3.51019894e-02 -3.61934859e-04 9.99383670e-01 -6.31885920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86587156000002 meters 0.016594573224285553 Centerline is valid? [True, True] Translation: X:147.09, Y:-20.99, Z:-6.32 [[ 9.79262909e-01 1.99685850e-01 3.42011130e-02 1.47087677e+02] [-1.99576142e-01 9.79859913e-01 -6.62685012e-03 -2.09862615e+01] [-3.48355878e-02 -3.36297657e-04 9.99393000e-01 -6.32103098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89587156000002 meters 0.021360210303986833 Centerline is valid? [True, True] Translation: X:147.12, Y:-20.99, Z:-6.32 [[ 9.79388159e-01 1.99043046e-01 3.43613116e-02 1.47116415e+02] [-1.98931948e-01 9.79990697e-01 -6.65685794e-03 -2.09949237e+01] [-3.49987670e-02 -3.15914827e-04 9.99387306e-01 -6.32143733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92587156000002 meters 0.030301940953907806 Centerline is valid? [True, True] Translation: X:147.15, Y:-21.00, Z:-6.32 [[ 9.79436061e-01 1.98841509e-01 3.41622076e-02 1.47145027e+02] [-1.98731602e-01 9.80031612e-01 -6.61746167e-03 -2.10017701e+01] [-3.47958694e-02 -3.07729627e-04 9.99394393e-01 -6.32236540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95587156000002 meters 0.015562076154082704 Centerline is valid? [True, True] Translation: X:147.17, Y:-21.01, Z:-6.32 [[ 9.79461752e-01 1.98649586e-01 3.45400920e-02 1.47173572e+02] [-1.98537144e-01 9.80070533e-01 -6.68981250e-03 -2.10081096e+01] [-3.51806549e-02 -3.05075763e-04 9.99380923e-01 -6.32394144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98587156000002 meters 0.015386050989242176 Centerline is valid? [True, True] Translation: X:147.20, Y:-21.01, Z:-6.33 [[ 9.79475370e-01 1.98564041e-01 3.46456455e-02 1.47202314e+02] [-1.98450887e-01 9.80087868e-01 -6.70940265e-03 -2.10143991e+01] [-3.52880229e-02 -3.03764429e-04 9.99377138e-01 -6.32512559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01587156000002 meters 0.01584065319289973 Centerline is valid? [True, True] Translation: X:147.23, Y:-21.02, Z:-6.33 [[ 9.79472604e-01 1.98641857e-01 3.42758112e-02 1.47230933e+02] [-1.98531182e-01 9.80072099e-01 -6.63700848e-03 -2.10195437e+01] [-3.49111539e-02 -3.04049320e-04 9.99390374e-01 -6.32736308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04587156000002 meters 0.019715359476398398 Centerline is valid? [True, True] Translation: X:147.26, Y:-21.02, Z:-6.33 [[ 9.79393576e-01 1.99103631e-01 3.38521287e-02 1.47260301e+02] [-1.98995987e-01 9.79978389e-01 -6.55391322e-03 -2.10247267e+01] [-3.44792625e-02 -3.17577257e-04 9.99405363e-01 -6.32921461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07587156000002 meters 0.022998819633083853 Centerline is valid? [True, True] Translation: X:147.29, Y:-21.03, Z:-6.33 [[ 9.79322968e-01 1.99450519e-01 3.38528428e-02 1.47289328e+02] [-1.99343106e-01 9.79907843e-01 -6.55323022e-03 -2.10302847e+01] [-3.44797114e-02 -3.30601974e-04 9.99405343e-01 -6.33061566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10587156000003 meters 0.01757467354418484 Centerline is valid? [True, True] Translation: X:147.32, Y:-21.03, Z:-6.33 [[ 9.79285708e-01 1.99598686e-01 3.40568069e-02 1.47317581e+02] [-1.99490089e-01 9.79877671e-01 -6.59199987e-03 -2.10343797e+01] [-3.46872591e-02 -3.38544169e-04 9.99398159e-01 -6.33318421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13587156000003 meters 0.017580729615040935 Centerline is valid? [True, True] Translation: X:147.35, Y:-21.04, Z:-6.33 [[ 9.79109215e-01 2.00390628e-01 3.44781347e-02 1.47345747e+02] [-2.00279858e-01 9.79716009e-01 -6.67239795e-03 -2.10403233e+01] [-3.51158665e-02 -3.72269607e-04 9.99383178e-01 -6.33183550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16587156000003 meters 0.018102000907455725 Centerline is valid? [True, True] Translation: X:147.37, Y:-21.05, Z:-6.33 [[ 9.79031422e-01 2.00803720e-01 3.42832408e-02 1.47374962e+02] [-2.00694518e-01 9.79631419e-01 -6.63281375e-03 -2.10452845e+01] [-3.49168335e-02 -3.86725390e-04 9.99390147e-01 -6.33392064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19587156000003 meters 0.023164347758490435 Centerline is valid? [True, True] Translation: X:147.40, Y:-21.05, Z:-6.34 [[ 9.78947439e-01 2.01257048e-01 3.40222172e-02 1.47403642e+02] [-2.01149802e-01 9.79538381e-01 -6.58157026e-03 -2.10504117e+01] [-3.46506550e-02 -4.00550902e-04 9.99399405e-01 -6.33530296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22587156000003 meters 0.02972011657554609 Centerline is valid? [True, True] Translation: X:147.43, Y:-21.05, Z:-6.34 [[ 9.78863798e-01 2.01684754e-01 3.38957943e-02 1.47431480e+02] [-2.01578582e-01 9.79450401e-01 -6.55647190e-03 -2.10539700e+01] [-3.45215898e-02 -4.14773173e-04 9.99403866e-01 -6.33713346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25587156000003 meters 0.019030542549764395 Centerline is valid? [True, True] Translation: X:147.46, Y:-21.06, Z:-6.34 [[ 9.78789781e-01 2.02033482e-01 3.39564071e-02 1.47460086e+02] [-2.01927219e-01 9.79378521e-01 -6.56587923e-03 -2.10593792e+01] [-3.45827032e-02 -4.30107378e-04 9.99401747e-01 -6.33786370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28587156000003 meters 0.019350724319767223 Centerline is valid? [True, True] Translation: X:147.49, Y:-21.06, Z:-6.34 [[ 9.78693896e-01 2.02483644e-01 3.40386912e-02 1.47489038e+02] [-2.02377196e-01 9.79285542e-01 -6.58013799e-03 -2.10637811e+01] [-3.46659685e-02 -4.48714002e-04 9.99398854e-01 -6.33884884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31587156000003 meters 0.020974394428202505 Centerline is valid? [True, True] Translation: X:147.52, Y:-21.07, Z:-6.34 [[ 9.78627824e-01 2.02746666e-01 3.43710993e-02 1.47516536e+02] [-2.02638343e-01 9.79231114e-01 -6.64287020e-03 -2.10660819e+01] [-3.50040696e-02 -4.64005011e-04 9.99387062e-01 -6.34071635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34587156000003 meters 0.0211547646608067 Centerline is valid? [True, True] Translation: X:147.54, Y:-21.07, Z:-6.34 [[ 9.78418495e-01 2.03645724e-01 3.50095261e-02 1.47544767e+02] [-2.03533999e-01 9.79044514e-01 -6.76387790e-03 -2.10695790e+01] [-3.56533193e-02 -5.07725623e-04 9.99364089e-01 -6.34018708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37587156000004 meters 0.019644760353850384 Centerline is valid? [True, True] Translation: X:147.57, Y:-21.08, Z:-6.34 [[ 9.78343745e-01 2.04003107e-01 3.50178503e-02 1.47573304e+02] [-2.03891643e-01 9.78970101e-01 -6.76309519e-03 -2.10761101e+01] [-3.56611208e-02 -5.23215149e-04 9.99363803e-01 -6.33938459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40587156000004 meters 0.02173188119480956 Centerline is valid? [True, True] Translation: X:147.60, Y:-21.08, Z:-6.34 [[ 9.78277887e-01 2.04272335e-01 3.52872320e-02 1.47602323e+02] [-2.04159356e-01 9.78913951e-01 -6.81422838e-03 -2.10777951e+01] [-3.59351221e-02 -5.38009627e-04 9.99353980e-01 -6.34202461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43587156000004 meters 0.02291377057955089 Centerline is valid? [True, True] Translation: X:147.63, Y:-21.08, Z:-6.34 [[ 9.78178513e-01 2.04686005e-01 3.56431710e-02 1.47630215e+02] [-2.04571032e-01 9.78827526e-01 -6.88232855e-03 -2.10790391e+01] [-3.62972333e-02 -5.59414386e-04 9.99340882e-01 -6.34231757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46587156000004 meters 0.02166358363397634 Centerline is valid? [True, True] Translation: X:147.66, Y:-21.08, Z:-6.34 [[ 9.78156219e-01 2.04752517e-01 3.58722331e-02 1.47658319e+02] [-2.04636187e-01 9.78813611e-01 -6.92434100e-03 -2.10848802e+01] [-3.65300062e-02 -5.67669784e-04 9.99332395e-01 -6.34244494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49587156 meters 0.02277140156820496 Centerline is valid? [True, True] Translation: X:147.69, Y:-21.09, Z:-6.34 [[ 9.78224190e-01 2.04451617e-01 3.57347088e-02 1.47685943e+02] [-2.04336036e-01 9.78876513e-01 -6.89617416e-03 -2.10878527e+01] [-3.63898011e-02 -5.55884359e-04 9.99337517e-01 -6.34494907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52587156 meters 0.021100429513048788 Centerline is valid? [True, True] Translation: X:147.71, Y:-21.09, Z:-6.34 [[ 9.78305807e-01 2.04069747e-01 3.56831365e-02 1.47713872e+02] [-2.03954327e-01 9.78956201e-01 -6.88399224e-03 -2.10946896e+01] [-3.63370423e-02 -5.43080494e-04 9.99339444e-01 -6.34485316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55587156 meters 0.020062846485502793 Centerline is valid? [True, True] Translation: X:147.74, Y:-21.10, Z:-6.35 [[ 9.78468202e-01 2.03352059e-01 3.53258720e-02 1.47742695e+02] [-2.03238531e-01 9.79105550e-01 -6.81339342e-03 -2.10983866e+01] [-3.59732749e-02 -5.12889525e-04 9.99352621e-01 -6.34666063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58587156000002 meters 0.021972971002341985 Centerline is valid? [True, True] Translation: X:147.77, Y:-21.10, Z:-6.35 [[ 9.78559328e-01 2.02974079e-01 3.49737763e-02 1.47770214e+02] [-2.02862619e-01 9.79183986e-01 -6.74390389e-03 -2.10997919e+01] [-3.56145994e-02 -4.95561798e-04 9.99365476e-01 -6.35051109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61587156000002 meters 0.018814864237536623 Centerline is valid? [True, True] Translation: X:147.80, Y:-21.11, Z:-6.35 [[ 9.78749201e-01 2.02058739e-01 3.49609451e-02 1.47797855e+02] [-2.01946856e-01 9.79373295e-01 -6.73919256e-03 -2.11085984e+01] [-3.56015287e-02 -4.64273618e-04 9.99365957e-01 -6.34998331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64587156000002 meters 0.017001013278883204 Centerline is valid? [True, True] Translation: X:147.82, Y:-21.12, Z:-6.35 [[ 9.79294405e-01 1.99341882e-01 3.52885758e-02 1.47824961e+02] [-1.99226187e-01 9.79929935e-01 -6.80068736e-03 -2.11152250e+01] [-3.59359936e-02 -3.70533333e-04 9.99354025e-01 -6.35195444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67587156000002 meters 0.015175602220975462 Centerline is valid? [True, True] Translation: X:147.85, Y:-21.12, Z:-6.35 [[ 9.79670987e-01 1.97502604e-01 3.51778073e-02 1.47852760e+02] [-1.97386530e-01 9.80302315e-01 -6.77708067e-03 -2.11226297e+01] [-3.58233770e-02 -3.04316002e-04 9.99358091e-01 -6.35304330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70587156000002 meters 0.013252059675671004 Centerline is valid? [True, True] Translation: X:147.88, Y:-21.13, Z:-6.35 [[ 9.80094578e-01 1.95422651e-01 3.49943683e-02 1.47882314e+02] [-1.95306536e-01 9.80719091e-01 -6.73958501e-03 -2.11311327e+01] [-3.56367126e-02 -2.29198132e-04 9.99364784e-01 -6.35334301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73587156000002 meters 0.012725887097514392 Centerline is valid? [True, True] Translation: X:147.91, Y:-21.14, Z:-6.36 [[ 9.80477453e-01 1.93461100e-01 3.51676949e-02 1.47910558e+02] [-1.93342566e-01 9.81107934e-01 -6.77308144e-03 -2.11380583e+01] [-3.58136323e-02 -1.58558724e-04 9.99358474e-01 -6.35565822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76587156000002 meters 0.011545871857022296 Centerline is valid? [True, True] Translation: X:147.94, Y:-21.15, Z:-6.36 [[ 9.81223241e-01 1.89653183e-01 3.51087107e-02 1.47939693e+02] [-1.89532628e-01 9.81851144e-01 -6.76115892e-03 -2.11485588e+01] [-3.57538031e-02 -2.00399221e-05 9.99360628e-01 -6.35686883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79587156000002 meters 0.011692372919353941 Centerline is valid? [True, True] Translation: X:147.97, Y:-21.16, Z:-6.36 [[ 9.81515402e-01 1.88151031e-01 3.50243514e-02 1.47969412e+02] [-1.88030098e-01 9.82140106e-01 -6.74491319e-03 -2.11562416e+01] [-3.56678826e-02 3.46039609e-05 9.99363698e-01 -6.35793779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82587156000002 meters 0.02596441580614259 Centerline is valid? [True, True] Translation: X:148.00, Y:-21.16, Z:-6.36 [[ 9.81806666e-01 1.86598120e-01 3.51683387e-02 1.47999510e+02] [-1.86475202e-01 9.82436325e-01 -6.77242301e-03 -2.11640436e+01] [-3.58143748e-02 9.11869885e-05 9.99358455e-01 -6.35801989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85587156000003 meters 0.012103962447369733 Centerline is valid? [True, True] Translation: X:148.03, Y:-21.17, Z:-6.36 [[ 9.82002121e-01 1.85429469e-01 3.58851774e-02 1.48030211e+02] [-1.85300675e-01 9.82657567e-01 -6.91135370e-03 -2.11718913e+01] [-3.65444097e-02 1.37416410e-04 9.99332021e-01 -6.35866578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88587156000003 meters 0.013644306084211164 Centerline is valid? [True, True] Translation: X:148.06, Y:-21.18, Z:-6.36 [[ 9.82438126e-01 1.83098640e-01 3.59195810e-02 1.48059880e+02] [-1.82968049e-01 9.83094521e-01 -6.91774998e-03 -2.11835282e+01] [-3.65789739e-02 2.24125655e-04 9.99330740e-01 -6.36103221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91587156000003 meters 0.014250104021564685 Centerline is valid? [True, True] Translation: X:148.09, Y:-21.19, Z:-6.36 [[ 9.82606858e-01 1.82263975e-01 3.55472375e-02 1.48091410e+02] [-1.82135335e-01 9.83249601e-01 -6.85147138e-03 -2.11915724e+01] [-3.62005835e-02 2.57894743e-04 9.99344511e-01 -6.36283912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94587156000003 meters 0.014879477172012138 Centerline is valid? [True, True] Translation: X:148.12, Y:-21.20, Z:-6.36 [[ 9.82705183e-01 1.81755717e-01 3.54313663e-02 1.48122933e+02] [-1.81627368e-01 9.83343673e-01 -6.83515117e-03 -2.11995438e+01] [-3.60835377e-02 2.81632681e-04 9.99348737e-01 -6.36462125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97587156000003 meters 0.015053180815778352 Centerline is valid? [True, True] Translation: X:148.16, Y:-21.21, Z:-6.37 [[ 9.82744440e-01 1.81617296e-01 3.50502834e-02 1.48155094e+02] [-1.81491407e-01 9.83369246e-01 -6.76722365e-03 -2.12079032e+01] [-3.56964156e-02 2.89126192e-04 9.99362638e-01 -6.36645117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00587156000003 meters 0.014479591072961352 Centerline is valid? [True, True] Translation: X:148.19, Y:-21.21, Z:-6.37 [[ 9.82663817e-01 1.82130471e-01 3.46455610e-02 1.48187496e+02] [-1.82007559e-01 9.83274334e-01 -6.69566224e-03 -2.12138860e+01] [-3.52855750e-02 2.73831041e-04 9.99377233e-01 -6.36755930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03587156000003 meters 0.014078301725026564 Centerline is valid? [True, True] Translation: X:148.22, Y:-21.22, Z:-6.37 [[ 9.82453414e-01 1.83320990e-01 3.43322660e-02 1.48218899e+02] [-1.83200777e-01 9.83053080e-01 -6.64200717e-03 -2.12195443e+01] [-3.49680591e-02 2.35764804e-04 9.99388403e-01 -6.36993572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06587156000003 meters 0.013360777609978535 Centerline is valid? [True, True] Translation: X:148.25, Y:-21.22, Z:-6.37 [[ 9.82144080e-01 1.85061811e-01 3.38398034e-02 1.48251096e+02] [-1.84945837e-01 9.82726867e-01 -6.55306209e-03 -2.12236572e+01] [-3.44680055e-02 1.77520373e-04 9.99405786e-01 -6.37211057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09587156000003 meters 0.01210639465890459 Centerline is valid? [True, True] Translation: X:148.28, Y:-21.22, Z:-6.37 [[ 9.81317450e-01 1.89457288e-01 3.34962357e-02 1.48280947e+02] [-1.89345965e-01 9.81888963e-01 -6.49389948e-03 -2.12232675e+01] [-3.41199007e-02 3.01998108e-05 9.99417746e-01 -6.37430240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12587156000004 meters 0.012172446158365295 Centerline is valid? [True, True] Translation: X:148.31, Y:-21.23, Z:-6.37 [[ 9.80772513e-01 1.92176815e-01 3.39609897e-02 1.48310722e+02] [-1.92063977e-01 9.81360315e-01 -6.58489942e-03 -2.12250485e+01] [-3.45934325e-02 -6.43943879e-05 9.99401466e-01 -6.37489187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15587156000004 meters 0.013139438319235277 Centerline is valid? [True, True] Translation: X:148.34, Y:-21.23, Z:-6.37 [[ 9.80150615e-01 1.95221518e-01 3.45446094e-02 1.48341183e+02] [-1.95106692e-01 9.80759159e-01 -6.69708461e-03 -2.12258781e+01] [-3.51873571e-02 -1.75732855e-04 9.99380718e-01 -6.37474534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18587156000004 meters 0.017826905197362894 Centerline is valid? [True, True] Translation: X:148.37, Y:-21.22, Z:-6.38 [[ 9.78883940e-01 2.01454237e-01 3.46759667e-02 1.48370852e+02] [-2.01342438e-01 9.79497846e-01 -6.72258093e-03 -2.12196819e+01] [-3.53193271e-02 -4.01117175e-04 9.99375997e-01 -6.37589511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21587156000004 meters 0.020031250389391488 Centerline is valid? [True, True] Translation: X:148.40, Y:-21.22, Z:-6.38 [[ 9.78341541e-01 2.04122692e-01 3.43766685e-02 1.48400425e+02] [-2.04014536e-01 9.78945188e-01 -6.66240723e-03 -2.12201068e+01] [-3.50128227e-02 -4.95230308e-04 9.99386740e-01 -6.37748263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24587156 meters 0.020031250389391488 Centerline is valid? [True, True] Translation: X:148.43, Y:-21.23, Z:-6.38 [[ 9.78351236e-01 2.04076166e-01 3.43769855e-02 1.48428229e+02] [-2.03968039e-01 9.78954888e-01 -6.66077078e-03 -2.12254032e+01] [-3.50128226e-02 -4.95232991e-04 9.99386740e-01 -6.37875864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27587156 meters 0.022058679223420533 Centerline is valid? [True, True] Translation: X:148.46, Y:-21.23, Z:-6.38 [[ 9.77840694e-01 2.06611789e-01 3.37512224e-02 1.48457109e+02] [-2.06509128e-01 9.78422831e-01 -6.53790818e-03 -2.12260383e+01] [-3.43737754e-02 -5.76902810e-04 9.99408881e-01 -6.38024488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30587156 meters 0.02586361479391539 Centerline is valid? [True, True] Translation: X:148.49, Y:-21.22, Z:-6.38 [[ 9.77472883e-01 2.08453006e-01 3.30772905e-02 1.48485474e+02] [-2.08355503e-01 9.78032181e-01 -6.40600937e-03 -2.12240920e+01] [-3.36860065e-02 -6.30135063e-04 9.99432267e-01 -6.38424857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33587156000002 meters 0.027004009667174162 Centerline is valid? [True, True] Translation: X:148.51, Y:-21.22, Z:-6.38 [[ 9.76894379e-01 2.11114109e-01 3.32897086e-02 1.48514721e+02] [-2.11016981e-01 9.77461151e-01 -6.44456301e-03 -2.12223943e+01] [-3.38999350e-02 -7.29036419e-04 9.99424966e-01 -6.38380167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36587156000002 meters 0.029293454580432553 Centerline is valid? [True, True] Translation: X:148.54, Y:-21.22, Z:-6.39 [[ 9.76753853e-01 2.11718146e-01 3.35758443e-02 1.48543130e+02] [-2.11619769e-01 9.77330472e-01 -6.49784469e-03 -2.12221994e+01] [-3.41904074e-02 -7.58517588e-04 9.99415049e-01 -6.38611517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39587156000002 meters 0.02667995032032289 Centerline is valid? [True, True] Translation: X:148.57, Y:-21.23, Z:-6.39 [[ 9.76788686e-01 2.11597094e-01 3.33246451e-02 1.48570058e+02] [-2.11500177e-01 9.77356694e-01 -6.44735409e-03 -2.12295989e+01] [-3.39343063e-02 -7.50465813e-04 9.99423784e-01 -6.38625539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42587156000002 meters 0.028395831677361757 Centerline is valid? [True, True] Translation: X:148.60, Y:-21.23, Z:-6.39 [[ 9.76907132e-01 2.11079153e-01 3.31367847e-02 1.48598252e+02] [-2.10983118e-01 9.77468699e-01 -6.40836647e-03 -2.12318602e+01] [-3.37428424e-02 -7.30923235e-04 9.99430281e-01 -6.38909350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45587156000002 meters 0.0253537481968491 Centerline is valid? [True, True] Translation: X:148.63, Y:-21.24, Z:-6.39 [[ 9.77470089e-01 2.08395217e-01 3.35210165e-02 1.48626452e+02] [-2.08295442e-01 9.78044484e-01 -6.48037767e-03 -2.12370432e+01] [-3.41355250e-02 -6.47899604e-04 9.99417003e-01 -6.38967856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48587156000002 meters 0.02433246571756672 Centerline is valid? [True, True] Translation: X:148.65, Y:-21.24, Z:-6.39 [[ 9.77720612e-01 2.07151015e-01 3.39243559e-02 1.48654235e+02] [-2.07048129e-01 9.78308786e-01 -6.55680157e-03 -2.12406706e+01] [-3.45467435e-02 -6.13254358e-04 9.99402895e-01 -6.39043438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51587156000002 meters 0.020615348832581096 Centerline is valid? [True, True] Translation: X:148.68, Y:-21.25, Z:-6.39 [[ 9.78433467e-01 2.03678001e-01 3.43979998e-02 1.48682729e+02] [-2.03570152e-01 9.79037804e-01 -6.64611127e-03 -2.12464759e+01] [-3.50306088e-02 -4.99628354e-04 9.99386115e-01 -6.39083889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54587156000002 meters 0.018321217768195088 Centerline is valid? [True, True] Translation: X:148.71, Y:-21.25, Z:-6.39 [[ 9.78894908e-01 2.01359362e-01 3.49165721e-02 1.48710740e+02] [-2.01246823e-01 9.79517344e-01 -6.74457750e-03 -2.12531855e+01] [-3.55594718e-02 -4.24616622e-04 9.99367472e-01 -6.39139072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57587156000002 meters 0.016351648152422873 Centerline is valid? [True, True] Translation: X:148.74, Y:-21.26, Z:-6.39 [[ 9.79398541e-01 1.98819700e-01 3.53443701e-02 1.48737759e+02] [-1.98702791e-01 9.80036026e-01 -6.82556842e-03 -2.12603260e+01] [-3.59958135e-02 -3.38073215e-04 9.99351884e-01 -6.39312766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60587156000003 meters 0.013806891304908135 Centerline is valid? [True, True] Translation: X:148.77, Y:-21.27, Z:-6.39 [[ 9.80038522e-01 1.95657921e-01 3.52487445e-02 1.48765397e+02] [-1.95539678e-01 9.80672182e-01 -6.80486233e-03 -2.12698801e+01] [-3.58988884e-02 -2.23500944e-04 9.99355402e-01 -6.39390728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63587156000003 meters 0.016379173887241485 Centerline is valid? [True, True] Translation: X:148.79, Y:-21.28, Z:-6.39 [[ 9.81292540e-01 1.89280110e-01 3.51850951e-02 1.48792432e+02] [-1.89158253e-01 9.81923133e-01 -6.79085124e-03 -2.12838541e+01] [-3.58344319e-02 8.26055285e-06 9.99357740e-01 -6.39499443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66587156000003 meters 0.024904192608148617 Centerline is valid? [True, True] Translation: X:148.82, Y:-21.29, Z:-6.39 [[ 9.81917303e-01 1.85950069e-01 3.55103106e-02 1.48821132e+02] [-1.85823840e-01 9.82559187e-01 -6.85165276e-03 -2.12927541e+01] [-3.61650472e-02 1.29094101e-04 9.99345822e-01 -6.39459560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69587156000003 meters 0.013852191144819549 Centerline is valid? [True, True] Translation: X:148.85, Y:-21.30, Z:-6.40 [[ 9.82441687e-01 1.83088521e-01 3.58737317e-02 1.48849398e+02] [-1.82957824e-01 9.83096403e-01 -6.92074761e-03 -2.13019024e+01] [-3.65344461e-02 2.35851071e-04 9.99332366e-01 -6.39765052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72587156000003 meters 0.01541303121586568 Centerline is valid? [True, True] Translation: X:148.88, Y:-21.31, Z:-6.40 [[ 9.82905451e-01 1.80520704e-01 3.61821637e-02 1.48878729e+02] [-1.80386030e-01 9.83571128e-01 -6.97969164e-03 -2.13101525e+01] [-3.68477104e-02 3.33620107e-04 9.99320837e-01 -6.39850514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75587156000003 meters 0.024394891744147884 Centerline is valid? [True, True] Translation: X:148.91, Y:-21.32, Z:-6.40 [[ 9.83631235e-01 1.76521825e-01 3.61889288e-02 1.48909153e+02] [-1.76384400e-01 9.84296608e-01 -6.98079767e-03 -2.13197151e+01] [-3.68529030e-02 4.83368124e-04 9.99320584e-01 -6.39820511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78587156000003 meters 0.026358551144994115 Centerline is valid? [True, True] Translation: X:148.94, Y:-21.33, Z:-6.40 [[ 9.83795312e-01 1.75661962e-01 3.59118331e-02 1.48939001e+02] [-1.75526071e-01 9.84450412e-01 -6.92710595e-03 -2.13270158e+01] [-3.65702479e-02 5.11391394e-04 9.99330954e-01 -6.40025921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81587156000003 meters 0.020785462475635633 Centerline is valid? [True, True] Translation: X:148.97, Y:-21.34, Z:-6.40 [[ 9.83917919e-01 1.74971074e-01 3.59256459e-02 1.48968940e+02] [-1.74834388e-01 9.84573424e-01 -6.93606707e-03 -2.13358267e+01] [-3.65850474e-02 5.43482356e-04 9.99330395e-01 -6.40359339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84587156000003 meters 0.02226930415011463 Centerline is valid? [True, True] Translation: X:149.00, Y:-21.35, Z:-6.41 [[ 9.84275951e-01 1.73151177e-01 3.49216467e-02 1.48999723e+02] [-1.73020795e-01 9.84895078e-01 -6.74465741e-03 -2.13450075e+01] [-3.55620033e-02 5.96433019e-04 9.99367294e-01 -6.40606965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87587156000004 meters 0.02823748671741456 Centerline is valid? [True, True] Translation: X:149.03, Y:-21.35, Z:-6.41 [[ 9.84418489e-01 1.72433279e-01 3.44529011e-02 1.49031386e+02] [-1.72305732e-01 9.85021005e-01 -6.65990463e-03 -2.13518041e+01] [-3.50852204e-02 6.19700913e-04 9.99384132e-01 -6.40787330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90587156000004 meters 0.024016122038115695 Centerline is valid? [True, True] Translation: X:149.06, Y:-21.36, Z:-6.41 [[ 9.84530258e-01 1.71828210e-01 3.42817269e-02 1.49062911e+02] [-1.71701359e-01 9.85126719e-01 -6.63260315e-03 -2.13586024e+01] [-3.49115135e-02 6.43779388e-04 9.99390200e-01 -6.41009174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93587156000004 meters 0.03523516283282956 Centerline is valid? [True, True] Translation: X:149.09, Y:-21.37, Z:-6.41 [[ 9.84629643e-01 1.71178271e-01 3.46765951e-02 1.49093207e+02] [-1.71047862e-01 9.85239837e-01 -6.71509359e-03 -2.13669776e+01] [-3.53142410e-02 6.80522757e-04 9.99376026e-01 -6.41057762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96587156000004 meters 0.024630140877297126 Centerline is valid? [True, True] Translation: X:149.13, Y:-21.38, Z:-6.41 [[ 9.84693984e-01 1.70660809e-01 3.53927510e-02 1.49125538e+02] [-1.70524430e-01 9.85329575e-01 -6.85909831e-03 -2.13760632e+01] [-3.60441036e-02 7.18784141e-04 9.99349942e-01 -6.41190232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99587156 meters 0.024064244350663767 Centerline is valid? [True, True] Translation: X:149.16, Y:-21.38, Z:-6.41 [[ 9.84660390e-01 1.70883673e-01 3.52517736e-02 1.49157690e+02] [-1.70748272e-01 9.85290952e-01 -6.83868822e-03 -2.13831429e+01] [-3.59018737e-02 7.14605961e-04 9.99355064e-01 -6.41321208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02587156 meters 0.02602392125545754 Centerline is valid? [True, True] Translation: X:149.19, Y:-21.39, Z:-6.42 [[ 9.84514959e-01 1.71771652e-01 3.49970773e-02 1.49187383e+02] [-1.71638501e-01 9.85136555e-01 -6.79660978e-03 -2.13935248e+01] [-3.56443651e-02 6.84518104e-04 9.99364303e-01 -6.41658898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05587156 meters 0.025392496358617116 Centerline is valid? [True, True] Translation: X:149.22, Y:-21.40, Z:-6.42 [[ 9.84087877e-01 1.74243161e-01 3.47903962e-02 1.49218488e+02] [-1.74112923e-01 9.84702475e-01 -6.76204957e-03 -2.13995928e+01] [-3.54364302e-02 5.96993416e-04 9.99371754e-01 -6.41805354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08587156000002 meters 0.022056843622759205 Centerline is valid? [True, True] Translation: X:149.25, Y:-21.40, Z:-6.42 [[ 9.83700423e-01 1.76365807e-01 3.50511133e-02 1.49249527e+02] [-1.76234703e-01 9.84324550e-01 -6.81981329e-03 -2.14030877e+01] [-3.57044532e-02 5.31430687e-04 9.99362251e-01 -6.41974784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11587156000002 meters 0.019777445659770368 Centerline is valid? [True, True] Translation: X:149.28, Y:-21.41, Z:-6.42 [[ 9.83317002e-01 1.78496605e-01 3.50233441e-02 1.49280461e+02] [-1.78367022e-01 9.83940423e-01 -6.81543700e-03 -2.14054818e+01] [-3.56774164e-02 4.54725470e-04 9.99363255e-01 -6.42110728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14587156000002 meters 0.017638352204805186 Centerline is valid? [True, True] Translation: X:149.31, Y:-21.41, Z:-6.42 [[ 9.82906042e-01 1.80811758e-01 3.46817035e-02 1.49309793e+02] [-1.80686128e-01 9.83517653e-01 -6.74906515e-03 -2.14076597e+01] [-3.53303780e-02 3.67194200e-04 9.99375620e-01 -6.42347238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17587156000002 meters 0.013565951434350729 Centerline is valid? [True, True] Translation: X:149.34, Y:-21.41, Z:-6.42 [[ 9.82102425e-01 1.85204190e-01 3.42671209e-02 1.49340283e+02] [-1.85084230e-01 9.82700038e-01 -6.66800276e-03 -2.14066000e+01] [-3.49092431e-02 2.06357988e-04 9.99390465e-01 -6.42443183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20587156000002 meters 0.012642826584411015 Centerline is valid? [True, True] Translation: X:149.37, Y:-21.41, Z:-6.43 [[ 9.81746295e-01 1.87019076e-01 3.46132607e-02 1.49369669e+02] [-1.86897818e-01 9.82356272e-01 -6.73504638e-03 -2.14104158e+01] [-3.52621359e-02 1.42963925e-04 9.99378087e-01 -6.42584489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23587156000002 meters 0.011837955411734711 Centerline is valid? [True, True] Translation: X:149.40, Y:-21.41, Z:-6.43 [[ 9.81207306e-01 1.89872263e-01 3.43619865e-02 1.49399550e+02] [-1.89754537e-01 9.81808801e-01 -6.68532104e-03 -2.14132431e+01] [-3.50062578e-02 3.93430095e-05 9.99387092e-01 -6.42740427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26587156000002 meters 0.011986357809501618 Centerline is valid? [True, True] Translation: X:149.43, Y:-21.42, Z:-6.43 [[ 9.81021398e-01 1.90845524e-01 3.42782974e-02 1.49427626e+02] [-1.90728991e-01 9.81620082e-01 -6.66830671e-03 -2.14177931e+01] [-3.49208816e-02 3.88651583e-06 9.99390080e-01 -6.43028582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29587156000002 meters 0.018328044997421626 Centerline is valid? [True, True] Translation: X:149.46, Y:-21.42, Z:-6.43 [[ 9.80878194e-01 1.91614812e-01 3.40842024e-02 1.49455985e+02] [-1.91500099e-01 9.81470205e-01 -6.62940314e-03 -2.14225695e+01] [-3.47229210e-02 -2.44911564e-05 9.99396977e-01 -6.43038588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32587156000002 meters 0.012156469343125859 Centerline is valid? [True, True] Translation: X:149.48, Y:-21.43, Z:-6.43 [[ 9.80522688e-01 1.93326334e-01 3.46437118e-02 1.49484093e+02] [-1.93208954e-01 9.81134507e-01 -6.73639364e-03 -2.14267038e+01] [-3.52924634e-02 -8.82885327e-05 9.99377023e-01 -6.43195337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35587156000003 meters 0.012303165936658735 Centerline is valid? [True, True] Translation: X:149.51, Y:-21.43, Z:-6.43 [[ 9.80434106e-01 1.93743846e-01 3.48179023e-02 1.49511643e+02] [-1.93625583e-01 9.81052145e-01 -6.76921921e-03 -2.14318180e+01] [-3.54696723e-02 -1.04863255e-04 9.99370748e-01 -6.43302902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38587156000003 meters 0.01216957475203629 Centerline is valid? [True, True] Translation: X:149.54, Y:-21.44, Z:-6.43 [[ 9.80391999e-01 1.93899176e-01 3.51374192e-02 1.49539710e+02] [-1.93778913e-01 9.81021456e-01 -6.82908061e-03 -2.14380350e+01] [-3.57947152e-02 -1.13714907e-04 9.99359157e-01 -6.43377605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41587156000003 meters 0.03354347577235746 Centerline is valid? [True, True] Translation: X:149.57, Y:-21.44, Z:-6.43 [[ 9.80389038e-01 1.93938277e-01 3.50039861e-02 1.49567772e+02] [-1.93819011e-01 9.81013726e-01 -6.80144924e-03 -2.14448038e+01] [-3.56584521e-02 -1.16371675e-04 9.99364028e-01 -6.43333115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44587156000003 meters 0.012415985909491462 Centerline is valid? [True, True] Translation: X:149.60, Y:-21.45, Z:-6.44 [[ 9.80279446e-01 1.94462645e-01 3.51637111e-02 1.49595903e+02] [-1.94342696e-01 9.80909915e-01 -6.83050268e-03 -2.14513286e+01] [-3.58207105e-02 -1.38009036e-04 9.99358223e-01 -6.43588890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47587156000003 meters 0.01226542908693881 Centerline is valid? [True, True] Translation: X:149.63, Y:-21.46, Z:-6.44 [[ 9.80254948e-01 1.94569858e-01 3.52534817e-02 1.49625021e+02] [-1.94449397e-01 9.80888653e-01 -6.84705878e-03 -2.14575926e+01] [-3.59119715e-02 -1.43155021e-04 9.99354947e-01 -6.43674755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50587156000003 meters 0.015008758248803615 Centerline is valid? [True, True] Translation: X:149.65, Y:-21.46, Z:-6.44 [[ 9.80242573e-01 1.94653537e-01 3.51354383e-02 1.49652951e+02] [-1.94533963e-01 9.80872050e-01 -6.82336924e-03 -2.14627737e+01] [-3.57915623e-02 -1.46479020e-04 9.99359266e-01 -6.43840096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53587156000003 meters 0.012826759982545156 Centerline is valid? [True, True] Translation: X:149.68, Y:-21.47, Z:-6.44 [[ 9.80176826e-01 1.95000304e-01 3.50467124e-02 1.49679659e+02] [-1.94881593e-01 9.80803169e-01 -6.80505204e-03 -2.14681708e+01] [-3.57009138e-02 -1.59804830e-04 9.99362506e-01 -6.44122976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56587156000003 meters 0.013038824339784816 Centerline is valid? [True, True] Translation: X:149.71, Y:-21.47, Z:-6.44 [[ 9.80111042e-01 1.95364237e-01 3.48591408e-02 1.49708248e+02] [-1.95247102e-01 9.80730740e-01 -6.76643221e-03 -2.14741556e+01] [-3.55093498e-02 -1.74291276e-04 9.99369329e-01 -6.44294290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59587156000003 meters 0.013075648207712873 Centerline is valid? [True, True] Translation: X:149.74, Y:-21.48, Z:-6.44 [[ 9.80009852e-01 1.95911977e-01 3.46292713e-02 1.49737002e+02] [-1.95796791e-01 9.80621466e-01 -6.71991126e-03 -2.14795064e+01] [-3.52747179e-02 -1.94720952e-04 9.99377635e-01 -6.44346304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62587156000004 meters 0.013946902841832793 Centerline is valid? [True, True] Translation: X:149.76, Y:-21.48, Z:-6.45 [[ 9.79855222e-01 1.96707252e-01 3.44963927e-02 1.49764711e+02] [-1.96593458e-01 9.80462242e-01 -6.69362792e-03 -2.14837987e+01] [-3.51390957e-02 -2.22978880e-04 9.99382406e-01 -6.44551262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65587156000004 meters 0.01450939624999947 Centerline is valid? [True, True] Translation: X:149.79, Y:-21.49, Z:-6.45 [[ 9.79702590e-01 1.97465850e-01 3.44974415e-02 1.49791609e+02] [-1.97352603e-01 9.80309734e-01 -6.69147878e-03 -2.14884696e+01] [-3.51395162e-02 -2.52500768e-04 9.99382385e-01 -6.44727712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68587156000004 meters 0.015474767127041567 Centerline is valid? [True, True] Translation: X:149.82, Y:-21.49, Z:-6.45 [[ 9.79484587e-01 1.98503261e-01 3.47332555e-02 1.49818852e+02] [-1.98389156e-01 9.80100183e-01 -6.73597543e-03 -2.14935818e+01] [-3.53791831e-02 -2.92917120e-04 9.99373918e-01 -6.44828779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71587156000004 meters 0.014877243984318313 Centerline is valid? [True, True] Translation: X:149.85, Y:-21.50, Z:-6.45 [[ 9.79470374e-01 1.98447063e-01 3.54478369e-02 1.49846598e+02] [-1.98328259e-01 9.80111562e-01 -6.87225937e-03 -2.15000373e+01] [-3.61066144e-02 -2.99133326e-04 9.99347899e-01 -6.44774069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74587156 meters 0.01489059927612867 Centerline is valid? [True, True] Translation: X:149.87, Y:-21.51, Z:-6.45 [[ 9.79453676e-01 1.98412918e-01 3.60944776e-02 1.49874403e+02] [-1.98289779e-01 9.80118473e-01 -6.99588884e-03 -2.15052154e+01] [-3.67649390e-02 -3.05016971e-04 9.99323895e-01 -6.44757403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77587156 meters 0.01980740604138641 Centerline is valid? [True, True] Translation: X:149.90, Y:-21.51, Z:-6.45 [[ 9.79450079e-01 1.98219641e-01 3.72359646e-02 1.49903309e+02] [-1.98088549e-01 9.80157578e-01 -7.21449173e-03 -2.15125161e+01] [-3.79271669e-02 -3.09783712e-04 9.99280458e-01 -6.44541972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80587156 meters 0.014256592767483017 Centerline is valid? [True, True] Translation: X:149.93, Y:-21.52, Z:-6.45 [[ 9.79485117e-01 1.98043748e-01 3.72502379e-02 1.49930943e+02] [-1.97912461e-01 9.80193135e-01 -7.21640170e-03 -2.15182462e+01] [-3.79415907e-02 -3.03928187e-04 9.99279912e-01 -6.44784098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83587156000002 meters 0.013861127045727447 Centerline is valid? [True, True] Translation: X:149.96, Y:-21.53, Z:-6.45 [[ 9.79552006e-01 1.97784002e-01 3.68694322e-02 1.49959410e+02] [-1.97655257e-01 9.80245583e-01 -7.14116191e-03 -2.15256033e+01] [-3.75535057e-02 -2.92297641e-04 9.99294576e-01 -6.45000384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86587156000002 meters 0.014099566878189843 Centerline is valid? [True, True] Translation: X:149.99, Y:-21.53, Z:-6.45 [[ 9.79557644e-01 1.97848687e-01 3.63692029e-02 1.49988390e+02] [-1.97723491e-01 9.80232530e-01 -7.04337640e-03 -2.15333347e+01] [-3.70437986e-02 -2.91652571e-04 9.99313600e-01 -6.45238085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89587156000002 meters 0.014741658741450154 Centerline is valid? [True, True] Translation: X:150.02, Y:-21.54, Z:-6.45 [[ 9.79509229e-01 1.98185377e-01 3.58361202e-02 1.50016037e+02] [-1.98064078e-01 9.80164510e-01 -6.93935972e-03 -2.15390358e+01] [-3.65005728e-02 -3.00681232e-04 9.99333587e-01 -6.45492308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92587156000002 meters 0.01596980510419303 Centerline is valid? [True, True] Translation: X:150.04, Y:-21.54, Z:-6.46 [[ 9.79419891e-01 1.98615984e-01 3.58938505e-02 1.50043166e+02] [-1.98494626e-01 9.80077339e-01 -6.94938761e-03 -2.15430987e+01] [-3.65590089e-02 -3.18367969e-04 9.99331445e-01 -6.45722626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95587156000002 meters 0.015661653696498953 Centerline is valid? [True, True] Translation: X:150.07, Y:-21.55, Z:-6.46 [[ 9.79254017e-01 1.99370708e-01 3.62338513e-02 1.50071031e+02] [-1.99247641e-01 9.79924077e-01 -7.01289368e-03 -2.15486145e+01] [-3.69045888e-02 -3.52105088e-04 9.99318732e-01 -6.45700127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98587156000002 meters 0.017592748947694407 Centerline is valid? [True, True] Translation: X:150.10, Y:-21.55, Z:-6.46 [[ 9.78778555e-01 2.01602457e-01 3.67286024e-02 1.50100257e+02] [-2.01477644e-01 9.79467331e-01 -7.10681948e-03 -2.15505743e+01] [-3.74072185e-02 -4.43989791e-04 9.99300006e-01 -6.45674683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01587156000002 meters 0.01906021695304604 Centerline is valid? [True, True] Translation: X:150.13, Y:-21.55, Z:-6.46 [[ 9.78531454e-01 2.02823859e-01 3.65879046e-02 1.50127923e+02] [-2.02700917e-01 9.79215115e-01 -7.07790848e-03 -2.15538769e+01] [-3.72629979e-02 -4.90445715e-04 9.99305373e-01 -6.45851518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04587156000002 meters 0.03069202912959093 Centerline is valid? [True, True] Translation: X:150.16, Y:-21.56, Z:-6.46 [[ 9.78297811e-01 2.04018087e-01 3.61941055e-02 1.50156197e+02] [-2.03898674e-01 9.78966974e-01 -6.99955515e-03 -2.15555615e+01] [-3.68608698e-02 -5.32280653e-04 9.99320265e-01 -6.46089868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07587156000002 meters 0.03026419361842894 Centerline is valid? [True, True] Translation: X:150.18, Y:-21.56, Z:-6.46 [[ 9.77871883e-01 2.06151060e-01 3.56134794e-02 1.50184688e+02] [-2.06036943e-01 9.78519992e-01 -6.88504768e-03 -2.15581735e+01] [-3.62678615e-02 -6.04997882e-04 9.99341922e-01 -6.46202698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10587156000003 meters 0.0318252589330735 Centerline is valid? [True, True] Translation: X:150.21, Y:-21.56, Z:-6.46 [[ 9.77756873e-01 2.06717138e-01 3.54897443e-02 1.50213340e+02] [-2.06604247e-01 9.78400549e-01 -6.85942988e-03 -2.15617076e+01] [-3.61411470e-02 -6.25477170e-04 9.99346500e-01 -6.46372218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13587156000003 meters 0.0318252589330735 Centerline is valid? [True, True] Translation: X:150.24, Y:-21.57, Z:-6.46 [[ 9.77766453e-01 2.06671765e-01 3.54900616e-02 1.50241148e+02] [-2.06558903e-01 9.78410134e-01 -6.85778753e-03 -2.15669890e+01] [-3.61411470e-02 -6.25473620e-04 9.99346500e-01 -6.46499824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16587156000003 meters 0.023799552641521157 Centerline is valid? [True, True] Translation: X:150.27, Y:-21.57, Z:-6.47 [[ 9.77702813e-01 2.07003834e-01 3.53075313e-02 1.50269632e+02] [-2.06892408e-01 9.78339925e-01 -6.82082958e-03 -2.15705975e+01] [-3.59547054e-02 -6.36115889e-04 9.99353218e-01 -6.46730186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19587156000003 meters 0.02708168887575048 Centerline is valid? [True, True] Translation: X:150.30, Y:-21.58, Z:-6.47 [[ 9.77714898e-01 2.06935835e-01 3.53714479e-02 1.50297622e+02] [-2.06824021e-01 9.78354310e-01 -6.83147723e-03 -2.15752374e+01] [-3.60194860e-02 -6.36428030e-04 9.99350885e-01 -6.46736190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22587156000003 meters 0.022988277642445775 Centerline is valid? [True, True] Translation: X:150.32, Y:-21.58, Z:-6.47 [[ 9.77967492e-01 2.05628015e-01 3.60097824e-02 1.50324795e+02] [-2.05511304e-01 9.78630042e-01 -6.95306499e-03 -2.15792298e+01] [-3.66699998e-02 -6.00545810e-04 9.99327249e-01 -6.46890928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25587156000003 meters 0.020988155639286993 Centerline is valid? [True, True] Translation: X:150.35, Y:-21.59, Z:-6.47 [[ 9.78176599e-01 2.04533650e-01 3.65585299e-02 1.50353333e+02] [-2.04412681e-01 9.78859367e-01 -7.05657135e-03 -2.15863733e+01] [-3.72289658e-02 -5.70454170e-04 9.99306599e-01 -6.46834623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28587156000003 meters 0.01941693505747091 Centerline is valid? [True, True] Translation: X:150.38, Y:-21.59, Z:-6.47 [[ 9.78720821e-01 2.01825878e-01 3.70387495e-02 1.50380357e+02] [-2.01699816e-01 9.79421303e-01 -7.14805961e-03 -2.15918625e+01] [-3.77192037e-02 -4.74754193e-04 9.99288265e-01 -6.46939657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31587156000003 meters 0.016430514346848064 Centerline is valid? [True, True] Translation: X:150.41, Y:-21.60, Z:-6.47 [[ 9.79110095e-01 1.99834307e-01 3.75456011e-02 1.50408423e+02] [-1.99703397e-01 9.79829620e-01 -7.24348018e-03 -2.16006229e+01] [-3.82357879e-02 -4.05819525e-04 9.99268662e-01 -6.46910164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34587156000003 meters 0.015340443533703776 Centerline is valid? [True, True] Translation: X:150.44, Y:-21.61, Z:-6.47 [[ 9.79486203e-01 1.97879417e-01 3.80856205e-02 1.50435789e+02] [-1.97743306e-01 9.80226312e-01 -7.34585503e-03 -2.16066134e+01] [-3.87861208e-02 -3.36012832e-04 9.99247479e-01 -6.47029330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37587156000004 meters 0.013248701206977846 Centerline is valid? [True, True] Translation: X:150.46, Y:-21.61, Z:-6.47 [[ 9.79862855e-01 1.95999651e-01 3.81172258e-02 1.50463790e+02] [-1.95861987e-01 9.80603930e-01 -7.34949585e-03 -2.16142723e+01] [-3.88184000e-02 -2.64217596e-04 9.99246247e-01 -6.47019562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40587156000004 meters 0.011147122525862928 Centerline is valid? [True, True] Translation: X:150.49, Y:-21.62, Z:-6.47 [[ 9.80688803e-01 1.91941627e-01 3.75217806e-02 1.50491792e+02] [-1.91805336e-01 9.81406338e-01 -7.23272201e-03 -2.16234648e+01] [-3.82123737e-02 -1.03828233e-04 9.99269635e-01 -6.47240486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43587156000004 meters 0.011165439768393097 Centerline is valid? [True, True] Translation: X:150.52, Y:-21.63, Z:-6.48 [[ 9.81075951e-01 1.90032678e-01 3.71154908e-02 1.50519942e+02] [-1.89897995e-01 9.81777765e-01 -7.15340149e-03 -2.16310567e+01] [-3.77985437e-02 -3.01271290e-05 9.99285379e-01 -6.47591331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46587156000004 meters 0.01363484556892798 Centerline is valid? [True, True] Translation: X:150.55, Y:-21.64, Z:-6.48 [[ 9.81470878e-01 1.88071564e-01 3.66606331e-02 1.50549515e+02] [-1.87938815e-01 9.82155326e-01 -7.06519214e-03 -2.16394338e+01] [-3.73351978e-02 4.43243977e-05 9.99302797e-01 -6.47647053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49587156 meters 0.011563952626195138 Centerline is valid? [True, True] Translation: X:150.58, Y:-21.65, Z:-6.48 [[ 9.81847391e-01 1.86160825e-01 3.63297150e-02 1.50578517e+02] [-1.86029155e-01 9.82519279e-01 -7.00141801e-03 -2.16472902e+01] [-3.69980352e-02 1.15937816e-04 9.99315332e-01 -6.47925819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52587156 meters 0.015555733901439786 Centerline is valid? [True, True] Translation: X:150.61, Y:-21.66, Z:-6.48 [[ 9.82541495e-01 1.82764766e-01 3.47742890e-02 1.50608686e+02] [-1.82642013e-01 9.83156644e-01 -6.70142387e-03 -2.16557974e+01] [-3.54133574e-02 2.33180870e-04 9.99372723e-01 -6.48238529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55587156 meters 0.01454920629771468 Centerline is valid? [True, True] Translation: X:150.64, Y:-21.66, Z:-6.49 [[ 9.82819072e-01 1.81373502e-01 3.42100011e-02 1.50638162e+02] [-1.81253826e-01 9.83414244e-01 -6.59363488e-03 -2.16630688e+01] [-3.48385130e-02 2.79656538e-04 9.99392916e-01 -6.48570711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58587156000002 meters 0.017256599511254668 Centerline is valid? [True, True] Translation: X:150.67, Y:-21.67, Z:-6.49 [[ 9.83044304e-01 1.80240556e-01 3.37229769e-02 1.50668261e+02] [-1.80123588e-01 9.83622510e-01 -6.50004079e-03 -2.16702747e+01] [-3.43422501e-02 3.15524470e-04 9.99410081e-01 -6.48714736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61587156000002 meters 0.0167652780909151 Centerline is valid? [True, True] Translation: X:150.70, Y:-21.68, Z:-6.49 [[ 9.83207691e-01 1.79357547e-01 3.36676011e-02 1.50697774e+02] [-1.79240467e-01 9.83783894e-01 -6.48876632e-03 -2.16789164e+01] [-3.42854530e-02 3.45208402e-04 9.99412021e-01 -6.49059614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64587156000002 meters 0.01760322120151951 Centerline is valid? [True, True] Translation: X:150.73, Y:-21.69, Z:-6.49 [[ 9.83341840e-01 1.78779223e-01 3.28148680e-02 1.50727529e+02] [-1.78667465e-01 9.83889149e-01 -6.33077388e-03 -2.16860093e+01] [-3.34180034e-02 3.62365549e-04 9.99441397e-01 -6.49313773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67587156000002 meters 0.02971493133121941 Centerline is valid? [True, True] Translation: X:150.76, Y:-21.69, Z:-6.49 [[ 9.83365021e-01 1.78677217e-01 3.26754926e-02 1.50758611e+02] [-1.78566283e-01 9.83907678e-01 -6.30591975e-03 -2.16908012e+01] [-3.32763923e-02 3.66279632e-04 9.99446120e-01 -6.49221100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70587156000002 meters 0.017414613125784406 Centerline is valid? [True, True] Translation: X:150.79, Y:-21.70, Z:-6.50 [[ 9.83309347e-01 1.78981353e-01 3.26864356e-02 1.50789053e+02] [-1.78870537e-01 9.83852402e-01 -6.30727694e-03 -2.16973152e+01] [-3.32875132e-02 3.55364061e-04 9.99445754e-01 -6.49539917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73587156000002 meters 0.025940793536494082 Centerline is valid? [True, True] Translation: X:150.82, Y:-21.70, Z:-6.49 [[ 9.83205194e-01 1.79566992e-01 3.26073967e-02 1.50819706e+02] [-1.79456798e-01 9.83745688e-01 -6.29912045e-03 -2.17012132e+01] [-3.32085000e-02 3.41708928e-04 9.99448387e-01 -6.49437399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76587156000002 meters 0.01658719038733587 Centerline is valid? [True, True] Translation: X:150.85, Y:-21.71, Z:-6.50 [[ 9.83158751e-01 1.79789126e-01 3.27832388e-02 1.50850058e+02] [-1.79677863e-01 9.83705117e-01 -6.33308976e-03 -2.17061856e+01] [-3.33876604e-02 3.36010318e-04 9.99442420e-01 -6.49667779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79587156000002 meters 0.01615131950638553 Centerline is valid? [True, True] Translation: X:150.88, Y:-21.71, Z:-6.50 [[ 9.83033910e-01 1.80366145e-01 3.33524527e-02 1.50880724e+02] [-1.80251321e-01 9.83599487e-01 -6.44291890e-03 -2.17109864e+01] [-3.39675398e-02 3.21784102e-04 9.99422885e-01 -6.49711492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82587156000002 meters 0.014763255434429311 Centerline is valid? [True, True] Translation: X:150.91, Y:-21.72, Z:-6.50 [[ 9.82759609e-01 1.81578452e-01 3.48255242e-02 1.50910825e+02] [-1.81453998e-01 9.83376418e-01 -6.72804314e-03 -2.17151053e+01] [-3.54682669e-02 2.92818457e-04 9.99370760e-01 -6.49571534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85587156000003 meters 0.014643304788807565 Centerline is valid? [True, True] Translation: X:150.94, Y:-21.72, Z:-6.50 [[ 9.82642127e-01 1.82129050e-01 3.52627121e-02 1.50939801e+02] [-1.82001801e-01 9.83274597e-01 -6.81261443e-03 -2.17208374e+01] [-3.59137040e-02 2.76484849e-04 9.99354857e-01 -6.49633059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88587156000003 meters 0.013654384130818636 Centerline is valid? [True, True] Translation: X:150.97, Y:-21.72, Z:-6.50 [[ 9.82537358e-01 1.82631818e-01 3.55803187e-02 1.50969986e+02] [-1.82502615e-01 9.83181342e-01 -6.87342803e-03 -2.17246420e+01] [-3.62372121e-02 2.59898609e-04 9.99343183e-01 -6.49590016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91587156000003 meters 0.013702758492112574 Centerline is valid? [True, True] Translation: X:151.00, Y:-21.73, Z:-6.50 [[ 9.82419223e-01 1.83217366e-01 3.58310806e-02 1.50999380e+02] [-1.83086720e-01 9.83072398e-01 -6.92197410e-03 -2.17295231e+01] [-3.64927722e-02 2.40085401e-04 9.99333888e-01 -6.49809865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94587156000003 meters 0.013188693527495859 Centerline is valid? [True, True] Translation: X:151.03, Y:-21.73, Z:-6.50 [[ 9.82240593e-01 1.84330971e-01 3.50072905e-02 1.51030133e+02] [-1.84206992e-01 9.82864210e-01 -6.76229705e-03 -2.17330409e+01] [-3.56539137e-02 1.93614991e-04 9.99364178e-01 -6.50042732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97587156000003 meters 0.012939224208590104 Centerline is valid? [True, True] Translation: X:151.06, Y:-21.74, Z:-6.50 [[ 9.82171563e-01 1.84782918e-01 3.45585605e-02 1.51060151e+02] [-1.84662378e-01 9.82779346e-01 -6.67561667e-03 -2.17375374e+01] [-3.51969794e-02 1.74934902e-04 9.99380379e-01 -6.50197646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00587156000003 meters 0.012623189984839802 Centerline is valid? [True, True] Translation: X:151.09, Y:-21.74, Z:-6.50 [[ 9.82041403e-01 1.85502984e-01 3.43994861e-02 1.51089167e+02] [-1.85383984e-01 9.82643690e-01 -6.64512933e-03 -2.17414671e+01] [-3.50351292e-02 1.48678350e-04 9.99386070e-01 -6.50353432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03587156000003 meters 0.012394348118312417 Centerline is valid? [True, True] Translation: X:151.12, Y:-21.74, Z:-6.51 [[ 9.81802465e-01 1.86893893e-01 3.36837152e-02 1.51117522e+02] [-1.86780636e-01 9.82380101e-01 -6.50618350e-03 -2.17429814e+01] [-3.43061775e-02 9.63212265e-05 9.99411365e-01 -6.50595582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06587156000003 meters 0.011897550112074936 Centerline is valid? [True, True] Translation: X:151.15, Y:-21.75, Z:-6.51 [[ 9.81692013e-01 1.87442328e-01 3.38550496e-02 1.51147376e+02] [-1.87328289e-01 9.82275607e-01 -6.53791314e-03 -2.17473897e+01] [-3.44804711e-02 7.62086044e-05 9.99405369e-01 -6.50552567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09587156000003 meters 0.011883813553993428 Centerline is valid? [True, True] Translation: X:151.18, Y:-21.75, Z:-6.51 [[ 9.81570610e-01 1.87953246e-01 3.45357009e-02 1.51175812e+02] [-1.87834917e-01 9.82177975e-01 -6.66858172e-03 -2.17523871e+01] [-3.51735864e-02 5.86733009e-05 9.99381216e-01 -6.50670642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12587156000004 meters 0.011325646623166478 Centerline is valid? [True, True] Translation: X:151.21, Y:-21.75, Z:-6.51 [[ 9.81214563e-01 1.89652444e-01 3.53543699e-02 1.51206077e+02] [-1.89529593e-01 9.81851287e-01 -6.82517416e-03 -2.17547421e+01] [-3.60071445e-02 -3.73904203e-06 9.99351533e-01 -6.50533063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15587156000004 meters 0.011412724564540509 Centerline is valid? [True, True] Translation: X:151.24, Y:-21.76, Z:-6.51 [[ 9.81047282e-01 1.90603703e-01 3.48777718e-02 1.51235890e+02] [-1.90484774e-01 9.81667065e-01 -6.73231177e-03 -2.17584906e+01] [-3.55215634e-02 -3.89682994e-05 9.99368909e-01 -6.50644613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18587156000004 meters 0.011982705371126197 Centerline is valid? [True, True] Translation: X:151.26, Y:-21.76, Z:-6.51 [[ 9.80866712e-01 1.91561263e-01 3.47098824e-02 1.51264336e+02] [-1.91444103e-01 9.81480655e-01 -6.69913937e-03 -2.17618705e+01] [-3.53503737e-02 -7.40394827e-05 9.99374977e-01 -6.50984150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21587156000004 meters 0.012649523332431224 Centerline is valid? [True, True] Translation: X:151.29, Y:-21.76, Z:-6.51 [[ 9.80591613e-01 1.93084409e-01 3.40367380e-02 1.51292894e+02] [-1.92972707e-01 9.81182141e-01 -6.56806359e-03 -2.17633448e+01] [-3.46644302e-02 -1.27573411e-04 9.99399000e-01 -6.51207869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24587156 meters 0.01289135547280036 Centerline is valid? [True, True] Translation: X:151.32, Y:-21.77, Z:-6.51 [[ 9.80507016e-01 1.93588725e-01 3.36065136e-02 1.51321249e+02] [-1.93480182e-01 9.81082761e-01 -6.48343630e-03 -2.17667995e+01] [-3.42258913e-02 -1.45139580e-04 9.99414112e-01 -6.51345866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27587156 meters 0.013115150061786165 Centerline is valid? [True, True] Translation: X:151.35, Y:-21.77, Z:-6.52 [[ 9.80483047e-01 1.93753001e-01 3.33581880e-02 1.51349602e+02] [-1.93646207e-01 9.81050331e-01 -6.43389726e-03 -2.17704595e+01] [-3.39726483e-02 -1.51359384e-04 9.99422752e-01 -6.51521730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30587156 meters 0.01326107171078832 Centerline is valid? [True, True] Translation: X:151.38, Y:-21.78, Z:-6.52 [[ 9.80455155e-01 1.93837346e-01 3.36863915e-02 1.51377433e+02] [-1.93728540e-01 9.81033668e-01 -6.49569533e-03 -2.17751666e+01] [-3.43065926e-02 -1.57277488e-04 9.99411343e-01 -6.51688863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33587156000002 meters 0.022074921230511347 Centerline is valid? [True, True] Translation: X:151.41, Y:-21.78, Z:-6.52 [[ 9.80681446e-01 1.92814886e-01 3.29593845e-02 1.51405461e+02] [-1.92710226e-01 9.81235143e-01 -6.35322966e-03 -2.17816493e+01] [-3.35659036e-02 -1.21115992e-04 9.99436499e-01 -6.51730838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36587156000002 meters 0.012841123591475646 Centerline is valid? [True, True] Translation: X:151.43, Y:-21.79, Z:-6.52 [[ 9.80766179e-01 1.92394996e-01 3.28917644e-02 1.51434006e+02] [-1.92290582e-01 9.81317560e-01 -6.33862815e-03 -2.17875424e+01] [-3.34967863e-02 -1.08064419e-04 9.99438819e-01 -6.51977342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39587156000002 meters 0.025709825090882956 Centerline is valid? [True, True] Translation: X:151.46, Y:-21.79, Z:-6.52 [[ 9.80928956e-01 1.91566931e-01 3.28708713e-02 1.51461274e+02] [-1.91462233e-01 9.81479549e-01 -6.33317834e-03 -2.17918869e+01] [-3.34753155e-02 -8.11323986e-05 9.99439541e-01 -6.51959941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42587156000002 meters 0.012180636462477454 Centerline is valid? [True, True] Translation: X:151.49, Y:-21.80, Z:-6.52 [[ 9.81209460e-01 1.90154832e-01 3.26976279e-02 1.51489156e+02] [-1.90050527e-01 9.81754113e-01 -6.29749717e-03 -2.17972565e+01] [-3.32985302e-02 -3.50376266e-05 9.99445450e-01 -6.52074804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45587156000002 meters 0.012284947438519432 Centerline is valid? [True, True] Translation: X:151.52, Y:-21.80, Z:-6.52 [[ 9.81385028e-01 1.89211214e-01 3.29020282e-02 1.51516513e+02] [-1.89105122e-01 9.81936412e-01 -6.33533251e-03 -2.18029099e+01] [-3.35064154e-02 -4.54157931e-06 9.99438502e-01 -6.52245192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48587156000002 meters 0.012195163214313293 Centerline is valid? [True, True] Translation: X:151.54, Y:-21.81, Z:-6.52 [[ 9.81601052e-01 1.87967994e-01 3.35768961e-02 1.51543231e+02] [-1.87856851e-01 9.82175153e-01 -6.46310628e-03 -2.18092013e+01] [-3.41932502e-02 3.65419497e-05 9.99415239e-01 -6.52273533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51587156000002 meters 0.01244687559018442 Centerline is valid? [True, True] Translation: X:151.57, Y:-21.82, Z:-6.52 [[ 9.82106309e-01 1.85211796e-01 3.41143495e-02 1.51572076e+02] [-1.85095487e-01 9.82698618e-01 -6.56411194e-03 -2.18183511e+01] [-3.47398751e-02 1.32243620e-04 9.99396380e-01 -6.52235773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54587156000002 meters 0.015669193733514542 Centerline is valid? [True, True] Translation: X:151.60, Y:-21.83, Z:-6.52 [[ 9.82482129e-01 1.83252215e-01 3.38746473e-02 1.51599367e+02] [-1.83136395e-01 9.83065911e-01 -6.51727739e-03 -2.18260955e+01] [-3.44953165e-02 1.99427786e-04 9.99404840e-01 -6.52342492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57587156000002 meters 0.014588979881890802 Centerline is valid? [True, True] Translation: X:151.63, Y:-21.83, Z:-6.53 [[ 9.82825626e-01 1.81453354e-01 3.35926843e-02 1.51628138e+02] [-1.81338451e-01 9.83399519e-01 -6.46165972e-03 -2.18337718e+01] [-3.42075194e-02 2.59039434e-04 9.99414718e-01 -6.52522378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60587156000003 meters 0.02973238087859704 Centerline is valid? [True, True] Translation: X:151.66, Y:-21.84, Z:-6.53 [[ 9.83243736e-01 1.79217734e-01 3.33580629e-02 1.51656564e+02] [-1.79103176e-01 9.83809378e-01 -6.41557993e-03 -2.18429630e+01] [-3.39677608e-02 3.33543765e-04 9.99422873e-01 -6.52769356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63587156000003 meters 0.019403294234078352 Centerline is valid? [True, True] Translation: X:151.69, Y:-21.85, Z:-6.53 [[ 9.83959291e-01 1.75349807e-01 3.28109508e-02 1.51686480e+02] [-1.75236854e-01 9.84506087e-01 -6.30953987e-03 -2.18536622e+01] [-3.34089573e-02 4.58642591e-04 9.99441660e-01 -6.53011852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66587156000003 meters 0.022733442035079265 Centerline is valid? [True, True] Translation: X:151.72, Y:-21.87, Z:-6.53 [[ 9.84224402e-01 1.73931386e-01 3.24067782e-02 1.51715210e+02] [-1.73820400e-01 9.84757646e-01 -6.23275395e-03 -2.18651085e+01] [-3.29968941e-02 5.01469392e-04 9.99455328e-01 -6.53377333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69587156000003 meters 0.022069983737050283 Centerline is valid? [True, True] Translation: X:151.75, Y:-21.87, Z:-6.53 [[ 9.84431880e-01 1.72765637e-01 3.23405047e-02 1.51746028e+02] [-1.72654467e-01 9.84962813e-01 -6.22025999e-03 -2.18704185e+01] [-3.29288416e-02 5.39689662e-04 9.99457553e-01 -6.53379798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72587156000003 meters 0.023953457152886385 Centerline is valid? [True, True] Translation: X:151.78, Y:-21.88, Z:-6.54 [[ 9.84662892e-01 1.71447869e-01 3.23205309e-02 1.51775305e+02] [-1.71336096e-01 9.85193020e-01 -6.21735129e-03 -2.18786010e+01] [-3.29079131e-02 5.84321506e-04 9.99458217e-01 -6.53509777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75587156000003 meters 0.022935689347920635 Centerline is valid? [True, True] Translation: X:151.81, Y:-21.88, Z:-6.54 [[ 9.84738669e-01 1.71007248e-01 3.23461841e-02 1.51806072e+02] [-1.70895057e-01 9.85269588e-01 -6.22237828e-03 -2.18845366e+01] [-3.29337833e-02 5.99613536e-04 9.99457356e-01 -6.53536922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78587156000003 meters 0.026085157450305273 Centerline is valid? [True, True] Translation: X:151.84, Y:-21.90, Z:-6.54 [[ 9.84813501e-01 1.70540347e-01 3.25324275e-02 1.51835086e+02] [-1.70426612e-01 9.85350500e-01 -6.25797216e-03 -2.18957686e+01] [-3.31230804e-02 6.18544060e-04 9.99451089e-01 -6.53891496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81587156000003 meters 0.024562436169548677 Centerline is valid? [True, True] Translation: X:151.87, Y:-21.90, Z:-6.54 [[ 9.84881240e-01 1.70126202e-01 3.26499292e-02 1.51866534e+02] [-1.70011186e-01 9.85422074e-01 -6.28752126e-03 -2.19008236e+01] [-3.32436331e-02 6.41608534e-04 9.99447072e-01 -6.53795586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84587156000003 meters 0.025901715682436377 Centerline is valid? [True, True] Translation: X:151.90, Y:-21.91, Z:-6.54 [[ 9.84917776e-01 1.69925104e-01 3.25950058e-02 1.51896179e+02] [-1.69810395e-01 9.85456768e-01 -6.27605054e-03 -2.19090539e+01] [-3.31874276e-02 6.46422943e-04 9.99448937e-01 -6.54045741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87587156000004 meters 0.026829371625788436 Centerline is valid? [True, True] Translation: X:151.93, Y:-21.92, Z:-6.54 [[ 9.84938460e-01 1.69802682e-01 3.26079735e-02 1.51926482e+02] [-1.69687625e-01 9.85477863e-01 -6.28425022e-03 -2.19179397e+01] [-3.32015186e-02 6.56430175e-04 9.99448462e-01 -6.54239287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90587156000004 meters 0.026173553120055055 Centerline is valid? [True, True] Translation: X:151.96, Y:-21.93, Z:-6.54 [[ 9.84933201e-01 1.69924467e-01 3.21288922e-02 1.51957597e+02] [-1.69812676e-01 9.85456877e-01 -6.19666935e-03 -2.19262312e+01] [-3.27146035e-02 6.47412219e-04 9.99464524e-01 -6.54357372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93587156000004 meters 0.03690843825926648 Centerline is valid? [True, True] Translation: X:151.99, Y:-21.93, Z:-6.54 [[ 9.84897210e-01 1.70182721e-01 3.18642076e-02 1.51987952e+02] [-1.70072722e-01 9.85412316e-01 -6.15108929e-03 -2.19334891e+01] [-3.24461917e-02 6.38958158e-04 9.99473279e-01 -6.54420930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96587156000004 meters 0.024597658545112595 Centerline is valid? [True, True] Translation: X:152.02, Y:-21.94, Z:-6.55 [[ 9.84780174e-01 1.70822008e-01 3.20601236e-02 1.52019262e+02] [-1.70710833e-01 9.85301705e-01 -6.19373454e-03 -2.19388422e+01] [-3.26469207e-02 6.26456576e-04 9.99466751e-01 -6.54582465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99587156 meters 0.024734206955440975 Centerline is valid? [True, True] Translation: X:152.05, Y:-21.95, Z:-6.55 [[ 9.84562526e-01 1.72089729e-01 3.19649553e-02 1.52049156e+02] [-1.71979696e-01 9.85081103e-01 -6.18101399e-03 -2.19481409e+01] [-3.25517624e-02 5.88271458e-04 9.99469878e-01 -6.54804359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02587156 meters 0.02391268466046158 Centerline is valid? [True, True] Translation: X:152.08, Y:-21.95, Z:-6.55 [[ 9.84437845e-01 1.72866269e-01 3.16130234e-02 1.52080383e+02] [-1.72758890e-01 9.84945145e-01 -6.11783378e-03 -2.19543348e+01] [-3.21946610e-02 5.61196263e-04 9.99481460e-01 -6.54936280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05587156 meters 0.02391268466046158 Centerline is valid? [True, True] Translation: X:152.11, Y:-21.96, Z:-6.55 [[ 9.84409682e-01 1.73026753e-01 3.16120258e-02 1.52111435e+02] [-1.72919291e-01 9.84916965e-01 -6.12298352e-03 -2.19604942e+01] [-3.21946604e-02 5.61195172e-04 9.99481460e-01 -6.55078995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08587156000002 meters 0.023343181660773513 Centerline is valid? [True, True] Translation: X:152.14, Y:-21.97, Z:-6.55 [[ 9.84262040e-01 1.73888029e-01 3.14831729e-02 1.52142748e+02] [-1.73781712e-01 9.84765285e-01 -6.10332028e-03 -2.19667038e+01] [-3.20648301e-02 5.36066765e-04 9.99485647e-01 -6.55206907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11587156000002 meters 0.02108562553009914 Centerline is valid? [True, True] Translation: X:152.17, Y:-21.97, Z:-6.55 [[ 9.83964244e-01 1.75356276e-01 3.26273356e-02 1.52174231e+02] [-1.75242704e-01 9.84504908e-01 -6.33086624e-03 -2.19733843e+01] [-3.32319292e-02 5.11643492e-04 9.99447536e-01 -6.55090765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14587156000002 meters 0.0275975662370222 Centerline is valid? [True, True] Translation: X:152.21, Y:-21.98, Z:-6.55 [[ 9.83850398e-01 1.75974432e-01 3.27321579e-02 1.52205052e+02] [-1.75860282e-01 9.84394612e-01 -6.35686699e-03 -2.19812096e+01] [-3.33400059e-02 4.97919596e-04 9.99443943e-01 -6.55097971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17587156000002 meters 0.0205380126635959 Centerline is valid? [True, True] Translation: X:152.23, Y:-21.99, Z:-6.55 [[ 9.83746706e-01 1.76547660e-01 3.27619143e-02 1.52234754e+02] [-1.76433425e-01 9.84291973e-01 -6.36849229e-03 -2.19898684e+01] [-3.33716316e-02 4.84686559e-04 9.99442894e-01 -6.55357412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20587156000002 meters 0.024707239659413918 Centerline is valid? [True, True] Translation: X:152.27, Y:-22.00, Z:-6.55 [[ 9.83597454e-01 1.77332381e-01 3.30041524e-02 1.52265433e+02] [-1.77216710e-01 9.84150907e-01 -6.42099286e-03 -2.19974403e+01] [-3.36197165e-02 4.66784943e-04 9.99434589e-01 -6.55429666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23587156000002 meters 0.03323713613359251 Centerline is valid? [True, True] Translation: X:152.30, Y:-22.01, Z:-6.56 [[ 9.83366092e-01 1.78598066e-01 3.30735560e-02 1.52297014e+02] [-1.78482450e-01 9.83922023e-01 -6.43961314e-03 -2.20057671e+01] [-3.36919025e-02 4.29447919e-04 9.99432174e-01 -6.55556319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26587156000002 meters 0.018665805631464655 Centerline is valid? [True, True] Translation: X:152.33, Y:-22.01, Z:-6.56 [[ 9.83255256e-01 1.79192211e-01 3.31549901e-02 1.52327836e+02] [-1.79076172e-01 9.83813996e-01 -6.46109578e-03 -2.20130136e+01] [-3.37761213e-02 4.15637670e-04 9.99429338e-01 -6.55793195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29587156000002 meters 0.018407739404765512 Centerline is valid? [True, True] Translation: X:152.36, Y:-22.02, Z:-6.56 [[ 9.83132407e-01 1.79788999e-01 3.35646634e-02 1.52358915e+02] [-1.79670220e-01 9.83705114e-01 -6.54681901e-03 -2.20200842e+01] [-3.41947771e-02 4.05819482e-04 9.99415105e-01 -6.55858887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32587156000002 meters 0.01853394884590829 Centerline is valid? [True, True] Translation: X:152.39, Y:-22.03, Z:-6.56 [[ 9.83026879e-01 1.80254241e-01 3.41549970e-02 1.52388990e+02] [-1.80131315e-01 9.83619971e-01 -6.66803978e-03 -2.20292682e+01] [-3.47974796e-02 4.02477821e-04 9.99394303e-01 -6.55981418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35587156000003 meters 0.018318820118421595 Centerline is valid? [True, True] Translation: X:152.42, Y:-22.04, Z:-6.56 [[ 9.82996756e-01 1.80402547e-01 3.42388487e-02 1.52420718e+02] [-1.80278929e-01 9.83592781e-01 -6.68948247e-03 -2.20364988e+01] [-3.48838841e-02 4.03196588e-04 9.99391291e-01 -6.56087037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38587156000003 meters 0.01845420175864114 Centerline is valid? [True, True] Translation: X:152.45, Y:-22.04, Z:-6.56 [[ 9.82981115e-01 1.80490953e-01 3.42219778e-02 1.52451915e+02] [-1.80367276e-01 9.83576561e-01 -6.69291140e-03 -2.20441866e+01] [-3.48679452e-02 4.06480601e-04 9.99391846e-01 -6.56168196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41587156000003 meters 0.018554658128390224 Centerline is valid? [True, True] Translation: X:152.48, Y:-22.05, Z:-6.56 [[ 9.82961641e-01 1.80566736e-01 3.43811885e-02 1.52483574e+02] [-1.80441737e-01 9.83562649e-01 -6.73017107e-03 -2.20523451e+01] [-3.50312979e-02 4.11698616e-04 9.99386131e-01 -6.56293738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44587156000003 meters 0.016985142322217383 Centerline is valid? [True, True] Translation: X:152.52, Y:-22.06, Z:-6.56 [[ 9.82869420e-01 1.81075688e-01 3.43409224e-02 1.52515390e+02] [-1.80951066e-01 9.83469082e-01 -6.72876562e-03 -2.20610872e+01] [-3.49916513e-02 3.99471458e-04 9.99387525e-01 -6.56342870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47587156000003 meters 0.017748871275388895 Centerline is valid? [True, True] Translation: X:152.55, Y:-22.07, Z:-6.57 [[ 9.82801090e-01 1.81445028e-01 3.43470508e-02 1.52545895e+02] [-1.81320337e-01 9.83401010e-01 -6.73709636e-03 -2.20699207e+01] [-3.49993371e-02 3.93406815e-04 9.99387258e-01 -6.56582845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50587156000003 meters 0.016424390141959115 Centerline is valid? [True, True] Translation: X:152.58, Y:-22.08, Z:-6.57 [[ 9.82641734e-01 1.82288494e-01 3.44402014e-02 1.52577581e+02] [-1.82163409e-01 9.83245019e-01 -6.76202698e-03 -2.20757536e+01] [-3.50957962e-02 3.70905425e-04 9.99383884e-01 -6.56629798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53587156000003 meters 0.016269926511621687 Centerline is valid? [True, True] Translation: X:152.61, Y:-22.08, Z:-6.57 [[ 9.82484421e-01 1.83123230e-01 3.44999236e-02 1.52607919e+02] [-1.82998005e-01 9.83089905e-01 -6.78000596e-03 -2.20832800e+01] [-3.51581032e-02 3.47833048e-04 9.99381702e-01 -6.56824154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56587156000003 meters 0.014804602787840133 Centerline is valid? [True, True] Translation: X:152.64, Y:-22.09, Z:-6.57 [[ 9.82074413e-01 1.85225951e-01 3.49455786e-02 1.52638796e+02] [-1.85098595e-01 9.82695918e-01 -6.87332498e-03 -2.20901325e+01] [-3.56139956e-02 2.81739104e-04 9.99365581e-01 -6.56905941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59587156000003 meters 0.021241413796652224 Centerline is valid? [True, True] Translation: X:152.67, Y:-22.10, Z:-6.57 [[ 9.81792855e-01 1.86649580e-01 3.52806541e-02 1.52670914e+02] [-1.86520465e-01 9.82426525e-01 -6.94538699e-03 -2.20955338e+01] [-3.59570040e-02 2.38367288e-04 9.99353309e-01 -6.56853231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62587156000004 meters 0.012592450282000142 Centerline is valid? [True, True] Translation: X:152.70, Y:-22.10, Z:-6.57 [[ 9.81316443e-01 1.89053614e-01 3.57319102e-02 1.52701263e+02] [-1.88922518e-01 9.81966754e-01 -7.04103963e-03 -2.21006485e+01] [-3.64186818e-02 1.58925505e-04 9.99336607e-01 -6.57113766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65587156000004 meters 0.012256799518189353 Centerline is valid? [True, True] Translation: X:152.73, Y:-22.11, Z:-6.57 [[ 9.81129947e-01 1.90117903e-01 3.52024044e-02 1.52733712e+02] [-1.89991261e-01 9.81761258e-01 -6.93918232e-03 -2.21078937e+01] [-3.58796196e-02 1.20090368e-04 9.99356112e-01 -6.57318115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68587156000004 meters 0.02726180352393677 Centerline is valid? [True, True] Translation: X:152.76, Y:-22.12, Z:-6.58 [[ 9.81006391e-01 1.90823952e-01 3.48235536e-02 1.52764783e+02] [-1.90700203e-01 9.81624271e-01 -6.87191786e-03 -2.21151895e+01] [-3.54949719e-02 1.00536587e-04 9.99369850e-01 -6.57515322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71587156000004 meters 0.012471693833137834 Centerline is valid? [True, True] Translation: X:152.80, Y:-22.12, Z:-6.58 [[ 9.80901836e-01 1.91539769e-01 3.38246225e-02 1.52795578e+02] [-1.91423326e-01 9.81484850e-01 -6.67825720e-03 -2.21224732e+01] [-3.44775064e-02 7.58930022e-05 9.99405471e-01 -6.57967817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74587156 meters 0.01188990918295722 Centerline is valid? [True, True] Translation: X:152.83, Y:-22.13, Z:-6.58 [[ 9.80811443e-01 1.92075516e-01 3.34052257e-02 1.52828060e+02] [-1.91962080e-01 9.81380147e-01 -6.60058469e-03 -2.21295894e+01] [-3.40510360e-02 6.13923888e-05 9.99420093e-01 -6.58014863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77587156 meters 0.012129570359293476 Centerline is valid? [True, True] Translation: X:152.86, Y:-22.14, Z:-6.58 [[ 9.80677145e-01 1.92759104e-01 3.34105603e-02 1.52858922e+02] [-1.92645781e-01 9.81246109e-01 -6.60885783e-03 -2.21386917e+01] [-3.40578998e-02 4.47523293e-05 9.99419860e-01 -6.58400233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80587156 meters 0.012273899132683619 Centerline is valid? [True, True] Translation: X:152.89, Y:-22.15, Z:-6.59 [[ 9.80593462e-01 1.93186013e-01 3.34010102e-02 1.52890148e+02] [-1.93072774e-01 9.81162149e-01 -6.61367074e-03 -2.21468657e+01] [-3.40494756e-02 3.64965728e-05 9.99420148e-01 -6.58618562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83587156000002 meters 0.012228589499626553 Centerline is valid? [True, True] Translation: X:152.92, Y:-22.15, Z:-6.59 [[ 9.80485344e-01 1.93754527e-01 3.32817228e-02 1.52922192e+02] [-1.93642220e-01 9.81050041e-01 -6.59605653e-03 -2.21544798e+01] [-3.39290513e-02 2.25900779e-05 9.99424244e-01 -6.58762856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86587156000002 meters 0.012024499320690253 Centerline is valid? [True, True] Translation: X:152.95, Y:-22.16, Z:-6.59 [[ 9.80141336e-01 1.95470229e-01 3.33819033e-02 1.52954372e+02] [-1.95358018e-01 9.80709635e-01 -6.62239552e-03 -2.21609532e+01] [-3.40324354e-02 -3.05388823e-05 9.99420728e-01 -6.58853070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89587156000002 meters 0.012236758378507944 Centerline is valid? [True, True] Translation: X:152.99, Y:-22.17, Z:-6.59 [[ 9.79877352e-01 1.96777929e-01 3.34487879e-02 1.52985790e+02] [-1.96665800e-01 9.80448082e-01 -6.64240666e-03 -2.21666575e+01] [-3.41018789e-02 -6.94887594e-05 9.99418359e-01 -6.59007860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92587156000002 meters 0.01219635118067634 Centerline is valid? [True, True] Translation: X:153.02, Y:-22.17, Z:-6.59 [[ 9.79586324e-01 1.98178341e-01 3.37042983e-02 1.53018740e+02] [-1.98065111e-01 9.80165972e-01 -6.69920633e-03 -2.21726706e+01] [-3.43634439e-02 -1.13194678e-04 9.99409396e-01 -6.59055686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95587156000002 meters 0.015563575578142846 Centerline is valid? [True, True] Translation: X:153.05, Y:-22.18, Z:-6.59 [[ 9.79025427e-01 2.00959954e-01 3.35307374e-02 1.53049993e+02] [-2.00849272e-01 9.79599437e-01 -6.67186534e-03 -2.21771113e+01] [-3.41874692e-02 -2.02698388e-04 9.99415417e-01 -6.59220290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98587156000002 meters 0.013981880932249462 Centerline is valid? [True, True] Translation: X:153.08, Y:-22.18, Z:-6.59 [[ 9.78803616e-01 2.02089814e-01 3.32142919e-02 1.53081953e+02] [-2.01981686e-01 9.79366965e-01 -6.61411450e-03 -2.21831285e+01] [-3.38656254e-02 -2.34759491e-04 9.99426368e-01 -6.59439536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01587156000002 meters 0.01441676442121145 Centerline is valid? [True, True] Translation: X:153.11, Y:-22.19, Z:-6.60 [[ 9.78649418e-01 2.02815756e-01 3.33329595e-02 1.53112565e+02] [-2.02707018e-01 9.79216884e-01 -6.64527589e-03 -2.21891007e+01] [-3.39879634e-02 -2.53429446e-04 9.99422210e-01 -6.59583647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04587156000002 meters 0.01504711633625375 Centerline is valid? [True, True] Translation: X:153.14, Y:-22.19, Z:-6.60 [[ 9.78532342e-01 2.03415748e-01 3.31132765e-02 1.53142942e+02] [-2.03308806e-01 9.79092416e-01 -6.60079313e-03 -2.21949964e+01] [-3.37636631e-02 -2.73131162e-04 9.99429808e-01 -6.59820976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07587156000002 meters 0.015146491248947078 Centerline is valid? [True, True] Translation: X:153.17, Y:-22.20, Z:-6.60 [[ 9.78578294e-01 2.03276978e-01 3.26035543e-02 1.53172333e+02] [-2.03173015e-01 9.79121240e-01 -6.50556764e-03 -2.22028178e+01] [-3.32452646e-02 -2.57955144e-04 9.99447190e-01 -6.60123660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10587156000003 meters 0.014465905944911749 Centerline is valid? [True, True] Translation: X:153.20, Y:-22.21, Z:-6.60 [[ 9.78656286e-01 2.02931175e-01 3.24162195e-02 1.53203493e+02] [-2.02828201e-01 9.79192973e-01 -6.46858624e-03 -2.22112622e+01] [-3.30544121e-02 -2.44400879e-04 9.99453524e-01 -6.60249018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13587156000003 meters 0.019871847822142394 Centerline is valid? [True, True] Translation: X:153.23, Y:-22.22, Z:-6.60 [[ 9.78728886e-01 2.02555550e-01 3.25732597e-02 1.53233956e+02] [-2.02451171e-01 9.79270748e-01 -6.50582221e-03 -2.22190908e+01] [-3.32158308e-02 -2.27058449e-04 9.99448176e-01 -6.60348874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16587156000003 meters 0.022872150460986063 Centerline is valid? [True, True] Translation: X:153.26, Y:-22.23, Z:-6.60 [[ 9.78872561e-01 2.01815764e-01 3.28467097e-02 1.53263663e+02] [-2.01709026e-01 9.79423482e-01 -6.56587605e-03 -2.22275549e+01] [-3.34959361e-02 -1.98321923e-04 9.99438834e-01 -6.60473037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19587156000003 meters 0.012416714862307946 Centerline is valid? [True, True] Translation: X:153.29, Y:-22.24, Z:-6.61 [[ 9.79263277e-01 1.99767634e-01 3.37094513e-02 1.53293887e+02] [-1.99653814e-01 9.79843292e-01 -6.74374169e-03 -2.22390450e+01] [-3.43771611e-02 -1.26321952e-04 9.99408923e-01 -6.60534612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22587156000003 meters 0.026044523501067878 Centerline is valid? [True, True] Translation: X:153.32, Y:-22.25, Z:-6.61 [[ 9.79370625e-01 1.99267424e-01 3.35510561e-02 1.53324805e+02] [-1.99154185e-01 9.79945143e-01 -6.71770918e-03 -2.22470341e+01] [-3.42168151e-02 -1.02706182e-04 9.99414428e-01 -6.60564692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25587156000003 meters 0.01203488159533093 Centerline is valid? [True, True] Translation: X:153.36, Y:-22.26, Z:-6.61 [[ 9.79517218e-01 1.98530755e-01 3.36386501e-02 1.53356616e+02] [-1.98416279e-01 9.80094656e-01 -6.74134822e-03 -2.22554699e+01] [-3.43074262e-02 -7.11891399e-05 9.99411324e-01 -6.60863376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28587156000003 meters 0.012107132277588558 Centerline is valid? [True, True] Translation: X:153.39, Y:-22.26, Z:-6.61 [[ 9.79606049e-01 1.98138322e-01 3.33645551e-02 1.53387454e+02] [-1.98025251e-01 9.80174068e-01 -6.69304388e-03 -2.22645765e+01] [-3.40292202e-02 -5.04781447e-05 9.99420837e-01 -6.61079930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31587156000003 meters 0.011950457457312753 Centerline is valid? [True, True] Translation: X:153.42, Y:-22.27, Z:-6.61 [[ 9.79560125e-01 1.98385739e-01 3.32424325e-02 1.53419163e+02] [-1.98273433e-01 9.80124021e-01 -6.67457268e-03 -2.22716989e+01] [-3.39058467e-02 -5.29459690e-05 9.99425030e-01 -6.61193719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34587156000003 meters 0.012343775950759368 Centerline is valid? [True, True] Translation: X:153.45, Y:-22.28, Z:-6.61 [[ 9.79460833e-01 1.98969353e-01 3.26752832e-02 1.53449572e+02] [-1.98860938e-01 9.80005710e-01 -6.56772959e-03 -2.22773292e+01] [-3.33287410e-02 -6.50035565e-05 9.99444441e-01 -6.61494686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37587156000004 meters 0.013122031184367191 Centerline is valid? [True, True] Translation: X:153.48, Y:-22.28, Z:-6.62 [[ 9.79102865e-01 2.00820406e-01 3.20740370e-02 1.53480653e+02] [-2.00716863e-01 9.79628067e-01 -6.44914514e-03 -2.22803299e+01] [-3.27157468e-02 -1.23423603e-04 9.99464689e-01 -6.61733694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40587156000004 meters 0.013976581763305499 Centerline is valid? [True, True] Translation: X:153.51, Y:-22.28, Z:-6.62 [[ 9.78766741e-01 2.02476002e-01 3.19239087e-02 1.53511279e+02] [-2.02374143e-01 9.79287209e-01 -6.42400137e-03 -2.22837262e+01] [-3.25633816e-02 -1.72974769e-04 9.99469657e-01 -6.61905148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43587156000004 meters 0.01847698966944939 Centerline is valid? [True, True] Translation: X:153.54, Y:-22.29, Z:-6.62 [[ 9.78484775e-01 2.03810929e-01 3.20725692e-02 1.53542269e+02] [-2.03708617e-01 9.79010245e-01 -6.46059383e-03 -2.22870121e+01] [-3.27161135e-02 -2.11866004e-04 9.99464662e-01 -6.61921645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46587156000004 meters 0.015335283071618262 Centerline is valid? [True, True] Translation: X:153.57, Y:-22.29, Z:-6.62 [[ 9.78132288e-01 2.05482031e-01 3.21614989e-02 1.53573510e+02] [-2.05380027e-01 9.78660852e-01 -6.47929346e-03 -2.22902015e+01] [-3.28065783e-02 -2.67723376e-04 9.99461683e-01 -6.62072558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49587156 meters 0.02746738841126304 Centerline is valid? [True, True] Translation: X:153.60, Y:-22.29, Z:-6.62 [[ 9.77479763e-01 2.08415683e-01 3.31091630e-02 1.53604800e+02] [-2.08309221e-01 9.78040266e-01 -6.67132969e-03 -2.22906448e+01] [-3.37725043e-02 -3.75854175e-04 9.99429476e-01 -6.61916867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52587156 meters 0.019315740204048 Centerline is valid? [True, True] Translation: X:153.63, Y:-22.29, Z:-6.62 [[ 9.77221705e-01 2.09557078e-01 3.35196930e-02 1.53634088e+02] [-2.09448626e-01 9.77796326e-01 -6.75417985e-03 -2.22924625e+01] [-3.41908188e-02 -4.20322476e-04 9.99415235e-01 -6.62188365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55587156 meters 0.02905260533481037 Centerline is valid? [True, True] Translation: X:153.66, Y:-22.30, Z:-6.62 [[ 9.76966045e-01 2.10701377e-01 3.37975878e-02 1.53663870e+02] [-2.10591821e-01 9.77550364e-01 -6.80962895e-03 -2.22974645e+01] [-3.44736424e-02 -4.64719301e-04 9.99405499e-01 -6.62047474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58587156000002 meters 0.01960861426793643 Centerline is valid? [True, True] Translation: X:153.69, Y:-22.30, Z:-6.62 [[ 9.76724811e-01 2.11817445e-01 3.37936857e-02 1.53694603e+02] [-2.11708582e-01 9.77309120e-01 -6.80884275e-03 -2.23002758e+01] [-3.44691089e-02 -5.04047624e-04 9.99405637e-01 -6.62216271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61587156000002 meters 0.01960526522243583 Centerline is valid? [True, True] Translation: X:153.72, Y:-22.30, Z:-6.62 [[ 9.76735419e-01 2.11750024e-01 3.39094074e-02 1.53724357e+02] [-2.11640374e-01 9.77323730e-01 -6.83215867e-03 -2.23045105e+01] [-3.45871783e-02 -5.03388293e-04 9.99401558e-01 -6.62351322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64587156000002 meters 0.019120886505949584 Centerline is valid? [True, True] Translation: X:153.75, Y:-22.31, Z:-6.62 [[ 9.76959110e-01 2.10642080e-01 3.43629533e-02 1.53753279e+02] [-2.10528786e-01 9.77563140e-01 -6.92366222e-03 -2.23089257e+01] [-3.50503711e-02 -4.70255962e-04 9.99385436e-01 -6.62498656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67587156000002 meters 0.01801358798611324 Centerline is valid? [True, True] Translation: X:153.78, Y:-22.32, Z:-6.63 [[ 9.77135046e-01 2.09766436e-01 3.47151777e-02 1.53783016e+02] [-2.09650275e-01 9.77751423e-01 -6.99407482e-03 -2.23155515e+01] [-3.54099365e-02 -4.43890915e-04 9.99372773e-01 -6.62557199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70587156000002 meters 0.028741981138015224 Centerline is valid? [True, True] Translation: X:153.81, Y:-22.32, Z:-6.63 [[ 9.77291890e-01 2.08977514e-01 3.50565384e-02 1.53812429e+02] [-2.08858570e-01 9.77920356e-01 -7.06225383e-03 -2.23218205e+01] [-3.57583548e-02 -4.19975085e-04 9.99360377e-01 -6.62541495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73587156000002 meters 0.016667127546546687 Centerline is valid? [True, True] Translation: X:153.84, Y:-22.33, Z:-6.63 [[ 9.77513794e-01 2.07993760e-01 3.47185731e-02 1.53841990e+02] [-2.07876377e-01 9.78130080e-01 -6.99703166e-03 -2.23280489e+01] [-3.54146196e-02 -3.77476242e-04 9.99372634e-01 -6.62827229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76587156000002 meters 0.01640663698825914 Centerline is valid? [True, True] Translation: X:153.87, Y:-22.33, Z:-6.63 [[ 9.77678852e-01 2.07221119e-01 3.46910597e-02 1.53870935e+02] [-2.07103441e-01 9.78294069e-01 -6.99134064e-03 -2.23321153e+01] [-3.53868114e-02 -3.49351949e-04 9.99373630e-01 -6.63004257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79587156000002 meters 0.016473829991339468 Centerline is valid? [True, True] Translation: X:153.90, Y:-22.34, Z:-6.63 [[ 9.77662507e-01 2.07337274e-01 3.44568811e-02 1.53900032e+02] [-2.07221220e-01 9.78269458e-01 -6.94506086e-03 -2.23356451e+01] [-3.51480844e-02 -3.50271332e-04 9.99382054e-01 -6.63155642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82587156000002 meters 0.02169234030737428 Centerline is valid? [True, True] Translation: X:153.93, Y:-22.34, Z:-6.63 [[ 9.77556938e-01 2.07897574e-01 3.40739050e-02 1.53929798e+02] [-2.07784455e-01 9.78150532e-01 -6.86704863e-03 -2.23390354e+01] [-3.47570511e-02 -3.67096750e-04 9.99395724e-01 -6.63223476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85587156000003 meters 0.017598720732511234 Centerline is valid? [True, True] Translation: X:153.96, Y:-22.34, Z:-6.64 [[ 9.77390058e-01 2.08811885e-01 3.32606586e-02 1.53959148e+02] [-2.08704658e-01 9.77955747e-01 -6.70236169e-03 -2.23409484e+01] [-3.39269850e-02 -3.90832705e-04 9.99424238e-01 -6.63578894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88587156000003 meters 0.030128903527740922 Centerline is valid? [True, True] Translation: X:153.99, Y:-22.34, Z:-6.64 [[ 9.77292546e-01 2.09228830e-01 3.35048543e-02 1.53987322e+02] [-2.09120295e-01 9.77866621e-01 -6.75078553e-03 -2.23444798e+01] [-3.41757377e-02 -4.09052637e-04 9.99415755e-01 -6.63628257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91587156000003 meters 0.01863029965308181 Centerline is valid? [True, True] Translation: X:154.01, Y:-22.35, Z:-6.64 [[ 9.77308383e-01 2.09180229e-01 3.33460152e-02 1.54014488e+02] [-2.09072714e-01 9.77877020e-01 -6.71811852e-03 -2.23477927e+01] [-3.40135996e-02 -4.06068358e-04 9.99421288e-01 -6.63846178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94587156000003 meters 0.01863029965308181 Centerline is valid? [True, True] Translation: X:154.04, Y:-22.35, Z:-6.64 [[ 9.77318148e-01 2.09134533e-01 3.33464338e-02 1.54042254e+02] [-2.09027063e-01 9.77886794e-01 -6.71603999e-03 -2.23532921e+01] [-3.40135931e-02 -4.06599350e-04 9.99421288e-01 -6.63973776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97587156000003 meters 0.018470315453709148 Centerline is valid? [True, True] Translation: X:154.07, Y:-22.36, Z:-6.64 [[ 9.77351700e-01 2.08867659e-01 3.40287443e-02 1.54069506e+02] [-2.08755637e-01 9.77943830e-01 -6.85190176e-03 -2.23570461e+01] [-3.47093412e-02 -4.06974359e-04 9.99397366e-01 -6.64072931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00587156000003 meters 0.01752134645962916 Centerline is valid? [True, True] Translation: X:154.10, Y:-22.36, Z:-6.64 [[ 9.77483117e-01 2.08105259e-01 3.49135650e-02 1.54098407e+02] [-2.07986933e-01 9.78106358e-01 -7.02768203e-03 -2.23610348e+01] [-3.56116775e-02 -3.92124778e-04 9.99365626e-01 -6.63999380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03587156000003 meters 0.016939076137149813 Centerline is valid? [True, True] Translation: X:154.13, Y:-22.37, Z:-6.64 [[ 9.77592883e-01 2.07522388e-01 3.53074292e-02 1.54127184e+02] [-2.07401059e-01 9.78230196e-01 -7.10522678e-03 -2.23660584e+01] [-3.60132870e-02 -3.76779060e-04 9.99351240e-01 -6.64123944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06587156000003 meters 0.015720824545903355 Centerline is valid? [True, True] Translation: X:154.16, Y:-22.37, Z:-6.64 [[ 9.77746988e-01 2.06804395e-01 3.52529419e-02 1.54155786e+02] [-2.06683042e-01 9.78382246e-01 -7.09236020e-03 -2.23721575e+01] [-3.59575838e-02 -3.51651456e-04 9.99353255e-01 -6.64192597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09587156000003 meters 0.014926828282832406 Centerline is valid? [True, True] Translation: X:154.18, Y:-22.38, Z:-6.64 [[ 9.78057299e-01 2.05384367e-01 3.49454062e-02 1.54183538e+02] [-2.05264243e-01 9.78681344e-01 -7.02973913e-03 -2.23775363e+01] [-3.56442156e-02 -2.97554675e-04 9.99364499e-01 -6.64392848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12587156000004 meters 0.01978684931858357 Centerline is valid? [True, True] Translation: X:154.21, Y:-22.38, Z:-6.64 [[ 9.78136639e-01 2.05019573e-01 3.48667391e-02 1.54213348e+02] [-2.04899816e-01 9.78757832e-01 -7.01226763e-03 -2.23840262e+01] [-3.55637461e-02 -2.85232530e-04 9.99367369e-01 -6.64426796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15587156000004 meters 0.015453670546616385 Centerline is valid? [True, True] Translation: X:154.24, Y:-22.39, Z:-6.65 [[ 9.78288735e-01 2.04474023e-01 3.37864714e-02 1.54242100e+02] [-2.04361235e-01 9.78871957e-01 -6.79540501e-03 -2.23865949e+01] [-3.44621132e-02 -2.56776851e-04 9.99405972e-01 -6.65038218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18587156000004 meters 0.015733894247261775 Centerline is valid? [True, True] Translation: X:154.27, Y:-22.39, Z:-6.65 [[ 9.78384520e-01 2.04175040e-01 3.28067722e-02 1.54269528e+02] [-2.04068565e-01 9.78934367e-01 -6.59738280e-03 -2.23902206e+01] [-3.34626976e-02 -2.40053699e-04 9.99439938e-01 -6.65355578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21587156000004 meters 0.01621234383001612 Centerline is valid? [True, True] Translation: X:154.30, Y:-22.39, Z:-6.66 [[ 9.78534497e-01 2.03750272e-01 3.09202971e-02 1.54298021e+02] [-2.03655538e-01 9.79022870e-01 -6.21619122e-03 -2.23922861e+01] [-3.15382287e-02 -2.14332187e-04 9.99502523e-01 -6.65916009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24587156 meters 0.016019512341860397 Centerline is valid? [True, True] Translation: X:154.33, Y:-22.40, Z:-6.66 [[ 9.78601031e-01 2.03412862e-01 3.10359343e-02 1.54326217e+02] [-2.03317294e-01 9.79093032e-01 -6.23799605e-03 -2.23966240e+01] [-3.16559557e-02 -2.05632811e-04 9.99498803e-01 -6.66033974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27587156 meters 0.01435911064594461 Centerline is valid? [True, True] Translation: X:154.35, Y:-22.40, Z:-6.66 [[ 9.78724463e-01 2.02792019e-01 3.12061257e-02 1.54354231e+02] [-2.02695129e-01 9.79221814e-01 -6.27079724e-03 -2.24034015e+01] [-3.18293867e-02 -1.87947031e-04 9.99493299e-01 -6.65826867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30587156 meters 0.0139927206125909 Centerline is valid? [True, True] Translation: X:154.38, Y:-22.41, Z:-6.66 [[ 9.78892933e-01 2.01867348e-01 3.19092289e-02 1.54381837e+02] [-2.01765599e-01 9.79412858e-01 -6.41058883e-03 -2.24089065e+01] [-3.25463976e-02 -1.62904588e-04 9.99470212e-01 -6.65932959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33587156000002 meters 0.012669942983650831 Centerline is valid? [True, True] Translation: X:154.41, Y:-22.42, Z:-6.66 [[ 9.79362986e-01 1.99436833e-01 3.27580603e-02 1.54410334e+02] [-1.99328313e-01 9.79910681e-01 -6.57886548e-03 -2.24158299e+01] [-3.34120413e-02 -8.65115335e-05 9.99441658e-01 -6.65808472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36587156000002 meters 0.01259737066262961 Centerline is valid? [True, True] Translation: X:154.44, Y:-22.42, Z:-6.66 [[ 9.79649624e-01 1.98015001e-01 3.28127112e-02 1.54438642e+02] [-1.97905380e-01 9.80198989e-01 -6.58807469e-03 -2.24222460e+01] [-3.34675239e-02 -3.98071917e-05 9.99439805e-01 -6.65989214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39587156000002 meters 0.012674711149732504 Centerline is valid? [True, True] Translation: X:154.47, Y:-22.43, Z:-6.66 [[ 9.80232553e-01 1.95191971e-01 3.23146595e-02 1.54467355e+02] [-1.95084163e-01 9.80765054e-01 -6.48676922e-03 -2.24308649e+01] [-3.29592541e-02 5.44640595e-05 9.99456695e-01 -6.66130555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42587156000002 meters 0.019052159968223098 Centerline is valid? [True, True] Translation: X:154.49, Y:-22.44, Z:-6.66 [[ 9.80491009e-01 1.93806274e-01 3.28102111e-02 1.54494880e+02] [-1.93694379e-01 9.81039815e-01 -6.58556072e-03 -2.24382727e+01] [-3.34644464e-02 1.01929602e-04 9.99439903e-01 -6.66149996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45587156000002 meters 0.013663513718464441 Centerline is valid? [True, True] Translation: X:154.52, Y:-22.45, Z:-6.66 [[ 9.80844721e-01 1.92130964e-01 3.20831190e-02 1.54523903e+02] [-1.92023126e-01 9.81369283e-01 -6.43817688e-03 -2.24458018e+01] [-3.27223606e-02 1.54151007e-04 9.99464468e-01 -6.66352156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48587156000002 meters 0.013887228918430836 Centerline is valid? [True, True] Translation: X:154.55, Y:-22.45, Z:-6.66 [[ 9.81110637e-01 1.90782313e-01 3.20004176e-02 1.54554129e+02] [-1.90674331e-01 9.81632350e-01 -6.42103932e-03 -2.24525575e+01] [-3.26376658e-02 1.98091774e-04 9.99467230e-01 -6.66348434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51587156000002 meters 0.01640010725430521 Centerline is valid? [True, True] Translation: X:154.58, Y:-22.46, Z:-6.67 [[ 9.81642891e-01 1.88112621e-01 3.14781805e-02 1.54583397e+02] [-1.88006802e-01 9.82147424e-01 -6.31504117e-03 -2.24633426e+01] [-3.21041529e-02 2.81003229e-04 9.99484489e-01 -6.66702983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54587156000002 meters 0.01701639675417242 Centerline is valid? [True, True] Translation: X:154.61, Y:-22.47, Z:-6.67 [[ 9.81865789e-01 1.87025002e-01 3.10035504e-02 1.54613603e+02] [-1.86921687e-01 9.82355103e-01 -6.22364438e-03 -2.24709815e+01] [-3.16204730e-02 3.15547555e-04 9.99499898e-01 -6.66847219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57587156000002 meters 0.01745959452266972 Centerline is valid? [True, True] Translation: X:154.64, Y:-22.48, Z:-6.67 [[ 9.82072281e-01 1.86018283e-01 3.05161271e-02 1.54644312e+02] [-1.85917743e-01 9.82546224e-01 -6.12462989e-03 -2.24790892e+01] [-3.11227985e-02 3.41339778e-04 9.99515510e-01 -6.66966551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60587156000003 meters 0.034520840244009046 Centerline is valid? [True, True] Translation: X:154.67, Y:-22.49, Z:-6.67 [[ 9.82111747e-01 1.85715431e-01 3.10852775e-02 1.54674741e+02] [-1.85610791e-01 9.82603505e-01 -6.24397190e-03 -2.24882218e+01] [-3.17041046e-02 3.62515214e-04 9.99497233e-01 -6.67137112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63587156000003 meters 0.02052437186749725 Centerline is valid? [True, True] Translation: X:154.70, Y:-22.50, Z:-6.68 [[ 9.82330053e-01 1.84845992e-01 2.93193995e-02 1.54704612e+02] [-1.84752370e-01 9.82767429e-01 -5.89421118e-03 -2.24983386e+01] [-2.99036722e-02 3.73232219e-04 9.99552716e-01 -6.67643154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66587156000003 meters 0.019596844098933947 Centerline is valid? [True, True] Translation: X:154.73, Y:-22.50, Z:-6.68 [[ 9.82323610e-01 1.84928529e-01 2.90131675e-02 1.54734985e+02] [-1.84836693e-01 9.82751901e-01 -5.83928016e-03 -2.25040904e+01] [-2.95925950e-02 3.73364827e-04 9.99561974e-01 -6.67675456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69587156000003 meters 0.01946072600239516 Centerline is valid? [True, True] Translation: X:154.77, Y:-22.51, Z:-6.68 [[ 9.82253239e-01 1.85286977e-01 2.91085877e-02 1.54765464e+02] [-1.85194672e-01 9.82684386e-01 -5.85920648e-03 -2.25108441e+01] [-2.96901893e-02 3.64469195e-04 9.99559083e-01 -6.67765942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72587156000003 meters 0.018996107297294448 Centerline is valid? [True, True] Translation: X:154.80, Y:-22.52, Z:-6.68 [[ 9.82124801e-01 1.85974766e-01 2.90561932e-02 1.54796342e+02] [-1.85883072e-01 9.82554461e-01 -5.84937186e-03 -2.25174263e+01] [-2.96371278e-02 3.43758729e-04 9.99560665e-01 -6.67923759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75587156000003 meters 0.02734904853801994 Centerline is valid? [True, True] Translation: X:154.83, Y:-22.52, Z:-6.68 [[ 9.81614130e-01 1.88525930e-01 2.98609099e-02 1.54826949e+02] [-1.88430242e-01 9.82068174e-01 -6.01212813e-03 -2.25225739e+01] [-3.04588913e-02 2.74891426e-04 9.99535983e-01 -6.67838728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78587156000003 meters 0.025213989022663877 Centerline is valid? [True, True] Translation: X:154.86, Y:-22.53, Z:-6.68 [[ 9.81325628e-01 1.89998293e-01 3.00109931e-02 1.54857954e+02] [-1.89902306e-01 9.81784393e-01 -6.04309304e-03 -2.25275093e+01] [-3.06125021e-02 2.31085268e-04 9.99531301e-01 -6.67849583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81587156000003 meters 0.01486817490496535 Centerline is valid? [True, True] Translation: X:154.89, Y:-22.53, Z:-6.68 [[ 9.81053658e-01 1.91398016e-01 3.00086569e-02 1.54888132e+02] [-1.91302669e-01 9.81512488e-01 -6.04355894e-03 -2.25321844e+01] [-3.06105967e-02 1.88319440e-04 9.99531368e-01 -6.68014676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84587156000003 meters 0.013760674648313093 Centerline is valid? [True, True] Translation: X:154.92, Y:-22.54, Z:-6.68 [[ 9.80327348e-01 1.95032881e-01 3.03391681e-02 1.54917787e+02] [-1.94937151e-01 9.80796701e-01 -6.11044511e-03 -2.25354547e+01] [-3.09482937e-02 7.60054520e-05 9.99520984e-01 -6.68234746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87587156000004 meters 0.013556715094230825 Centerline is valid? [True, True] Translation: X:154.95, Y:-22.54, Z:-6.68 [[ 9.80026897e-01 1.96583692e-01 3.00355328e-02 1.54946884e+02] [-1.96490563e-01 9.80487048e-01 -6.05039928e-03 -2.25399137e+01] [-3.06388607e-02 2.78552711e-05 9.99530520e-01 -6.68350793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90587156000004 meters 0.01333460908740368 Centerline is valid? [True, True] Translation: X:154.98, Y:-22.54, Z:-6.68 [[ 9.79776180e-01 1.97778129e-01 3.03718337e-02 1.54975986e+02] [-1.97683500e-01 9.80246812e-01 -6.11738574e-03 -2.25443330e+01] [-3.09817782e-02 -1.03415374e-05 9.99519949e-01 -6.68440041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93587156000004 meters 0.013963707196549841 Centerline is valid? [True, True] Translation: X:155.00, Y:-22.55, Z:-6.69 [[ 9.79513860e-01 1.99082348e-01 3.03119999e-02 1.55004738e+02] [-1.98988734e-01 9.79982763e-01 -6.10475542e-03 -2.25480278e+01] [-3.09205864e-02 -5.20539292e-05 9.99521843e-01 -6.68713227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96587156000004 meters 0.014059666211140747 Centerline is valid? [True, True] Translation: X:155.03, Y:-22.55, Z:-6.69 [[ 9.79147503e-01 2.00975720e-01 2.96466984e-02 1.55033857e+02] [-2.00887075e-01 9.79596217e-01 -5.96954535e-03 -2.25530102e+01] [-3.02415273e-02 -1.10573090e-04 9.99542614e-01 -6.68774202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99587156 meters 0.02747781841173225 Centerline is valid? [True, True] Translation: X:155.06, Y:-22.56, Z:-6.69 [[ 9.78958908e-01 2.01903151e-01 2.95732038e-02 1.55062543e+02] [-2.01815390e-01 9.79405482e-01 -5.95400396e-03 -2.25591221e+01] [-3.01662901e-02 -1.39602447e-04 9.99544884e-01 -6.68851185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02587156 meters 0.014879865628408548 Centerline is valid? [True, True] Translation: X:155.09, Y:-22.56, Z:-6.69 [[ 9.78936780e-01 2.01987257e-01 2.97309512e-02 1.55091173e+02] [-2.01898619e-01 9.79388139e-01 -5.98499532e-03 -2.25641398e+01] [-3.03270338e-02 -1.43705961e-04 9.99540019e-01 -6.69157565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05587156 meters 0.021947058641413057 Centerline is valid? [True, True] Translation: X:155.12, Y:-22.57, Z:-6.69 [[ 9.78782405e-01 2.02661782e-01 3.02193054e-02 1.55118759e+02] [-2.02570539e-01 9.79248780e-01 -6.08300033e-03 -2.25690358e+01] [-3.08250096e-02 -1.67607268e-04 9.99524782e-01 -6.69243033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08587156000002 meters 0.015675528262009908 Centerline is valid? [True, True] Translation: X:155.15, Y:-22.57, Z:-6.69 [[ 9.78614756e-01 2.03503012e-01 2.99947411e-02 1.55147499e+02] [-2.03413574e-01 9.79074301e-01 -6.03583703e-03 -2.25734073e+01] [-3.05953912e-02 -1.94578314e-04 9.99531833e-01 -6.69283863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11587156000002 meters 0.016047353964886706 Centerline is valid? [True, True] Translation: X:155.18, Y:-22.58, Z:-6.69 [[ 9.78418151e-01 2.04442993e-01 3.00163953e-02 1.55176321e+02] [-2.04353913e-01 9.78878446e-01 -6.03874402e-03 -2.25778539e+01] [-3.06169813e-02 -2.25551070e-04 9.99531165e-01 -6.69279985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14587156000002 meters 0.029930727979767625 Centerline is valid? [True, True] Translation: X:155.21, Y:-22.58, Z:-6.69 [[ 9.77805574e-01 2.07268773e-01 3.05927373e-02 1.55205748e+02] [-2.07177669e-01 9.78283984e-01 -6.15314772e-03 -2.25784214e+01] [-3.12037403e-02 -3.21549839e-04 9.99512993e-01 -6.69186109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17587156000002 meters 0.019451157286088303 Centerline is valid? [True, True] Translation: X:155.23, Y:-22.58, Z:-6.69 [[ 9.77539643e-01 2.08493050e-01 3.07716635e-02 1.55233442e+02] [-2.08401526e-01 9.78023781e-01 -6.18774879e-03 -2.25799597e+01] [-3.13855212e-02 -3.64091874e-04 9.99507287e-01 -6.69419663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20587156000002 meters 0.019242866950600616 Centerline is valid? [True, True] Translation: X:155.26, Y:-22.59, Z:-6.69 [[ 9.77336300e-01 2.09482310e-01 3.05109417e-02 1.55261559e+02] [-2.09392876e-01 9.77812357e-01 -6.13330181e-03 -2.25855778e+01] [-3.11187940e-02 -3.94475323e-04 9.99515615e-01 -6.69425126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23587156000002 meters 0.026620818120801023 Centerline is valid? [True, True] Translation: X:155.29, Y:-22.59, Z:-6.70 [[ 9.77209813e-01 2.10117429e-01 3.01935150e-02 1.55289478e+02] [-2.10030187e-01 9.77676069e-01 -6.06825725e-03 -2.25903843e+01] [-3.07945237e-02 -4.11589084e-04 9.99525651e-01 -6.69508443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26587156000002 meters 0.021208840048431196 Centerline is valid? [True, True] Translation: X:155.32, Y:-22.59, Z:-6.70 [[ 9.77224923e-01 2.10048972e-01 3.01807732e-02 1.55316871e+02] [-2.09961839e-01 9.77690779e-01 -6.06348479e-03 -2.25936930e+01] [-3.07810924e-02 -4.11422192e-04 9.99526065e-01 -6.69856627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29587156000002 meters 0.023678227113396184 Centerline is valid? [True, True] Translation: X:155.35, Y:-22.60, Z:-6.70 [[ 9.77311469e-01 2.09679368e-01 2.99475325e-02 1.55345043e+02] [-2.09593462e-01 9.77770118e-01 -6.01472768e-03 -2.25958736e+01] [-3.05429667e-02 -3.98544672e-04 9.99533375e-01 -6.70396909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32587156000002 meters 0.028476305585971536 Centerline is valid? [True, True] Translation: X:155.37, Y:-22.61, Z:-6.70 [[ 9.77420108e-01 2.09192792e-01 2.98044991e-02 1.55373163e+02] [-2.09107537e-01 9.77874342e-01 -5.98407022e-03 -2.26051900e+01] [-3.03968793e-02 -3.83394835e-04 9.99537835e-01 -6.70141775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35587156000003 meters 0.02032361420336347 Centerline is valid? [True, True] Translation: X:155.40, Y:-22.61, Z:-6.70 [[ 9.77520013e-01 2.08734465e-01 2.97413403e-02 1.55400070e+02] [-2.08649397e-01 9.77972283e-01 -5.97012788e-03 -2.26108196e+01] [-3.03323779e-02 -3.69593246e-04 9.99539799e-01 -6.70329602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38587156000003 meters 0.019640102366821472 Centerline is valid? [True, True] Translation: X:155.43, Y:-22.62, Z:-6.70 [[ 9.77567422e-01 2.08528902e-01 2.96248675e-02 1.55428546e+02] [-2.08444464e-01 9.78016137e-01 -5.94481131e-03 -2.26170572e+01] [-3.02132635e-02 -3.63685768e-04 9.99543409e-01 -6.70369914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41587156000003 meters 0.019782283115650744 Centerline is valid? [True, True] Translation: X:155.46, Y:-22.62, Z:-6.70 [[ 9.77525296e-01 2.08737163e-01 2.95481409e-02 1.55457317e+02] [-2.08653300e-01 9.77971707e-01 -5.92797449e-03 -2.26214807e+01] [-3.01346343e-02 -3.70572085e-04 9.99545780e-01 -6.70448232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44587156000003 meters 0.020341010042662252 Centerline is valid? [True, True] Translation: X:155.49, Y:-22.63, Z:-6.71 [[ 9.77424670e-01 2.09219601e-01 2.94647777e-02 1.55486025e+02] [-2.09136473e-01 9.77868606e-01 -5.90980613e-03 -2.26253733e+01] [-3.00491284e-02 -3.85769380e-04 9.99548349e-01 -6.70566136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47587156000003 meters 0.02114835368183281 Centerline is valid? [True, True] Translation: X:155.51, Y:-22.63, Z:-6.71 [[ 9.77189113e-01 2.10361104e-01 2.91486345e-02 1.55514540e+02] [-2.10280300e-01 9.77623665e-01 -5.84499665e-03 -2.26285593e+01] [-2.97259549e-02 -4.17716525e-04 9.99557999e-01 -6.70624471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50587156000003 meters 0.022062070864448943 Centerline is valid? [True, True] Translation: X:155.54, Y:-22.63, Z:-6.71 [[ 9.77136020e-01 2.10657759e-01 2.87837941e-02 1.55542623e+02] [-2.10579130e-01 9.77559783e-01 -5.77061963e-03 -2.26320095e+01] [-2.93535053e-02 -4.22586008e-04 9.99569004e-01 -6.70858062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53587156000003 meters 0.021598615113400135 Centerline is valid? [True, True] Translation: X:155.57, Y:-22.64, Z:-6.71 [[ 9.77125518e-01 2.10761236e-01 2.83799819e-02 1.55570582e+02] [-2.10684896e-01 9.77537480e-01 -5.68777522e-03 -2.26370316e+01] [-2.89412585e-02 -4.21563228e-04 9.99581025e-01 -6.70973242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56587156000003 meters 0.02223369382687193 Centerline is valid? [True, True] Translation: X:155.60, Y:-22.64, Z:-6.71 [[ 9.77127445e-01 2.10747950e-01 2.84122847e-02 1.55597519e+02] [-2.10671455e-01 9.77540343e-01 -5.69341689e-03 -2.26403291e+01] [-2.89740304e-02 -4.22463454e-04 9.99580075e-01 -6.71170311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59587156000003 meters 0.021117706009015705 Centerline is valid? [True, True] Translation: X:155.63, Y:-22.65, Z:-6.71 [[ 9.77246103e-01 2.10229929e-01 2.81679130e-02 1.55625190e+02] [-2.10154603e-01 9.77651887e-01 -5.64185166e-03 -2.26468047e+01] [-2.87244994e-02 -4.06139046e-04 9.99587284e-01 -6.71181998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62587156000004 meters 0.02040206572085948 Centerline is valid? [True, True] Translation: X:155.65, Y:-22.65, Z:-6.71 [[ 9.77606518e-01 2.08469403e-01 2.87402930e-02 1.55652634e+02] [-2.08390295e-01 9.78028821e-01 -5.75406401e-03 -2.26524572e+01] [-2.93083812e-02 -3.63987669e-04 9.99570351e-01 -6.71290600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65587156000004 meters 0.01933699276533924 Centerline is valid? [True, True] Translation: X:155.68, Y:-22.66, Z:-6.71 [[ 9.77902309e-01 2.07020186e-01 2.91499005e-02 1.55679216e+02] [-2.06938220e-01 9.78336617e-01 -5.83416377e-03 -2.26592091e+01] [-2.97262047e-02 -3.26986298e-04 9.99558025e-01 -6.71403511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68587156000004 meters 0.0164503632390211 Centerline is valid? [True, True] Translation: X:155.71, Y:-22.67, Z:-6.71 [[ 9.78534523e-01 2.03912825e-01 2.98286145e-02 1.55706707e+02] [-2.03825614e-01 9.78989020e-01 -5.96797947e-03 -2.26696893e+01] [-3.04188337e-02 -2.39961730e-04 9.99537211e-01 -6.71226808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71587156000004 meters 0.023578786173556812 Centerline is valid? [True, True] Translation: X:155.73, Y:-22.68, Z:-6.71 [[ 9.78781221e-01 2.02606960e-01 3.06225621e-02 1.55734570e+02] [-2.02514453e-01 9.79260117e-01 -6.12526112e-03 -2.26767525e+01] [-3.12284743e-02 -2.06220870e-04 9.99512251e-01 -6.71153457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74587156 meters 0.014904446308322274 Centerline is valid? [True, True] Translation: X:155.76, Y:-22.68, Z:-6.71 [[ 9.78968094e-01 2.01646090e-01 3.09891318e-02 1.55762358e+02] [-2.01550923e-01 9.79458433e-01 -6.19703435e-03 -2.26831421e+01] [-3.16021742e-02 -1.79189204e-04 9.99500510e-01 -6.71202842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77587156 meters 0.014460620207191324 Centerline is valid? [True, True] Translation: X:155.79, Y:-22.69, Z:-6.71 [[ 9.79089181e-01 2.00992752e-01 3.14052280e-02 1.55790256e+02] [-2.00894726e-01 9.79592715e-01 -6.27868219e-03 -2.26890982e+01] [-3.20263022e-02 -1.61754853e-04 9.99487013e-01 -6.71262368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80587156 meters 0.014293197942114238 Centerline is valid? [True, True] Translation: X:155.82, Y:-22.69, Z:-6.71 [[ 9.79136874e-01 2.00696949e-01 3.18074931e-02 1.55817634e+02] [-2.00596283e-01 9.79653362e-01 -6.35771722e-03 -2.26942446e+01] [-3.24362920e-02 -1.55389530e-04 9.99473793e-01 -6.71362820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83587156000002 meters 0.014632779367091895 Centerline is valid? [True, True] Translation: X:155.85, Y:-22.70, Z:-6.72 [[ 9.79121122e-01 2.00861058e-01 3.12516115e-02 1.55845306e+02] [-2.00764029e-01 9.79619727e-01 -6.24458973e-03 -2.26989291e+01] [-3.18689901e-02 -1.59989725e-04 9.99492042e-01 -6.71531775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86587156000002 meters 0.014632779367091895 Centerline is valid? [True, True] Translation: X:155.87, Y:-22.70, Z:-6.72 [[ 9.79130398e-01 2.00815777e-01 3.12520035e-02 1.55873078e+02] [-2.00718788e-01 9.79629010e-01 -6.24262747e-03 -2.27043834e+01] [-3.18689873e-02 -1.60517939e-04 9.99492042e-01 -6.71659369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89587156000002 meters 0.02030073588839236 Centerline is valid? [True, True] Translation: X:155.90, Y:-22.71, Z:-6.72 [[ 9.79116685e-01 2.00923397e-01 3.09888014e-02 1.55901007e+02] [-2.00828135e-01 9.79606942e-01 -6.18858003e-03 -2.27091413e+01] [-3.16002755e-02 -1.64081233e-04 9.99500573e-01 -6.71815500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92587156000002 meters 0.026392009997067496 Centerline is valid? [True, True] Translation: X:155.93, Y:-22.71, Z:-6.72 [[ 9.79111448e-01 2.01011781e-01 3.05783589e-02 1.55929454e+02] [-2.00919115e-01 9.79588810e-01 -6.10517207e-03 -2.27142147e+01] [-3.11814297e-02 -1.66132930e-04 9.99513727e-01 -6.72063113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95587156000002 meters 0.01538995512055785 Centerline is valid? [True, True] Translation: X:155.96, Y:-22.72, Z:-6.72 [[ 9.79176011e-01 2.00752146e-01 3.02144967e-02 1.55956929e+02] [-2.00661587e-01 9.79642053e-01 -6.03127506e-03 -2.27198112e+01] [-3.08101830e-02 -1.57209004e-04 9.99525241e-01 -6.72358989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98587156000002 meters 0.015566094039803035 Centerline is valid? [True, True] Translation: X:155.98, Y:-22.73, Z:-6.73 [[ 9.79241285e-01 2.00510529e-01 2.96990648e-02 1.55983869e+02] [-2.00422975e-01 9.79691536e-01 -5.92665831e-03 -2.27252338e+01] [-3.02842798e-02 -1.48746426e-04 9.99541315e-01 -6.72615367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01587156000002 meters 0.014863422246413996 Centerline is valid? [True, True] Translation: X:156.01, Y:-22.73, Z:-6.73 [[ 9.79284043e-01 2.00317948e-01 2.95885596e-02 1.56011920e+02] [-2.00231014e-01 9.79730932e-01 -5.90273466e-03 -2.27314946e+01] [-3.01712508e-02 -1.44093418e-04 9.99544734e-01 -6.72564350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04587156000002 meters 0.02770242348062527 Centerline is valid? [True, True] Translation: X:156.04, Y:-22.74, Z:-6.73 [[ 9.79346805e-01 2.00025402e-01 2.94902300e-02 1.56039495e+02] [-1.99938950e-01 9.79790702e-01 -5.88184791e-03 -2.27367726e+01] [-3.00707722e-02 -1.35876679e-04 9.99547763e-01 -6.72873490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07587156000002 meters 0.01499160818585861 Centerline is valid? [True, True] Translation: X:156.07, Y:-22.74, Z:-6.73 [[ 9.79437000e-01 1.99564889e-01 2.96144758e-02 1.56067769e+02] [-1.99477558e-01 9.79884605e-01 -5.90460810e-03 -2.27439279e+01] [-3.01971213e-02 -1.24231658e-04 9.99543955e-01 -6.72904745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10587156000003 meters 0.014387336415697762 Centerline is valid? [True, True] Translation: X:156.10, Y:-22.75, Z:-6.73 [[ 9.79548880e-01 1.99028986e-01 2.95204220e-02 1.56095316e+02] [-1.98942007e-01 9.79993597e-01 -5.88446565e-03 -2.27509138e+01] [-3.01010038e-02 -1.08730252e-04 9.99546856e-01 -6.72940483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13587156000003 meters 0.014575754206344615 Centerline is valid? [True, True] Translation: X:156.12, Y:-22.76, Z:-6.73 [[ 9.79639424e-01 1.98622229e-01 2.92542085e-02 1.56122307e+02] [-1.98536668e-01 9.80076120e-01 -5.83014699e-03 -2.27568163e+01] [-2.98293479e-02 -9.65912288e-05 9.99555001e-01 -6.73165252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16587156000003 meters 0.014204536601649095 Centerline is valid? [True, True] Translation: X:156.15, Y:-22.76, Z:-6.73 [[ 9.79752456e-01 1.97978531e-01 2.98266110e-02 1.56149592e+02] [-1.97889348e-01 9.80206353e-01 -5.94232812e-03 -2.27628413e+01] [-3.04126870e-02 -8.03580302e-05 9.99537424e-01 -6.73178720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19587156000003 meters 0.014005150577797571 Centerline is valid? [True, True] Translation: X:156.18, Y:-22.77, Z:-6.73 [[ 9.79788165e-01 1.97717289e-01 3.03813196e-02 1.56177910e+02] [-1.97624696e-01 9.80259082e-01 -6.05077528e-03 -2.27691040e+01] [-3.09779074e-02 -7.56210384e-05 9.99520067e-01 -6.73197001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22587156000003 meters 0.013459843073832217 Centerline is valid? [True, True] Translation: X:156.21, Y:-22.78, Z:-6.73 [[ 9.79792320e-01 1.97630322e-01 3.08101536e-02 1.56206153e+02] [-1.97535099e-01 9.80276619e-01 -6.13469086e-03 -2.27757904e+01] [-3.14148742e-02 -7.53637559e-05 9.99506428e-01 -6.73120595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25587156000003 meters 0.01386743401589323 Centerline is valid? [True, True] Translation: X:156.23, Y:-22.78, Z:-6.73 [[ 9.79818185e-01 1.97471561e-01 3.10049405e-02 1.56233771e+02] [-1.97375105e-01 9.80308613e-01 -6.17173460e-03 -2.27818731e+01] [-3.16131523e-02 -7.24256037e-05 9.99500177e-01 -6.73408249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28587156000003 meters 0.013930141206739625 Centerline is valid? [True, True] Translation: X:156.26, Y:-22.79, Z:-6.74 [[ 9.79811636e-01 1.97611336e-01 3.03136462e-02 1.56261511e+02] [-1.97519231e-01 9.80280447e-01 -6.03319538e-03 -2.27876727e+01] [-3.09081024e-02 -7.61330427e-05 9.99522228e-01 -6.73548991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31587156000003 meters 0.014649789564644767 Centerline is valid? [True, True] Translation: X:156.29, Y:-22.79, Z:-6.74 [[ 9.79695863e-01 1.98217794e-01 3.00952076e-02 1.56288604e+02] [-1.98127337e-01 9.80157996e-01 -5.98843018e-03 -2.27919813e+01] [-3.06850718e-02 -9.58430798e-05 9.99529098e-01 -6.73901990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34587156000003 meters 0.014247006233274009 Centerline is valid? [True, True] Translation: X:156.32, Y:-22.80, Z:-6.74 [[ 9.79456393e-01 1.99429002e-01 2.98872352e-02 1.56318162e+02] [-1.99340425e-01 9.79912269e-01 -5.94474553e-03 -2.27971204e+01] [-3.04724231e-02 -1.35115140e-04 9.99535599e-01 -6.73758487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37587156000004 meters 0.017093250386879793 Centerline is valid? [True, True] Translation: X:156.35, Y:-22.80, Z:-6.74 [[ 9.78705343e-01 2.03181127e-01 2.92109852e-02 1.56346428e+02] [-2.03098188e-01 9.79141139e-01 -5.81008204e-03 -2.27956929e+01] [-2.97821763e-02 -2.46339808e-04 9.99556382e-01 -6.74100526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40587156000004 meters 0.020012732712695148 Centerline is valid? [True, True] Translation: X:156.37, Y:-22.80, Z:-6.75 [[ 9.78307257e-01 2.05148352e-01 2.87934646e-02 1.56374770e+02] [-2.05068673e-01 9.78730842e-01 -5.72521548e-03 -2.27955184e+01] [-2.93555703e-02 -3.03617710e-04 9.99568986e-01 -6.74509470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43587156000004 meters 0.019537138714284093 Centerline is valid? [True, True] Translation: X:156.40, Y:-22.80, Z:-6.74 [[ 9.77921159e-01 2.06975509e-01 2.88330707e-02 1.56403231e+02] [-2.06896461e-01 9.78346058e-01 -5.73116374e-03 -2.28003306e+01] [-2.93949316e-02 -3.60833997e-04 9.99567811e-01 -6.74295824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46587156000004 meters 0.022511413615157558 Centerline is valid? [True, True] Translation: X:156.43, Y:-22.80, Z:-6.74 [[ 9.77209198e-01 2.10228432e-01 2.94310944e-02 1.56431542e+02] [-2.10147584e-01 9.77652180e-01 -5.84868154e-03 -2.27992817e+01] [-3.00029328e-02 -4.69487990e-04 9.99549700e-01 -6.74397246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49587156 meters 0.023908783141025267 Centerline is valid? [True, True] Translation: X:156.46, Y:-22.80, Z:-6.74 [[ 9.76870240e-01 2.11789241e-01 2.94932565e-02 1.56460122e+02] [-2.11708817e-01 9.77315224e-01 -5.85917473e-03 -2.28009107e+01] [-3.00651188e-02 -5.20329030e-04 9.99547807e-01 -6.74436045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52587156 meters 0.02564345937063439 Centerline is valid? [True, True] Translation: X:156.49, Y:-22.80, Z:-6.75 [[ 9.76556317e-01 2.13177910e-01 2.98820643e-02 1.56487919e+02] [-2.13096059e-01 9.77013230e-01 -5.93451202e-03 -2.28020469e+01] [-3.04602790e-02 -5.72364943e-04 9.99535814e-01 -6.74545728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55587156 meters 0.026957584250351906 Centerline is valid? [True, True] Translation: X:156.52, Y:-22.80, Z:-6.75 [[ 9.76326292e-01 2.14209918e-01 3.00180214e-02 1.56515582e+02] [-2.14127866e-01 9.76787459e-01 -5.95961512e-03 -2.28035776e+01] [-3.05978355e-02 -6.09165949e-04 9.99531591e-01 -6.74671793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58587156000002 meters 0.027103122303868514 Centerline is valid? [True, True] Translation: X:156.54, Y:-22.80, Z:-6.75 [[ 9.76075446e-01 2.15368311e-01 2.98866830e-02 1.56544274e+02] [-2.15287573e-01 9.76532680e-01 -5.93174145e-03 -2.28047946e+01] [-3.04628318e-02 -6.44404276e-04 9.99535693e-01 -6.74706715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61587156000002 meters 0.027618020570703894 Centerline is valid? [True, True] Translation: X:156.57, Y:-22.81, Z:-6.75 [[ 9.76119005e-01 2.15166951e-01 2.99144041e-02 1.56570922e+02] [-2.15086015e-01 9.76577070e-01 -5.93571578e-03 -2.28071675e+01] [-3.04908910e-02 -6.40204993e-04 9.99534840e-01 -6.74882150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64587156000002 meters 0.027001326590053956 Centerline is valid? [True, True] Translation: X:156.60, Y:-22.81, Z:-6.75 [[ 9.76274765e-01 2.14438457e-01 3.00621186e-02 1.56599905e+02] [-2.14356477e-01 9.76737303e-01 -5.96168578e-03 -2.28117146e+01] [-3.06412074e-02 -6.23766467e-04 9.99530253e-01 -6.75013193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67587156000002 meters 0.025838891712526256 Centerline is valid? [True, True] Translation: X:156.63, Y:-22.82, Z:-6.75 [[ 9.76515750e-01 2.13274464e-01 3.05121707e-02 1.56628276e+02] [-2.13189474e-01 9.76992143e-01 -6.04994739e-03 -2.28175046e+01] [-3.11004504e-02 -5.97004704e-04 9.99516086e-01 -6.75097546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70587156000002 meters 0.022996671539083465 Centerline is valid? [True, True] Translation: X:156.66, Y:-22.82, Z:-6.75 [[ 9.77179878e-01 2.10133622e-01 3.10378312e-02 1.56656098e+02] [-2.10044143e-01 9.77672544e-01 -6.15260019e-03 -2.28231366e+01] [-3.16377035e-02 -5.07117537e-04 9.99499274e-01 -6.75169379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73587156000002 meters 0.02145558837958556 Centerline is valid? [True, True] Translation: X:156.68, Y:-22.83, Z:-6.75 [[ 9.77617665e-01 2.08089908e-01 3.10208307e-02 1.56683522e+02] [-2.07999540e-01 9.78109603e-01 -6.14786743e-03 -2.28282855e+01] [-3.16210816e-02 -4.42054737e-04 9.99499831e-01 -6.75340342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76587156000002 meters 0.022287381965274106 Centerline is valid? [True, True] Translation: X:156.71, Y:-22.84, Z:-6.75 [[ 9.78585700e-01 2.03440227e-01 3.13384887e-02 1.56711116e+02] [-2.03345681e-01 9.79087323e-01 -6.20872854e-03 -2.28367075e+01] [-3.19462221e-02 -2.96773345e-04 9.99489545e-01 -6.75401543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79587156000002 meters 0.015647019245957187 Centerline is valid? [True, True] Translation: X:156.74, Y:-22.85, Z:-6.76 [[ 9.79066482e-01 2.01028722e-01 3.18790926e-02 1.56738563e+02] [-2.00929658e-01 9.79585322e-01 -6.31424341e-03 -2.28450188e+01] [-3.24976355e-02 -2.23391082e-04 9.99471787e-01 -6.75512405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82587156000002 meters 0.014268438265655256 Centerline is valid? [True, True] Translation: X:156.77, Y:-22.85, Z:-6.76 [[ 9.79630298e-01 1.98328089e-01 3.14713901e-02 1.56766002e+02] [-1.98230197e-01 9.80135680e-01 -6.23199570e-03 -2.28535349e+01] [-3.20822122e-02 -1.33528061e-04 9.99485224e-01 -6.75680162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85587156000003 meters 0.027893475313328572 Centerline is valid? [True, True] Translation: X:156.79, Y:-22.86, Z:-6.76 [[ 9.80255796e-01 1.95293209e-01 3.09699246e-02 1.56793275e+02] [-1.95196944e-01 9.80744901e-01 -6.13122793e-03 -2.28619735e+01] [-3.15709829e-02 -3.50629122e-05 9.99501512e-01 -6.75907417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88587156000003 meters 0.02805647445281228 Centerline is valid? [True, True] Translation: X:156.82, Y:-22.87, Z:-6.76 [[ 9.80810096e-01 1.92467045e-01 3.11125756e-02 1.56819671e+02] [-1.92368511e-01 9.81303436e-01 -6.15811723e-03 -2.28706478e+01] [-3.17161120e-02 5.48636998e-05 9.99496916e-01 -6.76082658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91587156000003 meters 0.015914789697419142 Centerline is valid? [True, True] Translation: X:156.85, Y:-22.88, Z:-6.76 [[ 9.81752767e-01 1.87579586e-01 3.12314562e-02 1.56845623e+02] [-1.87477882e-01 9.82249385e-01 -6.17977333e-03 -2.28830698e+01] [-3.18362779e-02 2.11802318e-04 9.99493075e-01 -6.76313233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94587156000003 meters 0.01758493387169574 Centerline is valid? [True, True] Translation: X:156.87, Y:-22.89, Z:-6.76 [[ 9.82201714e-01 1.85229057e-01 3.11446358e-02 1.56873591e+02] [-1.85126800e-01 9.82695332e-01 -6.16059572e-03 -2.28920999e+01] [-3.17468095e-02 2.85240913e-04 9.99495902e-01 -6.76423693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97587156000003 meters 0.01769782245507773 Centerline is valid? [True, True] Translation: X:156.90, Y:-22.90, Z:-6.76 [[ 9.82650266e-01 1.82846774e-01 3.10726900e-02 1.56903156e+02] [-1.82743863e-01 9.83141357e-01 -6.14431144e-03 -2.28985072e+01] [-3.16723141e-02 3.59365875e-04 9.99498242e-01 -6.76323351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00587156000003 meters 0.021819060806012747 Centerline is valid? [True, True] Translation: X:156.93, Y:-22.91, Z:-6.77 [[ 9.83382884e-01 1.79046983e-01 3.00046880e-02 1.56931011e+02] [-1.78949284e-01 9.83840415e-01 -5.93223273e-03 -2.29100660e+01] [-3.05819731e-02 4.64338704e-04 9.99532154e-01 -6.76765136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03587156000003 meters 0.02965538384403459 Centerline is valid? [True, True] Translation: X:156.96, Y:-22.92, Z:-6.77 [[ 9.83694565e-01 1.77356705e-01 2.98261830e-02 1.56960607e+02] [-1.77259304e-01 9.84146500e-01 -5.89970489e-03 -2.29186159e+01] [-3.03996858e-02 5.16539205e-04 9.99537689e-01 -6.76910745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06587156000003 meters 0.027131435267193745 Centerline is valid? [True, True] Translation: X:156.99, Y:-22.93, Z:-6.77 [[ 9.83898984e-01 1.76175230e-01 3.00845087e-02 1.56988754e+02] [-1.76075588e-01 9.84358663e-01 -5.95063117e-03 -2.29305227e+01] [-3.06623006e-02 5.57672412e-04 9.99529646e-01 -6.77316815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09587156000003 meters 0.026390391304174504 Centerline is valid? [True, True] Translation: X:157.02, Y:-22.94, Z:-6.77 [[ 9.84218475e-01 1.74254971e-01 3.08090582e-02 1.57019080e+02] [-1.74149522e-01 9.84700363e-01 -6.09416959e-03 -2.29377409e+01] [-3.13996302e-02 6.32611530e-04 9.99506710e-01 -6.77099796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12587156000004 meters 0.03867762472156901 Centerline is valid? [True, True] Translation: X:157.05, Y:-22.95, Z:-6.77 [[ 9.84307930e-01 1.73714487e-01 3.10028288e-02 1.57050481e+02] [-1.73607477e-01 9.84795842e-01 -6.13133203e-03 -2.29453454e+01] [-3.15965581e-02 6.52795860e-04 9.99500491e-01 -6.77107324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15587156000004 meters 0.02639072327355799 Centerline is valid? [True, True] Translation: X:157.08, Y:-22.95, Z:-6.77 [[ 9.84278862e-01 1.73833007e-01 3.12603321e-02 1.57081430e+02] [-1.73724099e-01 9.84774924e-01 -6.18764097e-03 -2.29525677e+01] [-3.18600074e-02 6.59691179e-04 9.99492123e-01 -6.77251036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18587156000004 meters 0.02685467758327247 Centerline is valid? [True, True] Translation: X:157.11, Y:-22.96, Z:-6.77 [[ 9.84232135e-01 1.74054556e-01 3.14978614e-02 1.57111776e+02] [-1.73943918e-01 9.84735788e-01 -6.24029960e-03 -2.29607650e+01] [-3.21032240e-02 6.63041966e-04 9.99484339e-01 -6.77348949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21587156000004 meters 0.02711705480012831 Centerline is valid? [True, True] Translation: X:157.14, Y:-22.97, Z:-6.78 [[ 9.84143610e-01 1.74528712e-01 3.16399110e-02 1.57142058e+02] [-1.74417155e-01 9.84651867e-01 -6.27351194e-03 -2.29684846e+01] [-3.22492054e-02 6.55493408e-04 9.99479644e-01 -6.77508703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24587156 meters 0.03304813615634682 Centerline is valid? [True, True] Translation: X:157.17, Y:-22.97, Z:-6.78 [[ 9.83877971e-01 1.76099477e-01 3.11947399e-02 1.57173267e+02] [-1.75991620e-01 9.84372192e-01 -6.19177880e-03 -2.29726132e+01] [-3.17976035e-02 6.01941972e-04 9.99494147e-01 -6.77614830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27587156 meters 0.023857761833834045 Centerline is valid? [True, True] Translation: X:157.20, Y:-22.98, Z:-6.78 [[ 9.83621687e-01 1.77448917e-01 3.16268594e-02 1.57204279e+02] [-1.77338721e-01 9.84129849e-01 -6.27833803e-03 -2.29785314e+01] [-3.22390207e-02 5.66842661e-04 9.99480027e-01 -6.77809615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30587156 meters 0.026501571228698517 Centerline is valid? [True, True] Translation: X:157.23, Y:-22.98, Z:-6.78 [[ 9.83413443e-01 1.78601681e-01 3.16139119e-02 1.57234683e+02] [-1.78492145e-01 9.83921318e-01 -6.27653814e-03 -2.29841889e+01] [-3.22266021e-02 5.29597029e-04 9.99480448e-01 -6.77918676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33587156000002 meters 0.023407256328667893 Centerline is valid? [True, True] Translation: X:157.26, Y:-22.99, Z:-6.78 [[ 9.82930221e-01 1.81126661e-01 3.22693754e-02 1.57264506e+02] [-1.81013863e-01 9.83459671e-01 -6.40762313e-03 -2.29893626e+01] [-3.28962207e-02 4.57042127e-04 9.99458668e-01 -6.78023145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36587156000002 meters 0.01926183945941599 Centerline is valid? [True, True] Translation: X:157.30, Y:-22.99, Z:-6.78 [[ 9.82647052e-01 1.82638000e-01 3.23748836e-02 1.57295176e+02] [-1.82525269e-01 9.83180143e-01 -6.42896661e-03 -2.29940787e+01] [-3.30045163e-02 4.08170736e-04 9.99455119e-01 -6.78152082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39587156000002 meters 0.03441604548580073 Centerline is valid? [True, True] Translation: X:157.33, Y:-23.00, Z:-6.78 [[ 9.82379843e-01 1.84062040e-01 3.24192735e-02 1.57325792e+02] [-1.83949759e-01 9.82914561e-01 -6.43827496e-03 -2.29982966e+01] [-3.30504180e-02 3.61314001e-04 9.99453620e-01 -6.78236465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42587156000002 meters 0.014668217077065074 Centerline is valid? [True, True] Translation: X:157.36, Y:-23.00, Z:-6.78 [[ 9.81696859e-01 1.87546868e-01 3.31277806e-02 1.57356587e+02] [-1.87431606e-01 9.82255624e-01 -6.57899267e-03 -2.30019498e+01] [-3.37738183e-02 2.49383330e-04 9.99429471e-01 -6.78242957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45587156000002 meters 0.014555851004917448 Centerline is valid? [True, True] Translation: X:157.38, Y:-23.01, Z:-6.79 [[ 9.81471215e-01 1.88771401e-01 3.28574634e-02 1.57384791e+02] [-1.88658675e-01 9.82021036e-01 -6.52600816e-03 -2.30084681e+01] [-3.34986439e-02 2.06243666e-04 9.99438742e-01 -6.78573913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48587156000002 meters 0.013387734840762139 Centerline is valid? [True, True] Translation: X:157.42, Y:-23.01, Z:-6.78 [[ 9.81316966e-01 1.89543648e-01 3.30184612e-02 1.57415257e+02] [-1.89430270e-01 9.81872279e-01 -6.55742519e-03 -2.30137171e+01] [-3.36628301e-02 1.80216582e-04 9.99433230e-01 -6.78484573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51587156000002 meters 0.018062441783321347 Centerline is valid? [True, True] Translation: X:157.44, Y:-23.02, Z:-6.79 [[ 9.81281223e-01 1.89724525e-01 3.30418866e-02 1.57444786e+02] [-1.89611093e-01 9.81837346e-01 -6.56193464e-03 -2.30207139e+01] [-3.36867182e-02 1.73994993e-04 9.99432426e-01 -6.78799284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54587156000002 meters 0.014365390056750126 Centerline is valid? [True, True] Translation: X:157.47, Y:-23.03, Z:-6.79 [[ 9.81429861e-01 1.88981588e-01 3.28844664e-02 1.57474351e+02] [-1.88868799e-01 9.81980611e-01 -6.53123604e-03 -2.30302786e+01] [-3.35261918e-02 1.99100415e-04 9.99437819e-01 -6.79042796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57587156000002 meters 0.015619319696293564 Centerline is valid? [True, True] Translation: X:157.50, Y:-23.04, Z:-6.79 [[ 9.81591456e-01 1.88174037e-01 3.26916549e-02 1.57503515e+02] [-1.88062141e-01 9.82135673e-01 -6.49230975e-03 -2.30398698e+01] [-3.33293246e-02 2.24733181e-04 9.99444398e-01 -6.79413917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60587156000003 meters 0.015330637979227818 Centerline is valid? [True, True] Translation: X:157.53, Y:-23.05, Z:-6.79 [[ 9.81734888e-01 1.87414940e-01 3.27452386e-02 1.57533545e+02] [-1.87302173e-01 9.82280803e-01 -6.50538598e-03 -2.30478589e+01] [-3.33842258e-02 2.53310033e-04 9.99442559e-01 -6.79375195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63587156000003 meters 0.017856255214403906 Centerline is valid? [True, True] Translation: X:157.56, Y:-23.06, Z:-6.79 [[ 9.81849351e-01 1.86705375e-01 3.33609731e-02 1.57563324e+02] [-1.86587975e-01 9.82415912e-01 -6.62598689e-03 -2.30594976e+01] [-3.40114581e-02 2.80964533e-04 9.99421404e-01 -6.79481420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66587156000003 meters 0.015289078327055155 Centerline is valid? [True, True] Translation: X:157.60, Y:-23.07, Z:-6.80 [[ 9.81832870e-01 1.86770434e-01 3.34816448e-02 1.57595257e+02] [-1.86652053e-01 9.82403544e-01 -6.65485611e-03 -2.30678155e+01] [-3.41354168e-02 2.84538730e-04 9.99417176e-01 -6.79539709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69587156000003 meters 0.01541170811657017 Centerline is valid? [True, True] Translation: X:157.63, Y:-23.08, Z:-6.80 [[ 9.81820006e-01 1.86859745e-01 3.33603384e-02 1.57626908e+02] [-1.86742042e-01 9.82386560e-01 -6.63749070e-03 -2.30768244e+01] [-3.40130279e-02 2.87043444e-04 9.99421348e-01 -6.79732771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72587156000003 meters 0.023800784449614084 Centerline is valid? [True, True] Translation: X:157.66, Y:-23.09, Z:-6.80 [[ 9.81805039e-01 1.86963591e-01 3.32186988e-02 1.57657747e+02] [-1.86846712e-01 9.82366801e-01 -6.61619610e-03 -2.30859994e+01] [-3.38699346e-02 2.89010035e-04 9.99426207e-01 -6.79904388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75587156000003 meters 0.023800784449614084 Centerline is valid? [True, True] Translation: X:157.69, Y:-23.09, Z:-6.80 [[ 9.81768700e-01 1.87154524e-01 3.32175154e-02 1.57689568e+02] [-1.87037554e-01 9.82330444e-01 -6.62213115e-03 -2.30925296e+01] [-3.38699384e-02 2.88478284e-04 9.99426207e-01 -6.80050846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78587156000003 meters 0.016898862875512156 Centerline is valid? [True, True] Translation: X:157.72, Y:-23.11, Z:-6.80 [[ 9.81718994e-01 1.87247591e-01 3.41490442e-02 1.57718299e+02] [-1.87123759e-01 9.82312704e-01 -6.81538022e-03 -2.31057579e+01] [-3.48212035e-02 3.00690693e-04 9.99393513e-01 -6.80230935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81587156000003 meters 0.015056181437643769 Centerline is valid? [True, True] Translation: X:157.75, Y:-23.11, Z:-6.80 [[ 9.81633792e-01 1.87446192e-01 3.54827263e-02 1.57750230e+02] [-1.87312409e-01 9.82274823e-01 -7.08750492e-03 -2.31118634e+01] [-3.61823146e-02 3.10979361e-04 9.99345157e-01 -6.79949039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84587156000003 meters 0.015372998951763346 Centerline is valid? [True, True] Translation: X:157.78, Y:-23.12, Z:-6.80 [[ 9.81529491e-01 1.87870795e-01 3.61167994e-02 1.57780339e+02] [-1.87732229e-01 9.82193703e-01 -7.22080622e-03 -2.31210482e+01] [-3.68302716e-02 3.07146991e-04 9.99321488e-01 -6.80044145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87587156000004 meters 0.015229981009421259 Centerline is valid? [True, True] Translation: X:157.81, Y:-23.13, Z:-6.80 [[ 9.81437285e-01 1.88341751e-01 3.61696089e-02 1.57810453e+02] [-1.88202886e-01 9.82103506e-01 -7.23714335e-03 -2.31324792e+01] [-3.68853560e-02 2.95577517e-04 9.99319460e-01 -6.80202760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90587156000004 meters 0.014487017804709493 Centerline is valid? [True, True] Translation: X:157.84, Y:-23.14, Z:-6.80 [[ 9.81275030e-01 1.89122219e-01 3.64979585e-02 1.57841647e+02] [-1.88981107e-01 9.81953517e-01 -7.30963539e-03 -2.31405996e+01] [-3.72217132e-02 2.75338083e-04 9.99306994e-01 -6.80309320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93587156000004 meters 0.01993007270235988 Centerline is valid? [True, True] Translation: X:157.87, Y:-23.15, Z:-6.80 [[ 9.81095152e-01 1.90049678e-01 3.65160553e-02 1.57871489e+02] [-1.89908832e-01 9.81774444e-01 -7.31959517e-03 -2.31479593e+01] [-3.72416166e-02 2.46497948e-04 9.99306260e-01 -6.80481156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96587156000004 meters 0.02250619730627754 Centerline is valid? [True, True] Translation: X:157.90, Y:-23.15, Z:-6.81 [[ 9.80843021e-01 1.91391250e-01 3.62816492e-02 1.57903607e+02] [-1.91252925e-01 9.81513805e-01 -7.27798055e-03 -2.31541509e+01] [-3.70038813e-02 1.99584882e-04 9.99315102e-01 -6.80610601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99587156 meters 0.011615618751633429 Centerline is valid? [True, True] Translation: X:157.93, Y:-23.16, Z:-6.81 [[ 9.80170578e-01 1.94747025e-01 3.65955580e-02 1.57934982e+02] [-1.94608332e-01 9.80853501e-01 -7.34896948e-03 -2.31610751e+01] [-3.73260711e-02 8.14431587e-05 9.99303136e-01 -6.80688986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02587156 meters 0.011422190930004059 Centerline is valid? [True, True] Translation: X:157.97, Y:-23.17, Z:-6.81 [[ 9.79749258e-01 1.96816065e-01 3.68079905e-02 1.57966575e+02] [-1.96677091e-01 9.80440430e-01 -7.39496424e-03 -2.31669830e+01] [-3.75434898e-02 5.92222840e-06 9.99294995e-01 -6.80866463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05587156 meters 0.011833648917547079 Centerline is valid? [True, True] Translation: X:158.00, Y:-23.17, Z:-6.81 [[ 9.79265273e-01 1.99281905e-01 3.64176874e-02 1.57998649e+02] [-1.99147415e-01 9.79942200e-01 -7.32064351e-03 -2.31717156e+01] [-3.71461005e-02 -8.36363435e-05 9.99309842e-01 -6.81116716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08587156000002 meters 0.014443231086569832 Centerline is valid? [True, True] Translation: X:158.03, Y:-23.17, Z:-6.81 [[ 9.78099321e-01 2.04967464e-01 3.61947075e-02 1.58030791e+02] [-2.04838252e-01 9.78768744e-01 -7.28261180e-03 -2.31729316e+01] [-3.69189469e-02 -2.90942969e-04 9.99318221e-01 -6.81223568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11587156000002 meters 0.017834409876400687 Centerline is valid? [True, True] Translation: X:158.06, Y:-23.17, Z:-6.82 [[ 9.77518857e-01 2.07714152e-01 3.62176070e-02 1.58061351e+02] [-2.07586402e-01 9.78189491e-01 -7.29420528e-03 -2.31741210e+01] [-3.69427922e-02 -3.88059504e-04 9.99317307e-01 -6.81540212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14587156000002 meters 0.01855805282499542 Centerline is valid? [True, True] Translation: X:158.09, Y:-23.18, Z:-6.81 [[ 9.76919395e-01 2.10442752e-01 3.66380017e-02 1.58091800e+02] [-2.10313918e-01 9.77606056e-01 -7.37932571e-03 -2.31796846e+01] [-3.73704580e-02 -4.96475259e-04 9.99301357e-01 -6.81483898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17587156000002 meters 0.021028763514240795 Centerline is valid? [True, True] Translation: X:158.12, Y:-23.18, Z:-6.82 [[ 9.76364374e-01 2.13014568e-01 3.65705134e-02 1.58121968e+02] [-2.12888004e-01 9.77048843e-01 -7.36590370e-03 -2.31821384e+01] [-3.73002226e-02 -5.93617639e-04 9.99303928e-01 -6.81655203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20587156000002 meters 0.026246409306031455 Centerline is valid? [True, True] Translation: X:158.15, Y:-23.18, Z:-6.82 [[ 9.75383761e-01 2.17586860e-01 3.58116858e-02 1.58152258e+02] [-2.17468488e-01 9.76040673e-01 -7.21532492e-03 -2.31815418e+01] [-3.65236218e-02 -7.50202408e-04 9.99332508e-01 -6.81916058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23587156000002 meters 0.028555551839066145 Centerline is valid? [True, True] Translation: X:158.18, Y:-23.18, Z:-6.82 [[ 9.74918431e-01 2.19668528e-01 3.57741604e-02 1.58181271e+02] [-2.19551813e-01 9.75574217e-01 -7.20752968e-03 -2.31846045e+01] [-3.64836160e-02 -8.27528250e-04 9.99333909e-01 -6.82074334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26587156000002 meters 0.030903228621448228 Centerline is valid? [True, True] Translation: X:158.21, Y:-23.19, Z:-6.82 [[ 9.74494775e-01 2.21568452e-01 3.55999346e-02 1.58210615e+02] [-2.21454181e-01 9.75144410e-01 -7.17121519e-03 -2.31870328e+01] [-3.63039923e-02 -8.95442626e-04 9.99340392e-01 -6.82246517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29587156000002 meters 0.032583088683761155 Centerline is valid? [True, True] Translation: X:158.24, Y:-23.19, Z:-6.82 [[ 9.74160011e-01 2.22986756e-01 3.59051496e-02 1.58239221e+02] [-2.22871539e-01 9.74821003e-01 -7.23106600e-03 -2.31893444e+01] [-3.66135259e-02 -9.58020613e-04 9.99329041e-01 -6.82374049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32587156000002 meters 0.03474826275340047 Centerline is valid? [True, True] Translation: X:158.27, Y:-23.19, Z:-6.82 [[ 9.73726138e-01 2.24821072e-01 3.62338778e-02 1.58268037e+02] [-2.24705065e-01 9.74399512e-01 -7.29558496e-03 -2.31891777e+01] [-3.69464741e-02 -1.03803412e-03 9.99316707e-01 -6.82479613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35587156000003 meters 0.032405438919096044 Centerline is valid? [True, True] Translation: X:158.30, Y:-23.20, Z:-6.82 [[ 9.73598349e-01 2.25283172e-01 3.67932964e-02 1.58296307e+02] [-2.25163970e-01 9.74292738e-01 -7.40592971e-03 -2.31965901e+01] [-3.75158728e-02 -1.07412374e-03 9.99295455e-01 -6.82431779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38587156000003 meters 0.042873641893085304 Centerline is valid? [True, True] Translation: X:158.32, Y:-23.20, Z:-6.83 [[ 9.73612975e-01 2.25242273e-01 3.66564211e-02 1.58324442e+02] [-2.25123994e-01 9.74302198e-01 -7.37663291e-03 -2.31960272e+01] [-3.73759612e-02 -1.07025438e-03 9.99300702e-01 -6.82685998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41587156000003 meters 0.03142025975973386 Centerline is valid? [True, True] Translation: X:158.35, Y:-23.21, Z:-6.83 [[ 9.73746078e-01 2.24549459e-01 3.73646363e-02 1.58352389e+02] [-2.24426149e-01 9.74462110e-01 -7.51666338e-03 -2.32052161e+01] [-3.80982850e-02 -1.06627995e-03 9.99273428e-01 -6.82611436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44587156000003 meters 0.03317469249938224 Centerline is valid? [True, True] Translation: X:158.38, Y:-23.21, Z:-6.83 [[ 9.73867074e-01 2.23962249e-01 3.77337260e-02 1.58380259e+02] [-2.23836121e-01 9.74597249e-01 -7.58906449e-03 -2.32072510e+01] [-3.84748495e-02 -1.05543081e-03 9.99259011e-01 -6.82750307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47587156000003 meters 0.03249654422296002 Centerline is valid? [True, True] Translation: X:158.41, Y:-23.21, Z:-6.83 [[ 9.74092421e-01 2.22935543e-01 3.79960302e-02 1.58407930e+02] [-2.22806968e-01 9.74832649e-01 -7.63940135e-03 -2.32124355e+01] [-3.87428648e-02 -1.02429733e-03 9.99248688e-01 -6.82879058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50587156000003 meters 0.030196799443213185 Centerline is valid? [True, True] Translation: X:158.44, Y:-23.22, Z:-6.83 [[ 9.74447751e-01 2.21411344e-01 3.77967906e-02 1.58436112e+02] [-2.21283059e-01 9.75180031e-01 -7.59699279e-03 -2.32197250e+01] [-3.85407358e-02 -9.60916892e-04 9.99256568e-01 -6.83033857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53587156000003 meters 0.026036145095500077 Centerline is valid? [True, True] Translation: X:158.46, Y:-23.23, Z:-6.83 [[ 9.75211628e-01 2.18081192e-01 3.74549566e-02 1.58464088e+02] [-2.17952838e-01 9.75930282e-01 -7.52631111e-03 -2.32294945e+01] [-3.81947732e-02 -8.23667956e-04 9.99269974e-01 -6.83321748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56587156000003 meters 0.024166292042733822 Centerline is valid? [True, True] Translation: X:158.49, Y:-23.24, Z:-6.84 [[ 9.75613153e-01 2.16407354e-01 3.66992302e-02 1.58492942e+02] [-2.16282978e-01 9.76302875e-01 -7.37356245e-03 -2.32370515e+01] [-3.74252571e-02 -7.43674296e-04 9.99299153e-01 -6.83571381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59587156000003 meters 0.0227977064636862 Centerline is valid? [True, True] Translation: X:158.52, Y:-23.24, Z:-6.84 [[ 9.75991032e-01 2.14744377e-01 3.64192106e-02 1.58522032e+02] [-2.14620768e-01 9.76670055e-01 -7.31639418e-03 -2.32438180e+01] [-3.71407069e-02 -6.75583841e-04 9.99309818e-01 -6.83879289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62587156000004 meters 0.028108496703186468 Centerline is valid? [True, True] Translation: X:158.55, Y:-23.25, Z:-6.84 [[ 9.76349151e-01 2.13168784e-01 3.60750012e-02 1.58550723e+02] [-2.13046459e-01 9.77015198e-01 -7.24635130e-03 -2.32496931e+01] [-3.67905203e-02 -6.10682342e-04 9.99322813e-01 -6.84011738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65587156000004 meters 0.019655338602298723 Centerline is valid? [True, True] Translation: X:158.58, Y:-23.26, Z:-6.84 [[ 9.76980447e-01 2.10419927e-01 3.51092553e-02 1.58578672e+02] [-2.10302317e-01 9.77610971e-01 -7.05162391e-03 -2.32566685e+01] [-3.58069953e-02 -4.94259042e-04 9.99358602e-01 -6.84449349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68587156000004 meters 0.019207936148831838 Centerline is valid? [True, True] Translation: X:158.61, Y:-23.26, Z:-6.85 [[ 9.77259977e-01 2.09179489e-01 3.47401495e-02 1.58606318e+02] [-2.09063602e-01 9.77877161e-01 -6.97620478e-03 -2.32632221e+01] [-3.54308778e-02 -4.45335071e-04 9.99372030e-01 -6.84706097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71587156000004 meters 0.016505732992782986 Centerline is valid? [True, True] Translation: X:158.64, Y:-23.27, Z:-6.85 [[ 9.77684196e-01 2.07181765e-01 3.47754179e-02 1.58635210e+02] [-2.07064436e-01 9.78302395e-01 -6.98165303e-03 -2.32724897e+01] [-3.54673458e-02 -3.74900473e-04 9.99370765e-01 -6.84709033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74587156 meters 0.0166100523600205 Centerline is valid? [True, True] Translation: X:158.66, Y:-23.28, Z:-6.85 [[ 9.77848796e-01 2.06407334e-01 3.47526115e-02 1.58664421e+02] [-2.06289666e-01 9.78466092e-01 -6.97719279e-03 -2.32775675e+01] [-3.54443957e-02 -3.46465040e-04 9.99371590e-01 -6.84889447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77587156 meters 0.027094869064261895 Centerline is valid? [True, True] Translation: X:158.69, Y:-23.28, Z:-6.85 [[ 9.78012120e-01 2.05602980e-01 3.49243078e-02 1.58692608e+02] [-2.05483642e-01 9.78635434e-01 -7.01143977e-03 -2.32822626e+01] [-3.56197381e-02 -3.19100884e-04 9.99365365e-01 -6.85014592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80587156 meters 0.015079444901277154 Centerline is valid? [True, True] Translation: X:158.72, Y:-23.29, Z:-6.85 [[ 9.78124518e-01 2.04938935e-01 3.56715573e-02 1.58721571e+02] [-2.04814044e-01 9.78774714e-01 -7.16002907e-03 -2.32897003e+01] [-3.63817871e-02 -3.02635932e-04 9.99337918e-01 -6.84953995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83587156000002 meters 0.02303582095618218 Centerline is valid? [True, True] Translation: X:158.75, Y:-23.29, Z:-6.85 [[ 9.78204724e-01 2.04331554e-01 3.69341818e-02 1.58751452e+02] [-2.04197272e-01 9.78901696e-01 -7.41233858e-03 -2.32948099e+01] [-3.76695078e-02 -2.91074558e-04 9.99290210e-01 -6.84806867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86587156000002 meters 0.025981700056662085 Centerline is valid? [True, True] Translation: X:158.78, Y:-23.30, Z:-6.85 [[ 9.78119643e-01 2.04679035e-01 3.72620063e-02 1.58780615e+02] [-2.04542607e-01 9.78829096e-01 -7.47821590e-03 -2.32996898e+01] [-3.80037699e-02 -3.07078020e-04 9.99277549e-01 -6.84890400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89587156000002 meters 0.022428100041902977 Centerline is valid? [True, True] Translation: X:158.81, Y:-23.30, Z:-6.85 [[ 9.77942165e-01 2.05434721e-01 3.77584159e-02 1.58809788e+02] [-2.05295214e-01 9.78670761e-01 -7.57736179e-03 -2.33043155e+01] [-3.85097108e-02 -3.41400468e-04 9.99258168e-01 -6.84963258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92587156000002 meters 0.016042065378237887 Centerline is valid? [True, True] Translation: X:158.84, Y:-23.31, Z:-6.85 [[ 9.77737613e-01 2.06322775e-01 3.82108942e-02 1.58838982e+02] [-2.06180596e-01 9.78483913e-01 -7.66775885e-03 -2.33083116e+01] [-3.89707785e-02 -3.81288694e-04 9.99240278e-01 -6.85009562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95587156000002 meters 0.024363824747992358 Centerline is valid? [True, True] Translation: X:158.87, Y:-23.31, Z:-6.85 [[ 9.77268585e-01 2.08587426e-01 3.79130502e-02 1.58869397e+02] [-2.08449194e-01 9.78003612e-01 -7.60707893e-03 -2.33069870e+01] [-3.86658411e-02 -4.68785497e-04 9.99252087e-01 -6.85102067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98587156000002 meters 0.019295179730525625 Centerline is valid? [True, True] Translation: X:158.90, Y:-23.31, Z:-6.85 [[ 9.76997730e-01 2.09897628e-01 3.76619480e-02 1.58898092e+02] [-2.09762222e-01 9.77723232e-01 -7.55594504e-03 -2.33097649e+01] [-3.84089364e-02 -5.17912759e-04 9.99261970e-01 -6.85364253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01587156000002 meters 0.02000986016733242 Centerline is valid? [True, True] Translation: X:158.93, Y:-23.31, Z:-6.86 [[ 9.76739838e-01 2.11150200e-01 3.73481282e-02 1.58926309e+02] [-2.11018026e-01 9.77453464e-01 -7.49117819e-03 -2.33133685e+01] [-3.80878211e-02 -5.64196131e-04 9.99274236e-01 -6.85534156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04587156000002 meters 0.02237941675148269 Centerline is valid? [True, True] Translation: X:158.95, Y:-23.31, Z:-6.86 [[ 9.76425224e-01 2.12709922e-01 3.67188032e-02 1.58954750e+02] [-2.12583348e-01 9.77115197e-01 -7.36283789e-03 -2.33139799e+01] [-3.74446493e-02 -6.16545473e-04 9.99298513e-01 -6.85907753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07587156000002 meters 0.02271979178323685 Centerline is valid? [True, True] Translation: X:158.98, Y:-23.32, Z:-6.86 [[ 9.76379348e-01 2.12999092e-01 3.62595541e-02 1.58983387e+02] [-2.12875862e-01 9.77052201e-01 -7.27080468e-03 -2.33184959e+01] [-3.69761519e-02 -6.19720299e-04 9.99315956e-01 -6.86075792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10587156000003 meters 0.022189353548081964 Centerline is valid? [True, True] Translation: X:159.01, Y:-23.32, Z:-6.86 [[ 9.76403480e-01 2.12884895e-01 3.62803713e-02 1.59011760e+02] [-2.12761510e-01 9.77077090e-01 -7.27321487e-03 -2.33241878e+01] [-3.69970772e-02 -6.17474261e-04 9.99315183e-01 -6.86207248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13587156000003 meters 0.031777945188425964 Centerline is valid? [True, True] Translation: X:159.04, Y:-23.33, Z:-6.86 [[ 9.76456196e-01 2.12611091e-01 3.64667298e-02 1.59039801e+02] [-2.12486311e-01 9.77136710e-01 -7.30876552e-03 -2.33296220e+01] [-3.71869050e-02 -6.11991510e-04 9.99308140e-01 -6.86229721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16587156000003 meters 0.030377041291541815 Centerline is valid? [True, True] Translation: X:159.07, Y:-23.33, Z:-6.86 [[ 9.76732678e-01 2.11360018e-01 3.63348175e-02 1.59067620e+02] [-2.11235341e-01 9.77408116e-01 -7.28050939e-03 -2.33343955e+01] [-3.70527541e-02 -5.64086150e-04 9.99313152e-01 -6.86471566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19587156000003 meters 0.028132940291974773 Centerline is valid? [True, True] Translation: X:159.10, Y:-23.34, Z:-6.87 [[ 9.76922043e-01 2.10469255e-01 3.64144714e-02 1.59095380e+02] [-2.10343481e-01 9.77600332e-01 -7.29464048e-03 -2.33417902e+01] [-3.71340969e-02 -5.33251593e-04 9.99310149e-01 -6.86539908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22587156000003 meters 0.0193375429540333 Centerline is valid? [True, True] Translation: X:159.12, Y:-23.35, Z:-6.87 [[ 9.77139094e-01 2.09446441e-01 3.64880850e-02 1.59122419e+02] [-2.09319509e-01 9.77819994e-01 -7.30765085e-03 -2.33482618e+01] [-3.72093405e-02 -4.97076707e-04 9.99307369e-01 -6.86803794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25587156000003 meters 0.024831870802607608 Centerline is valid? [True, True] Translation: X:159.15, Y:-23.36, Z:-6.87 [[ 9.77730938e-01 2.06770076e-01 3.58935778e-02 1.59150173e+02] [-2.06645529e-01 9.78389484e-01 -7.18627604e-03 -2.33574160e+01] [-3.66038060e-02 -3.91002958e-04 9.99329780e-01 -6.86985284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28587156000003 meters 0.018436981509396305 Centerline is valid? [True, True] Translation: X:159.18, Y:-23.36, Z:-6.87 [[ 9.77966295e-01 2.05668317e-01 3.58115678e-02 1.59177621e+02] [-2.05543661e-01 9.78621694e-01 -7.16819494e-03 -2.33634356e+01] [-3.65202477e-02 -3.50587692e-04 9.99332852e-01 -6.87207348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31587156000003 meters 0.015250868900672475 Centerline is valid? [True, True] Translation: X:159.21, Y:-23.37, Z:-6.87 [[ 9.78203457e-01 2.04510841e-01 3.59626582e-02 1.59205054e+02] [-2.04384433e-01 9.78864250e-01 -7.19611539e-03 -2.33710600e+01] [-3.66742441e-02 -3.10942565e-04 9.99327225e-01 -6.87285074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34587156000003 meters 0.014003068783092827 Centerline is valid? [True, True] Translation: X:159.23, Y:-23.38, Z:-6.87 [[ 9.78498304e-01 2.02996317e-01 3.65180067e-02 1.59233407e+02] [-2.02864995e-01 9.79179466e-01 -7.30521739e-03 -2.33788234e+01] [-3.72406145e-02 -2.60082424e-04 9.99306294e-01 -6.87360540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37587156000004 meters 0.014475489241319495 Centerline is valid? [True, True] Translation: X:159.26, Y:-23.38, Z:-6.88 [[ 9.78559092e-01 2.02684839e-01 3.66191199e-02 1.59261892e+02] [-2.02552601e-01 9.79243991e-01 -7.32462888e-03 -2.33839096e+01] [-3.73436444e-02 -2.49715787e-04 9.99302452e-01 -6.87571851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40587156000004 meters 0.013817174741011486 Centerline is valid? [True, True] Translation: X:159.29, Y:-23.39, Z:-6.88 [[ 9.78633011e-01 2.02353795e-01 3.64742540e-02 1.59291009e+02] [-2.02222425e-01 9.79312455e-01 -7.29421659e-03 -2.33912949e+01] [-3.71957036e-02 -2.37550963e-04 9.99307972e-01 -6.87656380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43587156000004 meters 0.014200804925931256 Centerline is valid? [True, True] Translation: X:159.32, Y:-23.40, Z:-6.88 [[ 9.78562442e-01 2.02732458e-01 3.62642736e-02 1.59319203e+02] [-2.02602888e-01 9.79234133e-01 -7.25139292e-03 -2.33957935e+01] [-3.69813072e-02 -2.51305784e-04 9.99315926e-01 -6.87824859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46587156000004 meters 0.01453281234853846 Centerline is valid? [True, True] Translation: X:159.35, Y:-23.40, Z:-6.88 [[ 9.78490915e-01 2.03051851e-01 3.64070852e-02 1.59348937e+02] [-2.02921520e-01 9.79167951e-01 -7.27884157e-03 -2.34003487e+01] [-3.71266333e-02 -2.65500709e-04 9.99310534e-01 -6.87875242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49587156000004 meters 0.014290781522834473 Centerline is valid? [True, True] Translation: X:159.38, Y:-23.41, Z:-6.88 [[ 9.78361973e-01 2.03595736e-01 3.68324003e-02 1.59377806e+02] [-2.03462760e-01 9.79054999e-01 -7.36298740e-03 -2.34052820e+01] [-3.75600185e-02 -2.90354936e-04 9.99294331e-01 -6.87827779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52587156 meters 0.015947140173671576 Centerline is valid? [True, True] Translation: X:159.41, Y:-23.41, Z:-6.88 [[ 9.78088433e-01 2.04797820e-01 3.74282126e-02 1.59406377e+02] [-2.04661414e-01 9.78804238e-01 -7.48130865e-03 -2.34060805e+01] [-3.81670488e-02 -3.42729481e-04 9.99271314e-01 -6.87890060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55587156 meters 0.019456112053506953 Centerline is valid? [True, True] Translation: X:159.43, Y:-23.41, Z:-6.88 [[ 9.77953111e-01 2.05295599e-01 3.82286473e-02 1.59434715e+02] [-2.05153751e-01 9.78699943e-01 -7.63935559e-03 -2.34110030e+01] [-3.89827010e-02 -3.71818825e-04 9.99239816e-01 -6.87772736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58587156000002 meters 0.026974929569265307 Centerline is valid? [True, True] Translation: X:159.46, Y:-23.42, Z:-6.88 [[ 9.77771317e-01 2.05908454e-01 3.95595770e-02 1.59462952e+02] [-2.05757136e-01 9.78571172e-01 -7.90330798e-03 -2.34150705e+01] [-4.03392195e-02 -4.12037398e-04 9.99185957e-01 -6.87716514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61587156000002 meters 0.017610660782547045 Centerline is valid? [True, True] Translation: X:159.49, Y:-23.42, Z:-6.88 [[ 9.77650413e-01 2.06363036e-01 4.01742091e-02 1.59491355e+02] [-2.06207441e-01 9.78475398e-01 -8.02416066e-03 -2.34174173e+01] [-4.09653654e-02 -4.39396846e-04 9.99160470e-01 -6.87730225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64587156000002 meters 0.017843859557146947 Centerline is valid? [True, True] Translation: X:159.52, Y:-23.42, Z:-6.88 [[ 9.77589317e-01 2.06751800e-01 3.96587979e-02 1.59520340e+02] [-2.06600591e-01 9.78393320e-01 -7.91878542e-03 -2.34215273e+01] [-4.04391261e-02 -4.52211066e-04 9.99181902e-01 -6.87920702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67587156000002 meters 0.017843859557146947 Centerline is valid? [True, True] Translation: X:159.55, Y:-23.43, Z:-6.88 [[ 9.77598559e-01 2.06708027e-01 3.96591528e-02 1.59548113e+02] [-2.06556854e-01 9.78402569e-01 -7.91700772e-03 -2.34269771e+01] [-4.04391260e-02 -4.52214507e-04 9.99181902e-01 -6.88048292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70587156000002 meters 0.017157411653043304 Centerline is valid? [True, True] Translation: X:159.58, Y:-23.43, Z:-6.88 [[ 9.77558858e-01 2.06981888e-01 3.92068523e-02 1.59576036e+02] [-2.06834436e-01 9.78344667e-01 -7.82492794e-03 -2.34317215e+01] [-3.99774332e-02 -4.59999569e-04 9.99200477e-01 -6.88251458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73587156000002 meters 0.018847158517702228 Centerline is valid? [True, True] Translation: X:159.60, Y:-23.43, Z:-6.89 [[ 9.77525914e-01 2.07213406e-01 3.88032356e-02 1.59604399e+02] [-2.07069230e-01 9.78295654e-01 -7.74256330e-03 -2.34336158e+01] [-3.95653997e-02 -4.66399863e-04 9.99216874e-01 -6.88574023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76587156000002 meters 0.030379921287190886 Centerline is valid? [True, True] Translation: X:159.63, Y:-23.44, Z:-6.89 [[ 9.77511868e-01 2.07329979e-01 3.85334754e-02 1.59632286e+02] [-2.07187986e-01 9.78270954e-01 -7.68633671e-03 -2.34388435e+01] [-3.92897878e-02 -4.70187813e-04 9.99227748e-01 -6.88676306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79587156000002 meters 0.01986907228362511 Centerline is valid? [True, True] Translation: X:159.66, Y:-23.44, Z:-6.89 [[ 9.77545341e-01 2.07217433e-01 3.82889352e-02 1.59659545e+02] [-2.07077220e-01 9.78294802e-01 -7.63578335e-03 -2.34428971e+01] [-3.90401337e-02 -4.64441833e-04 9.99237535e-01 -6.88902928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82587156000002 meters 0.017008766104079816 Centerline is valid? [True, True] Translation: X:159.69, Y:-23.45, Z:-6.89 [[ 9.77594389e-01 2.07040484e-01 3.79927357e-02 1.59687698e+02] [-2.06902390e-01 9.78332270e-01 -7.57436971e-03 -2.34492783e+01] [-3.87377206e-02 -4.56126516e-04 9.99249309e-01 -6.89025975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85587156000003 meters 0.017203306598586553 Centerline is valid? [True, True] Translation: X:159.72, Y:-23.45, Z:-6.89 [[ 9.77814188e-01 2.06100122e-01 3.74453365e-02 1.59715513e+02] [-2.05965359e-01 9.78530821e-01 -7.46346214e-03 -2.34531594e+01] [-3.81796363e-02 -4.14562998e-04 9.99270806e-01 -6.89331903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88587156000003 meters 0.01657092267499351 Centerline is valid? [True, True] Translation: X:159.74, Y:-23.46, Z:-6.90 [[ 9.77944749e-01 2.05480526e-01 3.74409050e-02 1.59743723e+02] [-2.05345434e-01 9.78661126e-01 -7.46013653e-03 -2.34583268e+01] [-3.81748711e-02 -3.92717542e-04 9.99270997e-01 -6.89515411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91587156000003 meters 0.015328211280447613 Centerline is valid? [True, True] Translation: X:159.77, Y:-23.46, Z:-6.90 [[ 9.78074974e-01 2.04802926e-01 3.77505928e-02 1.59771495e+02] [-2.04665155e-01 9.78803159e-01 -7.52000518e-03 -2.34643238e+01] [-3.84905186e-02 -3.71102054e-04 9.99258897e-01 -6.89509429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94587156000003 meters 0.015483936195365968 Centerline is valid? [True, True] Translation: X:159.80, Y:-23.47, Z:-6.90 [[ 9.78202406e-01 2.04118803e-01 3.81518939e-02 1.59799385e+02] [-2.03977640e-01 9.78946062e-01 -7.59806630e-03 -2.34687362e+01] [-3.88995545e-02 -3.49686547e-04 9.99243065e-01 -6.89648559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97587156000003 meters 0.015041099652534494 Centerline is valid? [True, True] Translation: X:159.83, Y:-23.47, Z:-6.90 [[ 9.78255415e-01 2.03754268e-01 3.87368193e-02 1.59827661e+02] [-2.03608556e-01 9.79022002e-01 -7.71201072e-03 -2.34744040e+01] [-3.94955535e-02 -3.42831622e-04 9.99219687e-01 -6.89657332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00587156000003 meters 0.014565827156316359 Centerline is valid? [True, True] Translation: X:159.86, Y:-23.48, Z:-6.90 [[ 9.78305476e-01 2.03602556e-01 3.82674117e-02 1.59855409e+02] [-2.03460311e-01 9.79053567e-01 -7.61672955e-03 -2.34801048e+01] [-3.90166315e-02 -3.34411251e-04 9.99238505e-01 -6.89789702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03587156000003 meters 0.015157751129021903 Centerline is valid? [True, True] Translation: X:159.88, Y:-23.48, Z:-6.90 [[ 9.78269747e-01 2.03893894e-01 3.76242278e-02 1.59883133e+02] [-2.03756674e-01 9.78992933e-01 -7.48696892e-03 -2.34835630e+01] [-3.83604004e-02 -3.41912322e-04 9.99263910e-01 -6.90066695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06587156000003 meters 0.015677226281987696 Centerline is valid? [True, True] Translation: X:159.91, Y:-23.49, Z:-6.90 [[ 9.78218610e-01 2.04238578e-01 3.70803725e-02 1.59910488e+02] [-2.04105641e-01 9.78921079e-01 -7.37620419e-03 -2.34864296e+01] [-3.78052637e-02 -3.52772975e-04 9.99285063e-01 -6.90307103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09587156000003 meters 0.016662365503742393 Centerline is valid? [True, True] Translation: X:159.94, Y:-23.49, Z:-6.91 [[ 9.78043412e-01 2.05186497e-01 3.64634780e-02 1.59939279e+02] [-2.05058693e-01 9.78722817e-01 -7.25116431e-03 -2.34877489e+01] [-3.71754789e-02 -3.85199649e-04 9.99308679e-01 -6.90536007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12587156000004 meters 0.01684226029795993 Centerline is valid? [True, True] Translation: X:159.97, Y:-23.49, Z:-6.91 [[ 9.77970575e-01 2.05551940e-01 3.63586969e-02 1.59968179e+02] [-2.05425187e-01 9.78646126e-01 -7.22855467e-03 -2.34917534e+01] [-3.70681413e-02 -3.99678358e-04 9.99312660e-01 -6.90657131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15587156000004 meters 0.01722500996381118 Centerline is valid? [True, True] Translation: X:160.00, Y:-23.49, Z:-6.91 [[ 9.77937316e-01 2.05653332e-01 3.66784965e-02 1.59996397e+02] [-2.05524475e-01 9.78624821e-01 -7.29042500e-03 -2.34949776e+01] [-3.73937873e-02 -4.08750084e-04 9.99300524e-01 -6.90732116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18587156000004 meters 0.016950790002276894 Centerline is valid? [True, True] Translation: X:160.02, Y:-23.50, Z:-6.91 [[ 9.78040090e-01 2.05060672e-01 3.72518798e-02 1.60023924e+02] [-2.04927420e-01 9.78749184e-01 -7.40183971e-03 -2.34980473e+01] [-3.79780732e-02 -3.94635644e-04 9.99278495e-01 -6.90824256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21587156000004 meters 0.015931814621979668 Centerline is valid? [True, True] Translation: X:160.05, Y:-23.51, Z:-6.91 [[ 9.78267613e-01 2.04053675e-01 3.68045592e-02 1.60052259e+02] [-2.03922979e-01 9.78959638e-01 -7.31067854e-03 -2.35051589e+01] [-3.75219488e-02 -3.53495295e-04 9.99295741e-01 -6.90999017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24587156000004 meters 0.029712576754888153 Centerline is valid? [True, True] Translation: X:160.08, Y:-23.51, Z:-6.91 [[ 9.78553796e-01 2.02706561e-01 3.66403966e-02 1.60080584e+02] [-2.02576150e-01 9.79239480e-01 -7.27630419e-03 -2.35123782e+01] [-3.73546775e-02 -3.02215408e-04 9.99302025e-01 -6.91121515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27587156 meters 0.02509165111160062 Centerline is valid? [True, True] Translation: X:160.11, Y:-23.52, Z:-6.91 [[ 9.79209873e-01 1.99496483e-01 3.67311478e-02 1.60107279e+02] [-1.99363230e-01 9.79898525e-01 -7.29262719e-03 -2.35214552e+01] [-3.74476510e-02 -1.81827712e-04 9.99298574e-01 -6.91339029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30587156 meters 0.012004452528712833 Centerline is valid? [True, True] Translation: X:160.13, Y:-23.53, Z:-6.92 [[ 9.79501478e-01 1.98015562e-01 3.69687977e-02 1.60134957e+02] [-1.97879611e-01 9.80198868e-01 -7.33747658e-03 -2.35292929e+01] [-3.76897082e-02 -1.28302178e-04 9.99289482e-01 -6.91528811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33587156000002 meters 0.011428841746793303 Centerline is valid? [True, True] Translation: X:160.16, Y:-23.54, Z:-6.92 [[ 9.79796731e-01 1.96599385e-01 3.67021420e-02 1.60163341e+02] [-1.96464468e-01 9.80483899e-01 -7.28262427e-03 -2.35373449e+01] [-3.74176187e-02 -7.51753456e-05 9.99299713e-01 -6.91567615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36587156000002 meters 0.024184857007787733 Centerline is valid? [True, True] Translation: X:160.19, Y:-23.54, Z:-6.92 [[ 9.80160060e-01 1.94808418e-01 3.65504629e-02 1.60190778e+02] [-1.94673400e-01 9.80841312e-01 -7.25170279e-03 -2.35441287e+01] [-3.72628967e-02 -7.57343412e-06 9.99305497e-01 -6.91859263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39587156000002 meters 0.011354493583100452 Centerline is valid? [True, True] Translation: X:160.22, Y:-23.55, Z:-6.92 [[ 9.80309482e-01 1.94114390e-01 3.62342687e-02 1.60219915e+02] [-1.93981278e-01 9.80978900e-01 -7.18752514e-03 -2.35506913e+01] [-3.69402551e-02 1.72292832e-05 9.99317476e-01 -6.91919904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42587156000002 meters 0.011738759476079537 Centerline is valid? [True, True] Translation: X:160.25, Y:-23.56, Z:-6.92 [[ 9.80442424e-01 1.93503490e-01 3.59033674e-02 1.60247883e+02] [-1.93372419e-01 9.81099586e-01 -7.12108582e-03 -2.35567884e+01] [-3.66027339e-02 3.90936301e-05 9.99329895e-01 -6.92274856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45587156000002 meters 0.012324214562263286 Centerline is valid? [True, True] Translation: X:160.27, Y:-23.56, Z:-6.93 [[ 9.80743945e-01 1.92094606e-01 3.52275003e-02 1.60274512e+02] [-1.91967556e-01 9.81376408e-01 -6.98591694e-03 -2.35637066e+01] [-3.59133947e-02 8.88586029e-05 9.99354902e-01 -6.92557756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48587156000002 meters 0.01664735360266164 Centerline is valid? [True, True] Translation: X:160.30, Y:-23.57, Z:-6.92 [[ 9.80921001e-01 1.91221061e-01 3.50498955e-02 1.60303702e+02] [-1.91094814e-01 9.81546989e-01 -6.94838128e-03 -2.35692078e+01] [-3.57317962e-02 1.17959860e-04 9.99361409e-01 -6.92482752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51587156000002 meters 0.022515324436054928 Centerline is valid? [True, True] Translation: X:160.33, Y:-23.58, Z:-6.93 [[ 9.81093259e-01 1.90373063e-01 3.48441285e-02 1.60332365e+02] [-1.90247796e-01 9.81711809e-01 -6.90659599e-03 -2.35768487e+01] [-3.55217222e-02 1.46996139e-04 9.99368894e-01 -6.92896404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54587156000002 meters 0.014299532139468078 Centerline is valid? [True, True] Translation: X:160.36, Y:-23.59, Z:-6.93 [[ 9.81626048e-01 1.87472989e-01 3.55553039e-02 1.60360244e+02] [-1.87340664e-01 9.82269725e-01 -7.04720109e-03 -2.35867018e+01] [-3.62460584e-02 2.56761909e-04 9.99342863e-01 -6.92864962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57587156000002 meters 0.014820113090907193 Centerline is valid? [True, True] Translation: X:160.39, Y:-23.59, Z:-6.93 [[ 9.81954800e-01 1.85667305e-01 3.59502783e-02 1.60389346e+02] [-1.85530852e-01 9.82612612e-01 -7.12440924e-03 -2.35948457e+01] [-3.66479667e-02 3.25962085e-04 9.99328184e-01 -6.92792205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60587156000003 meters 0.021178246182327828 Centerline is valid? [True, True] Translation: X:160.42, Y:-23.60, Z:-6.93 [[ 9.82249808e-01 1.84044384e-01 3.62350630e-02 1.60419972e+02] [-1.83904708e-01 9.82917857e-01 -7.17944525e-03 -2.36042532e+01] [-3.69374270e-02 3.88210040e-04 9.99317505e-01 -6.92762723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63587156000003 meters 0.031218844199972662 Centerline is valid? [True, True] Translation: X:160.45, Y:-23.61, Z:-6.93 [[ 9.82574137e-01 1.82206429e-01 3.67271481e-02 1.60449580e+02] [-1.82061397e-01 9.83260187e-01 -7.28362980e-03 -2.36140561e+01] [-3.74394667e-02 4.70110356e-04 9.99298787e-01 -6.92797232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66587156000003 meters 0.020313668581880637 Centerline is valid? [True, True] Translation: X:160.48, Y:-23.63, Z:-6.93 [[ 9.83063003e-01 1.79339179e-01 3.77437459e-02 1.60478775e+02] [-1.79183645e-01 9.83787120e-01 -7.49160636e-03 -2.36255572e+01] [-3.84753496e-02 6.01659058e-04 9.99259368e-01 -6.92857062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69587156000003 meters 0.021054480918759715 Centerline is valid? [True, True] Translation: X:160.51, Y:-23.63, Z:-6.93 [[ 9.83161435e-01 1.78717562e-01 3.81264502e-02 1.60510217e+02] [-1.78558150e-01 9.83900211e-01 -7.57374646e-03 -2.36330710e+01] [-3.88661839e-02 6.38427037e-04 9.99244220e-01 -6.92911248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72587156000003 meters 0.021754234209882792 Centerline is valid? [True, True] Translation: X:160.54, Y:-23.64, Z:-6.93 [[ 9.83211464e-01 1.78435736e-01 3.81563209e-02 1.60540788e+02] [-1.78275606e-01 9.83951349e-01 -7.58625164e-03 -2.36410496e+01] [-3.88976218e-02 6.56548362e-04 9.99242985e-01 -6.93076524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75587156000003 meters 0.022226150542801446 Centerline is valid? [True, True] Translation: X:160.57, Y:-23.65, Z:-6.93 [[ 9.83236925e-01 1.78408920e-01 3.76218776e-02 1.60571052e+02] [-1.78252963e-01 9.83956212e-01 -7.48686174e-03 -2.36511274e+01] [-3.83540031e-02 6.55147768e-04 9.99264000e-01 -6.93370775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78587156000003 meters 0.03026273111574713 Centerline is valid? [True, True] Translation: X:160.60, Y:-23.66, Z:-6.94 [[ 9.83039551e-01 1.79617100e-01 3.70261909e-02 1.60603104e+02] [-1.79466614e-01 9.83736413e-01 -7.37590316e-03 -2.36572217e+01] [-3.77488505e-02 6.05839416e-04 9.99287074e-01 -6.93505931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81587156000003 meters 0.020102585534508752 Centerline is valid? [True, True] Translation: X:160.64, Y:-23.66, Z:-6.94 [[ 9.82761890e-01 1.81211658e-01 3.66251611e-02 1.60635141e+02] [-1.81065471e-01 9.83443971e-01 -7.29739910e-03 -2.36626250e+01] [-3.73411676e-02 5.40053705e-04 9.99302429e-01 -6.93799081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84587156000003 meters 0.019104727981073627 Centerline is valid? [True, True] Translation: X:160.67, Y:-23.67, Z:-6.94 [[ 9.82347927e-01 1.83465137e-01 3.65115482e-02 1.60666359e+02] [-1.83321180e-01 9.83026110e-01 -7.28096335e-03 -2.36677395e+01] [-3.72276081e-02 4.59099175e-04 9.99306707e-01 -6.94050253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87587156000004 meters 0.01427560041351442 Centerline is valid? [True, True] Translation: X:160.70, Y:-23.67, Z:-6.94 [[ 9.81400780e-01 1.88441826e-01 3.66358650e-02 1.60697837e+02] [-1.88300068e-01 9.82084314e-01 -7.31328320e-03 -2.36666440e+01] [-3.73576368e-02 2.78725981e-04 9.99301921e-01 -6.94124333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90587156000004 meters 0.012842939936091152 Centerline is valid? [True, True] Translation: X:160.73, Y:-23.67, Z:-6.94 [[ 9.80945714e-01 1.90882828e-01 3.61836015e-02 1.60728603e+02] [-1.90746208e-01 9.81612812e-01 -7.22300196e-03 -2.36693327e+01] [-3.68970338e-02 1.83488051e-04 9.99319056e-01 -6.94318969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93587156000004 meters 0.02443200154529197 Centerline is valid? [True, True] Translation: X:160.76, Y:-23.67, Z:-6.94 [[ 9.80461827e-01 1.93420842e-01 3.58187569e-02 1.60757031e+02] [-1.93288646e-01 9.81115880e-01 -7.15047315e-03 -2.36709609e+01] [-3.65254017e-02 8.74069624e-05 9.99332721e-01 -6.94414239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96587156000004 meters 0.011646694172771671 Centerline is valid? [True, True] Translation: X:160.79, Y:-23.67, Z:-6.94 [[ 9.79457341e-01 1.98199896e-01 3.71499538e-02 1.60786768e+02] [-1.98061171e-01 9.80161615e-01 -7.41489902e-03 -2.36708305e+01] [-3.78825909e-02 -9.53860612e-05 9.99282192e-01 -6.94444863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99587156000004 meters 0.012653876074073601 Centerline is valid? [True, True] Translation: X:160.82, Y:-23.67, Z:-6.95 [[ 9.79000867e-01 2.00385150e-01 3.74579095e-02 1.60815145e+02] [-2.00245777e-01 9.79717183e-01 -7.47466558e-03 -2.36732459e+01] [-3.81959695e-02 -1.83084093e-04 9.99270251e-01 -6.94510486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02587156 meters 0.021422320659322935 Centerline is valid? [True, True] Translation: X:160.84, Y:-23.67, Z:-6.95 [[ 9.78126113e-01 2.04789200e-01 3.64786309e-02 1.60843970e+02] [-2.04660167e-01 9.78806039e-01 -7.27689921e-03 -2.36694438e+01] [-3.71957346e-02 -3.47997573e-04 9.99307939e-01 -6.94759220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05587156 meters 0.016745678338215168 Centerline is valid? [True, True] Translation: X:160.87, Y:-23.67, Z:-6.95 [[ 9.77760170e-01 2.06617718e-01 3.59745438e-02 1.60872732e+02] [-2.06493545e-01 9.78421661e-01 -7.17416159e-03 -2.36729203e+01] [-3.66805818e-02 -4.13901641e-04 9.99326955e-01 -6.94947091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08587156000002 meters 0.018803891544820275 Centerline is valid? [True, True] Translation: X:160.90, Y:-23.67, Z:-6.95 [[ 9.77410474e-01 2.08319264e-01 3.56629943e-02 1.60900822e+02] [-2.08198427e-01 9.78060764e-01 -7.11033332e-03 -2.36743845e+01] [-3.63617949e-02 -4.75265034e-04 9.99338578e-01 -6.95202853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11587156000002 meters 0.02146084136120834 Centerline is valid? [True, True] Translation: X:160.93, Y:-23.67, Z:-6.95 [[ 9.76990911e-01 2.10346577e-01 3.52572992e-02 1.60929499e+02] [-2.10229872e-01 9.77626728e-01 -7.02723892e-03 -2.36740227e+01] [-3.59466337e-02 -5.46588943e-04 9.99353561e-01 -6.95463165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14587156000002 meters 0.026164125076468012 Centerline is valid? [True, True] Translation: X:160.96, Y:-23.68, Z:-6.96 [[ 9.76954138e-01 2.10554503e-01 3.50344716e-02 1.60956741e+02] [-2.10439480e-01 9.77581964e-01 -6.98065726e-03 -2.36778931e+01] [-3.57188763e-02 -5.52854001e-04 9.99361724e-01 -6.95561329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17587156000002 meters 0.03071159243910724 Centerline is valid? [True, True] Translation: X:160.98, Y:-23.68, Z:-6.96 [[ 9.76990387e-01 2.10370497e-01 3.51288655e-02 1.60983664e+02] [-2.10254796e-01 9.77621579e-01 -6.99775071e-03 -2.36823605e+01] [-3.58148573e-02 -5.49277261e-04 9.99358291e-01 -6.95710947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20587156000002 meters 0.02027719674361155 Centerline is valid? [True, True] Translation: X:161.01, Y:-23.69, Z:-6.96 [[ 9.77252789e-01 2.09064600e-01 3.56227399e-02 1.61011624e+02] [-2.08944914e-01 9.77901698e-01 -7.09173218e-03 -2.36885648e+01] [-3.63181680e-02 -5.12775298e-04 9.99340146e-01 -6.95823319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23587156000002 meters 0.01826290938730734 Centerline is valid? [True, True] Translation: X:161.04, Y:-23.70, Z:-6.96 [[ 9.77487555e-01 2.07880195e-01 3.61096262e-02 1.61039378e+02] [-2.07756472e-01 9.78154179e-01 -7.18688065e-03 -2.36958917e+01] [-3.68147919e-02 -4.76922134e-04 9.99321992e-01 -6.95804385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26587156000002 meters 0.016816919598783887 Centerline is valid? [True, True] Translation: X:161.07, Y:-23.70, Z:-6.96 [[ 9.77792076e-01 2.06355052e-01 3.66094057e-02 1.61067705e+02] [-2.06226881e-01 9.78477087e-01 -7.28446527e-03 -2.37029394e+01] [-3.73246509e-02 -4.27151137e-04 9.99303101e-01 -6.95856333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29587156000002 meters 0.016423037116439394 Centerline is valid? [True, True] Translation: X:161.09, Y:-23.71, Z:-6.96 [[ 9.78092280e-01 2.04870688e-01 3.69255181e-02 1.61094731e+02] [-2.04739304e-01 9.78788976e-01 -7.34555580e-03 -2.37085889e+01] [-3.76471792e-02 -3.75473448e-04 9.99291023e-01 -6.96046211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32587156000002 meters 0.021754919691628766 Centerline is valid? [True, True] Translation: X:161.12, Y:-23.72, Z:-6.96 [[ 9.78398268e-01 2.03451772e-01 3.66634106e-02 1.61122605e+02] [-2.03321340e-01 9.79084916e-01 -7.29103386e-03 -2.37165697e+01] [-3.73799660e-02 -3.20918851e-04 9.99301073e-01 -6.95950411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35587156000003 meters 0.013029691935969484 Centerline is valid? [True, True] Translation: X:161.15, Y:-23.72, Z:-6.96 [[ 9.78959387e-01 2.00776679e-01 3.64313420e-02 1.61149046e+02] [-2.00646106e-01 9.79637013e-01 -7.24313687e-03 -2.37236638e+01] [-3.71437440e-02 -2.19070088e-04 9.99309909e-01 -6.96317801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38587156000003 meters 0.020370319719514772 Centerline is valid? [True, True] Translation: X:161.18, Y:-23.73, Z:-6.96 [[ 9.79220732e-01 1.99602310e-01 3.58563125e-02 1.61177073e+02] [-1.99475131e-01 9.79876976e-01 -7.12634295e-03 -2.37303308e+01] [-3.65572096e-02 -1.74179867e-04 9.99331547e-01 -6.96371474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41587156000003 meters 0.012132673373328394 Centerline is valid? [True, True] Translation: X:161.20, Y:-23.74, Z:-6.97 [[ 9.79485767e-01 1.98321032e-01 3.57267465e-02 1.61203633e+02] [-1.98193981e-01 9.80137109e-01 -7.09887810e-03 -2.37365327e+01] [-3.64249668e-02 -1.27576051e-04 9.99336383e-01 -6.96726893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44587156000003 meters 0.011733217392255125 Centerline is valid? [True, True] Translation: X:161.23, Y:-23.75, Z:-6.97 [[ 9.80158007e-01 1.95188367e-01 3.45221982e-02 1.61231268e+02] [-1.95067876e-01 9.80765773e-01 -6.85729791e-03 -2.37467898e+01] [-3.51966552e-02 -1.29364139e-05 9.99380406e-01 -6.97043242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47587156000003 meters 0.012000096833761147 Centerline is valid? [True, True] Translation: X:161.26, Y:-23.76, Z:-6.97 [[ 9.80511856e-01 1.93443117e-01 3.42966672e-02 1.61258676e+02] [-1.93323193e-01 9.81111491e-01 -6.81066393e-03 -2.37550775e+01] [-3.49663303e-02 4.75955431e-05 9.99388490e-01 -6.97315987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50587156000003 meters 0.020143493198690677 Centerline is valid? [True, True] Translation: X:161.29, Y:-23.76, Z:-6.97 [[ 9.80837351e-01 1.91863999e-01 3.38569956e-02 1.61286247e+02] [-1.91746229e-01 9.81421518e-01 -6.72222765e-03 -2.37627089e+01] [-3.45177375e-02 1.01460747e-04 9.99404080e-01 -6.97339784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53587156000003 meters 0.015208551531888078 Centerline is valid? [True, True] Translation: X:161.31, Y:-23.77, Z:-6.97 [[ 9.81221946e-01 1.89763157e-01 3.45461565e-02 1.61314721e+02] [-1.89639309e-01 9.81829880e-01 -6.85708646e-03 -2.37713724e+01] [-3.52196710e-02 1.77014481e-04 9.99379579e-01 -6.97384966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56587156000003 meters 0.015208551531888078 Centerline is valid? [True, True] Translation: X:161.34, Y:-23.78, Z:-6.98 [[ 9.81226434e-01 1.89739917e-01 3.45463185e-02 1.61343308e+02] [-1.89616083e-01 9.81834371e-01 -6.85627005e-03 -2.37770011e+01] [-3.52196710e-02 1.77015809e-04 9.99379579e-01 -6.97516317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59587156000003 meters 0.013179358948938454 Centerline is valid? [True, True] Translation: X:161.37, Y:-23.78, Z:-6.98 [[ 9.81304578e-01 1.89299569e-01 3.47418727e-02 1.61372159e+02] [-1.89174083e-01 9.81919363e-01 -6.89422017e-03 -2.37834883e+01] [-3.54187904e-02 1.93067915e-04 9.99372539e-01 -6.97693479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62587156000004 meters 0.01522514113225589 Centerline is valid? [True, True] Translation: X:161.40, Y:-23.79, Z:-6.98 [[ 9.81289419e-01 1.89335485e-01 3.49735668e-02 1.61400919e+02] [-1.89208374e-01 9.81912439e-01 -6.93933136e-03 -2.37886680e+01] [-3.56548419e-02 1.92200750e-04 9.99364145e-01 -6.97661647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65587156000004 meters 0.01263036633813794 Centerline is valid? [True, True] Translation: X:161.43, Y:-23.79, Z:-6.98 [[ 9.81185819e-01 1.89795514e-01 3.53843340e-02 1.61430140e+02] [-1.89665729e-01 9.81823626e-01 -7.01994656e-03 -2.37929064e+01] [-3.60735295e-02 1.76676511e-04 9.99349123e-01 -6.97785364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68587156000004 meters 0.023074618243662446 Centerline is valid? [True, True] Translation: X:161.46, Y:-23.80, Z:-6.98 [[ 9.80850680e-01 1.91513975e-01 3.54166754e-02 1.61459792e+02] [-1.91385104e-01 9.81489880e-01 -7.02547304e-03 -2.37951162e+01] [-3.61065848e-02 1.12715913e-04 9.99347938e-01 -6.97791027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71587156000004 meters 0.011800364704289057 Centerline is valid? [True, True] Translation: X:161.49, Y:-23.80, Z:-6.98 [[ 9.80685202e-01 1.92275942e-01 3.58677591e-02 1.61488196e+02] [-1.92144305e-01 9.81340896e-01 -7.11414438e-03 -2.37997205e+01] [-3.65663777e-02 8.49504767e-05 9.99331223e-01 -6.98151199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74587156000004 meters 0.011572710798432296 Centerline is valid? [True, True] Translation: X:161.52, Y:-23.80, Z:-6.98 [[ 9.80465941e-01 1.93396065e-01 3.58399199e-02 1.61517114e+02] [-1.93265426e-01 9.81120767e-01 -7.10737765e-03 -2.38024334e+01] [-3.65378286e-02 4.19243361e-05 9.99332270e-01 -6.98203395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77587156 meters 0.011371745805292408 Centerline is valid? [True, True] Translation: X:161.55, Y:-23.81, Z:-6.98 [[ 9.80409421e-01 1.93667937e-01 3.59179175e-02 1.61545246e+02] [-1.93536974e-01 9.81067138e-01 -7.12111291e-03 -2.38066213e+01] [-3.66170197e-02 3.01611265e-05 9.99329372e-01 -6.98184573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80587156 meters 0.011272983453327858 Centerline is valid? [True, True] Translation: X:161.57, Y:-23.81, Z:-6.98 [[ 9.80412254e-01 1.93609451e-01 3.61551176e-02 1.61573817e+02] [-1.93476779e-01 9.81078682e-01 -7.16632395e-03 -2.38115839e+01] [-3.68584832e-02 3.07761046e-05 9.99320495e-01 -6.98290410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83587156000002 meters 0.01141213079368516 Centerline is valid? [True, True] Translation: X:161.60, Y:-23.82, Z:-6.98 [[ 9.80467271e-01 1.93259508e-01 3.65334400e-02 1.61602354e+02] [-1.93123878e-01 9.81147675e-01 -7.23925434e-03 -2.38173079e+01] [-3.72437545e-02 4.23723304e-05 9.99306210e-01 -6.98414826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86587156000002 meters 0.011618711840925586 Centerline is valid? [True, True] Translation: X:161.63, Y:-23.82, Z:-6.98 [[ 9.80790807e-01 1.91643485e-01 3.63616191e-02 1.61630879e+02] [-1.91508051e-01 9.81464602e-01 -7.20432304e-03 -2.38249471e+01] [-3.70683035e-02 1.02391009e-04 9.99312729e-01 -6.98430269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89587156000002 meters 0.012016887236559273 Centerline is valid? [True, True] Translation: X:161.66, Y:-23.83, Z:-6.99 [[ 9.80936478e-01 1.90829403e-01 3.67119200e-02 1.61658621e+02] [-1.90690811e-01 9.81623207e-01 -7.27280054e-03 -2.38329414e+01] [-3.74251369e-02 1.33529554e-04 9.99299425e-01 -6.98588821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92587156000002 meters 0.012312847483669063 Centerline is valid? [True, True] Translation: X:161.69, Y:-23.84, Z:-6.99 [[ 9.81101192e-01 1.89890664e-01 3.71750951e-02 1.61687338e+02] [-1.89747916e-01 9.81805229e-01 -7.36353247e-03 -2.38406734e+01] [-3.78969688e-02 1.70473659e-04 9.99281637e-01 -6.98647175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95587156000002 meters 0.012984667786750278 Centerline is valid? [True, True] Translation: X:161.72, Y:-23.85, Z:-6.99 [[ 9.81317033e-01 1.88755661e-01 3.72583098e-02 1.61715985e+02] [-1.88611470e-01 9.82024060e-01 -7.37964636e-03 -2.38481953e+01] [-3.79815067e-02 2.14428093e-04 9.99278419e-01 -6.98691299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98587156000002 meters 0.013234273885247835 Centerline is valid? [True, True] Translation: X:161.74, Y:-23.86, Z:-6.99 [[ 9.81431407e-01 1.88203367e-01 3.70389686e-02 1.61744874e+02] [-1.88060510e-01 9.82130051e-01 -7.33530564e-03 -2.38551721e+01] [-3.77576133e-02 2.33532023e-04 9.99286900e-01 -6.98846165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01587156000002 meters 0.02336578794355658 Centerline is valid? [True, True] Translation: X:161.77, Y:-23.86, Z:-6.99 [[ 9.81591593e-01 1.87452685e-01 3.65982939e-02 1.61773656e+02] [-1.87312722e-01 9.82273599e-01 -7.24706706e-03 -2.38634401e+01] [-3.73080200e-02 2.58334055e-04 9.99303780e-01 -6.99076338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04587156000002 meters 0.015728449686375236 Centerline is valid? [True, True] Translation: X:161.80, Y:-23.87, Z:-6.99 [[ 9.82051474e-01 1.85159043e-01 3.59309270e-02 1.61802475e+02] [-1.85022623e-01 9.82708509e-01 -7.11439421e-03 -2.38742789e+01] [-3.66269221e-02 3.38666934e-04 9.99328952e-01 -6.99376942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07587156000002 meters 0.024261944031245538 Centerline is valid? [True, True] Translation: X:161.83, Y:-23.88, Z:-6.99 [[ 9.82298422e-01 1.83912531e-01 3.55807828e-02 1.61831432e+02] [-1.83777937e-01 9.82942539e-01 -7.04516988e-03 -2.38824971e+01] [-3.62695600e-02 3.81496407e-04 9.99341970e-01 -6.99467499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10587156000003 meters 0.028832334141352618 Centerline is valid? [True, True] Translation: X:161.86, Y:-23.89, Z:-7.00 [[ 9.82496327e-01 1.82828318e-01 3.57039671e-02 1.61860271e+02] [-1.82692098e-01 9.83144764e-01 -7.06891699e-03 -2.38909334e+01] [-3.63945665e-02 4.22352339e-04 9.99337409e-01 -6.99606740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13587156000003 meters 0.022772020248258494 Centerline is valid? [True, True] Translation: X:161.89, Y:-23.90, Z:-7.00 [[ 9.82641830e-01 1.81990010e-01 3.59815290e-02 1.61890742e+02] [-1.81851089e-01 9.83300273e-01 -7.12421055e-03 -2.38986076e+01] [-3.66771825e-02 4.57267067e-04 9.99327061e-01 -6.99695370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16587156000003 meters 0.02008685479077209 Centerline is valid? [True, True] Translation: X:161.92, Y:-23.91, Z:-7.00 [[ 9.82968308e-01 1.80210365e-01 3.60212566e-02 1.61919419e+02] [-1.80069909e-01 9.83627952e-01 -7.13295943e-03 -2.39109525e+01] [-3.67169480e-02 5.25128669e-04 9.99325568e-01 -6.99954513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19587156000003 meters 0.019878313225314526 Centerline is valid? [True, True] Translation: X:161.95, Y:-23.92, Z:-7.00 [[ 9.83087022e-01 1.79609722e-01 3.57806492e-02 1.61950066e+02] [-1.79470754e-01 9.83737797e-01 -7.08492256e-03 -2.39194698e+01] [-3.64712980e-02 5.43515322e-04 9.99334553e-01 -7.00072844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22587156000003 meters 0.02169429845985192 Centerline is valid? [True, True] Translation: X:161.98, Y:-23.93, Z:-7.00 [[ 9.83211014e-01 1.79091485e-01 3.49620075e-02 1.61979226e+02] [-1.78958262e-01 9.83832268e-01 -6.92887380e-03 -2.39301676e+01] [-3.56376534e-02 5.55804940e-04 9.99364623e-01 -7.00441101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25587156000003 meters 0.021720335735307253 Centerline is valid? [True, True] Translation: X:162.01, Y:-23.94, Z:-7.01 [[ 9.83445293e-01 1.78190339e-01 3.29174609e-02 1.62009992e+02] [-1.78071584e-01 9.83995880e-01 -6.52839043e-03 -2.39387426e+01] [-3.35539420e-02 5.58650425e-04 9.99436752e-01 -7.00809821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28587156000003 meters 0.023210879896318714 Centerline is valid? [True, True] Translation: X:162.04, Y:-23.95, Z:-7.01 [[ 9.83422011e-01 1.78417574e-01 3.23777429e-02 1.62040628e+02] [-1.78302627e-01 9.83954709e-01 -6.42676058e-03 -2.39483707e+01] [-3.30048796e-02 5.47181191e-04 9.99455041e-01 -7.01195822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31587156000003 meters 0.022712423593956355 Centerline is valid? [True, True] Translation: X:162.07, Y:-23.96, Z:-7.01 [[ 9.83312169e-01 1.79038871e-01 3.22840677e-02 1.62072370e+02] [-1.78924717e-01 9.83841858e-01 -6.41442716e-03 -2.39557160e+01] [-3.29108489e-02 5.30966600e-04 9.99458150e-01 -7.01355896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34587156000003 meters 0.021968214268285324 Centerline is valid? [True, True] Translation: X:162.10, Y:-23.96, Z:-7.01 [[ 9.82983974e-01 1.80710097e-01 3.29601050e-02 1.62102470e+02] [-1.80591852e-01 9.83536283e-01 -6.55462356e-03 -2.39638009e+01] [-3.36019458e-02 4.90763519e-04 9.99435175e-01 -7.01461413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37587156000004 meters 0.020197142288445477 Centerline is valid? [True, True] Translation: X:162.13, Y:-23.97, Z:-7.01 [[ 9.82757179e-01 1.81843308e-01 3.34863793e-02 1.62134602e+02] [-1.81721695e-01 9.83327410e-01 -6.66563807e-03 -2.39699373e+01] [-3.41401762e-02 4.65502057e-04 9.99416946e-01 -7.01438763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40587156000004 meters 0.01894494023163681 Centerline is valid? [True, True] Translation: X:162.17, Y:-23.98, Z:-7.01 [[ 9.82535654e-01 1.82983491e-01 3.37747161e-02 1.62165971e+02] [-1.82860416e-01 9.83115892e-01 -6.72394516e-03 -2.39769260e+01] [-3.44348311e-02 4.30457215e-04 9.99406853e-01 -7.01468550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43587156000004 meters 0.018435348269523436 Centerline is valid? [True, True] Translation: X:162.20, Y:-23.98, Z:-7.02 [[ 9.82328857e-01 1.84038691e-01 3.40554941e-02 1.62196106e+02] [-1.83913987e-01 9.82918917e-01 -6.78581823e-03 -2.39844787e+01] [-3.47226425e-02 4.02623357e-04 9.99396906e-01 -7.01606607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46587156000004 meters 0.024420178659235976 Centerline is valid? [True, True] Translation: X:162.23, Y:-23.99, Z:-7.01 [[ 9.82003639e-01 1.85803391e-01 3.38519260e-02 1.62227653e+02] [-1.85681047e-01 9.82586883e-01 -6.75029264e-03 -2.39913559e+01] [-3.45166857e-02 3.43150852e-04 9.99404063e-01 -7.01473453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49587156000004 meters 0.01598217450510786 Centerline is valid? [True, True] Translation: X:162.26, Y:-24.00, Z:-7.02 [[ 9.81851465e-01 1.86530867e-01 3.42627507e-02 1.62257308e+02] [-1.86405756e-01 9.82449046e-01 -6.83854090e-03 -2.39991763e+01] [-3.49370057e-02 3.27657444e-04 9.99389463e-01 -7.01787378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52587156 meters 0.01583303700662338 Centerline is valid? [True, True] Translation: X:162.29, Y:-24.01, Z:-7.02 [[ 9.81686445e-01 1.87408888e-01 3.41998870e-02 1.62287073e+02] [-1.87284571e-01 9.82281944e-01 -6.83165331e-03 -2.40070607e+01] [-3.48742440e-02 3.01430284e-04 9.99391663e-01 -7.01995300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55587156 meters 0.016484823458837772 Centerline is valid? [True, True] Translation: X:162.32, Y:-24.01, Z:-7.02 [[ 9.81521213e-01 1.88211184e-01 3.45349013e-02 1.62318551e+02] [-1.88084726e-01 9.82128541e-01 -6.90396061e-03 -2.40128565e+01] [-3.52171148e-02 2.80896359e-04 9.99379646e-01 -7.01884438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58587156000002 meters 0.01397637842828 Centerline is valid? [True, True] Translation: X:162.35, Y:-24.02, Z:-7.02 [[ 9.81157482e-01 1.90042188e-01 3.48419618e-02 1.62348975e+02] [-1.89914394e-01 9.81775900e-01 -6.97179709e-03 -2.40214873e+01] [-3.55319340e-02 2.23440801e-04 9.99368516e-01 -7.02138575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61587156000002 meters 0.01327202312383151 Centerline is valid? [True, True] Translation: X:162.38, Y:-24.03, Z:-7.02 [[ 9.80964012e-01 1.91066506e-01 3.46871439e-02 1.62381055e+02] [-1.90940296e-01 9.81577075e-01 -6.94619356e-03 -2.40286188e+01] [-3.53752902e-02 1.90792379e-04 9.99374080e-01 -7.02255344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64587156000002 meters 0.03501028967731643 Centerline is valid? [True, True] Translation: X:162.41, Y:-24.04, Z:-7.02 [[ 9.80739417e-01 1.92243853e-01 3.45325516e-02 1.62412187e+02] [-1.92119251e-01 9.81347175e-01 -6.92217658e-03 -2.40359045e+01] [-3.52191678e-02 1.54483493e-04 9.99379601e-01 -7.02351969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67587156000002 meters 0.018533207554880606 Centerline is valid? [True, True] Translation: X:162.44, Y:-24.04, Z:-7.03 [[ 9.80316941e-01 1.94329685e-01 3.48521007e-02 1.62442611e+02] [-1.94203841e-01 9.80936270e-01 -6.99303223e-03 -2.40435109e+01] [-3.55466434e-02 8.69761504e-05 9.99368015e-01 -7.02660989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70587156000002 meters 0.011689861814251933 Centerline is valid? [True, True] Translation: X:162.47, Y:-24.05, Z:-7.03 [[ 9.80076350e-01 1.95533311e-01 3.48865589e-02 1.62474520e+02] [-1.95407788e-01 9.80697059e-01 -7.00531161e-03 -2.40498595e+01] [-3.55829175e-02 4.86349156e-05 9.99366726e-01 -7.02691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73587156000002 meters 0.011599027336088374 Centerline is valid? [True, True] Translation: X:162.51, Y:-24.06, Z:-7.03 [[ 9.79906746e-01 1.96409321e-01 3.47296288e-02 1.62506987e+02] [-1.96285274e-01 9.80521993e-01 -6.97947996e-03 -2.40565148e+01] [-3.54239997e-02 2.23247933e-05 9.99372373e-01 -7.02889386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76587156000002 meters 0.011490958963512156 Centerline is valid? [True, True] Translation: X:162.54, Y:-24.06, Z:-7.03 [[ 9.79711601e-01 1.97369227e-01 3.47931925e-02 1.62538507e+02] [-1.97245077e-01 9.80329224e-01 -6.99937679e-03 -2.40631970e+01] [-3.54902450e-02 -5.41529972e-06 9.99370023e-01 -7.02967817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79587156000002 meters 0.011669438127002128 Centerline is valid? [True, True] Translation: X:162.57, Y:-24.07, Z:-7.03 [[ 9.79601752e-01 1.97834921e-01 3.52385055e-02 1.62568927e+02] [-1.97707649e-01 9.80235351e-01 -7.09520169e-03 -2.40717355e+01] [-3.59457074e-02 -1.64500520e-05 9.99353744e-01 -7.03169181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82587156000002 meters 0.011472618127143664 Centerline is valid? [True, True] Translation: X:162.60, Y:-24.08, Z:-7.03 [[ 9.79604144e-01 1.97808752e-01 3.53188052e-02 1.62600832e+02] [-1.97680643e-01 9.80240633e-01 -7.11798643e-03 -2.40807700e+01] [-3.60289280e-02 -9.03511380e-06 9.99350747e-01 -7.03296844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85587156000003 meters 0.024587244968375194 Centerline is valid? [True, True] Translation: X:162.63, Y:-24.09, Z:-7.03 [[ 9.79706670e-01 1.97375125e-01 3.48984440e-02 1.62633079e+02] [-1.97249534e-01 9.80328037e-01 -7.03999872e-03 -2.40901600e+01] [-3.56014438e-02 1.34318744e-05 9.99366068e-01 -7.03407897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88587156000003 meters 0.011595963177041913 Centerline is valid? [True, True] Translation: X:162.66, Y:-24.10, Z:-7.04 [[ 9.79745239e-01 1.97139328e-01 3.51475828e-02 1.62664557e+02] [-1.97011536e-01 9.80375481e-01 -7.09719526e-03 -2.41002856e+01] [-3.58569647e-02 2.89639859e-05 9.99356932e-01 -7.03606562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91587156000003 meters 0.018319003839270195 Centerline is valid? [True, True] Translation: X:162.70, Y:-24.11, Z:-7.04 [[ 9.79656829e-01 1.97534798e-01 3.53907058e-02 1.62695613e+02] [-1.97405233e-01 9.80295875e-01 -7.15337144e-03 -2.41072542e+01] [-3.61064027e-02 2.15386477e-05 9.99347951e-01 -7.03621196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94587156000003 meters 0.01107949859716016 Centerline is valid? [True, True] Translation: X:162.73, Y:-24.11, Z:-7.04 [[ 9.79448010e-01 1.98453136e-01 3.60270558e-02 1.62727367e+02] [-1.98319243e-01 9.80110378e-01 -7.28871205e-03 -2.41138358e+01] [-3.67569590e-02 -5.94390470e-06 9.99324235e-01 -7.03633529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97587156000003 meters 0.011482027427845829 Centerline is valid? [True, True] Translation: X:162.76, Y:-24.12, Z:-7.04 [[ 9.79194473e-01 1.99752605e-01 3.57362692e-02 1.62758741e+02] [-1.99621504e-01 9.79846363e-01 -7.23607911e-03 -2.41200312e+01] [-3.64614790e-02 -4.81991179e-05 9.99335058e-01 -7.03838243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00587156000003 meters 0.012282980066315464 Centerline is valid? [True, True] Translation: X:162.79, Y:-24.12, Z:-7.04 [[ 9.78490769e-01 2.03144754e-01 3.58890582e-02 1.62791825e+02] [-2.03014560e-01 9.79148702e-01 -7.27378688e-03 -2.41234502e+01] [-3.66183564e-02 -1.68668059e-04 9.99329309e-01 -7.03943570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03587156000003 meters 0.013379605233995196 Centerline is valid? [True, True] Translation: X:162.82, Y:-24.13, Z:-7.04 [[ 9.78121415e-01 2.04842452e-01 3.63051911e-02 1.62822461e+02] [-2.04710099e-01 9.78794932e-01 -7.36593918e-03 -2.41265238e+01] [-3.70441941e-02 -2.27256402e-04 9.99313602e-01 -7.04087658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06587156000003 meters 0.02434802617759327 Centerline is valid? [True, True] Translation: X:162.85, Y:-24.13, Z:-7.04 [[ 9.77837341e-01 2.06209257e-01 3.62198373e-02 1.62853409e+02] [-2.06078248e-01 9.78507878e-01 -7.35443566e-03 -2.41305427e+01] [-3.69579488e-02 -2.72678777e-04 9.99316784e-01 -7.04126174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09587156000003 meters 0.018806981993620114 Centerline is valid? [True, True] Translation: X:162.88, Y:-24.14, Z:-7.04 [[ 9.77671262e-01 2.07033665e-01 3.59995191e-02 1.62884172e+02] [-2.06904772e-01 9.78333773e-01 -7.31056679e-03 -2.41354797e+01] [-3.67330788e-02 -3.01141257e-04 9.99325067e-01 -7.04318293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12587156000004 meters 0.014974970521095681 Centerline is valid? [True, True] Translation: X:162.91, Y:-24.14, Z:-7.05 [[ 9.77681953e-01 2.06980074e-01 3.60173236e-02 1.62914231e+02] [-2.06850982e-01 9.78345113e-01 -7.31515649e-03 -2.41416313e+01] [-3.67514641e-02 -2.98322267e-04 9.99324392e-01 -7.04568812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15587156000004 meters 0.013872176079920433 Centerline is valid? [True, True] Translation: X:162.95, Y:-24.15, Z:-7.05 [[ 9.77799733e-01 2.06433638e-01 3.59560136e-02 1.62945769e+02] [-2.06304649e-01 9.78460564e-01 -7.30180140e-03 -2.41504038e+01] [-3.66888787e-02 -2.78193281e-04 9.99326698e-01 -7.04656979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18587156000004 meters 0.013129416575663468 Centerline is valid? [True, True] Translation: X:162.98, Y:-24.16, Z:-7.05 [[ 9.78036774e-01 2.05373924e-01 3.55755494e-02 1.62977487e+02] [-2.05246734e-01 9.78683554e-01 -7.23047821e-03 -2.41594149e+01] [-3.63021568e-02 -2.30091729e-04 9.99340833e-01 -7.04861947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21587156000004 meters 0.01175095824969522 Centerline is valid? [True, True] Translation: X:163.01, Y:-24.17, Z:-7.05 [[ 9.78733706e-01 2.01949638e-01 3.60093981e-02 1.63006684e+02] [-2.01816724e-01 9.79395903e-01 -7.32633868e-03 -2.41724115e+01] [-3.67470084e-02 -9.67641584e-05 9.99324596e-01 -7.04993882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24587156000004 meters 0.01141216489200324 Centerline is valid? [True, True] Translation: X:163.04, Y:-24.18, Z:-7.05 [[ 9.79034618e-01 2.00415457e-01 3.63986480e-02 1.63036549e+02] [-2.00278369e-01 9.79711000e-01 -7.41158235e-03 -2.41824087e+01] [-3.71455515e-02 -3.36661441e-05 9.99309865e-01 -7.05063169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27587156 meters 0.011641832095071403 Centerline is valid? [True, True] Translation: X:163.07, Y:-24.19, Z:-7.05 [[ 9.79325553e-01 1.98983557e-01 3.64280695e-02 1.63067183e+02] [-1.98845049e-01 9.80002828e-01 -7.42316056e-03 -2.41922884e+01] [-3.71766980e-02 2.61495697e-05 9.99308707e-01 -7.05279505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30587156 meters 0.01155735480405178 Centerline is valid? [True, True] Translation: X:163.10, Y:-24.20, Z:-7.05 [[ 9.79547868e-01 1.97873611e-01 3.64966879e-02 1.63098629e+02] [-1.97733567e-01 9.80227539e-01 -7.44367415e-03 -2.42016271e+01] [-3.72479653e-02 7.48148723e-05 9.99306051e-01 -7.05247619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33587156000002 meters 0.012270806097751677 Centerline is valid? [True, True] Translation: X:163.13, Y:-24.21, Z:-7.05 [[ 9.79932351e-01 1.95746577e-01 3.76279908e-02 1.63130269e+02] [-1.95595848e-01 9.80654500e-01 -7.68210991e-03 -2.42137689e+01] [-3.84038052e-02 1.68069244e-04 9.99262288e-01 -7.05200478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36587156000002 meters 0.012760032308755623 Centerline is valid? [True, True] Translation: X:163.16, Y:-24.22, Z:-7.05 [[ 9.80080003e-01 1.95012795e-01 3.75925119e-02 1.63162209e+02] [-1.94861529e-01 9.80800677e-01 -7.68220791e-03 -2.42238151e+01] [-3.83688899e-02 2.03844010e-04 9.99263622e-01 -7.05359304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39587156000002 meters 0.013080803852341396 Centerline is valid? [True, True] Translation: X:163.19, Y:-24.23, Z:-7.05 [[ 9.80199614e-01 1.94414199e-01 3.75744039e-02 1.63194374e+02] [-1.94262359e-01 9.80919499e-01 -7.68579223e-03 -2.42330281e+01] [-3.83516926e-02 2.34318216e-04 9.99264276e-01 -7.05487840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42587156000002 meters 0.013721213992257886 Centerline is valid? [True, True] Translation: X:163.23, Y:-24.24, Z:-7.06 [[ 9.80348770e-01 1.93840688e-01 3.66343668e-02 1.63225173e+02] [-1.93695681e-01 9.81032987e-01 -7.50080689e-03 -2.42430195e+01] [-3.73934839e-02 2.57488196e-04 9.99300586e-01 -7.05758686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45587156000002 meters 0.023287196761455985 Centerline is valid? [True, True] Translation: X:163.26, Y:-24.25, Z:-7.06 [[ 9.80321480e-01 1.94039048e-01 3.63131251e-02 1.63256082e+02] [-1.93896481e-01 9.80993773e-01 -7.44119154e-03 -2.42511859e+01] [-3.70668314e-02 2.53772743e-04 9.99312757e-01 -7.06046884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48587156000002 meters 0.023287196761455985 Centerline is valid? [True, True] Translation: X:163.29, Y:-24.26, Z:-7.06 [[ 9.80285417e-01 1.94221406e-01 3.63118052e-02 1.63287854e+02] [-1.94078726e-01 9.80957686e-01 -7.44762635e-03 -2.42579051e+01] [-3.70668329e-02 2.53450608e-04 9.99312757e-01 -7.06193335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51587156000002 meters 0.013931019763094146 Centerline is valid? [True, True] Translation: X:163.32, Y:-24.27, Z:-7.06 [[ 9.80220991e-01 1.94712936e-01 3.54073757e-02 1.63320347e+02] [-1.94577358e-01 9.80860243e-01 -7.26873212e-03 -2.42653803e+01] [-3.61450033e-02 2.35490188e-04 9.99346528e-01 -7.06477814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54587156000002 meters 0.013822043998318486 Centerline is valid? [True, True] Translation: X:163.35, Y:-24.27, Z:-7.07 [[ 9.79942312e-01 1.96247828e-01 3.46389143e-02 1.63351586e+02] [-1.96118790e-01 9.80554311e-01 -7.11778510e-03 -2.42729331e+01] [-3.53621866e-02 1.81676818e-04 9.99374546e-01 -7.06908152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57587156000002 meters 0.02510270463077235 Centerline is valid? [True, True] Translation: X:163.38, Y:-24.28, Z:-7.07 [[ 9.79758326e-01 1.97166672e-01 3.46255019e-02 1.63384799e+02] [-1.97038086e-01 9.80369971e-01 -7.12130982e-03 -2.42781166e+01] [-3.53498873e-02 1.54619966e-04 9.99374985e-01 -7.06777598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60587156000003 meters 0.014738957867035296 Centerline is valid? [True, True] Translation: X:163.42, Y:-24.28, Z:-7.07 [[ 9.79538272e-01 1.98242402e-01 3.47091256e-02 1.63417188e+02] [-1.98113623e-01 9.80153016e-01 -7.14544817e-03 -2.42844073e+01] [-3.54367850e-02 1.22889316e-04 9.99371912e-01 -7.06994865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63587156000003 meters 0.01209501329086812 Centerline is valid? [True, True] Translation: X:163.45, Y:-24.29, Z:-7.07 [[ 9.79382230e-01 1.98955638e-01 3.50300039e-02 1.63448914e+02] [-1.98824667e-01 9.80008491e-01 -7.21863555e-03 -2.42913308e+01] [-3.57658895e-02 1.04974500e-04 9.99360190e-01 -7.07166193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66587156000003 meters 0.029496290480986745 Centerline is valid? [True, True] Translation: X:163.48, Y:-24.30, Z:-7.07 [[ 9.79053933e-01 2.00471113e-01 3.55630266e-02 1.63478932e+02] [-2.00336848e-01 9.79699612e-01 -7.33605501e-03 -2.42989693e+01] [-3.63117505e-02 5.78088402e-05 9.99340509e-01 -7.07289585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69587156000003 meters 0.024545026704810527 Centerline is valid? [True, True] Translation: X:163.51, Y:-24.31, Z:-7.07 [[ 9.78823503e-01 2.01549712e-01 3.58087237e-02 1.63509849e+02] [-2.01414098e-01 9.79478286e-01 -7.39243259e-03 -2.43052659e+01] [-3.65638100e-02 2.35049957e-05 9.99331320e-01 -7.07397589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72587156000003 meters 0.011230180516376123 Centerline is valid? [True, True] Translation: X:163.54, Y:-24.31, Z:-7.07 [[ 9.78588532e-01 2.02660963e-01 3.59585851e-02 1.63541964e+02] [-2.02524734e-01 9.79248964e-01 -7.42954223e-03 -2.43110702e+01] [-3.67180854e-02 -1.20380721e-05 9.99325664e-01 -7.07457521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75587156000003 meters 0.011481768561268386 Centerline is valid? [True, True] Translation: X:163.57, Y:-24.32, Z:-7.08 [[ 9.78096829e-01 2.04962578e-01 3.62895952e-02 1.63573992e+02] [-2.04825139e-01 9.78769806e-01 -7.50529320e-03 -2.43162040e+01] [-3.70574643e-02 -9.21178994e-05 9.99313132e-01 -7.07570687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78587156000003 meters 0.011675375711734173 Centerline is valid? [True, True] Translation: X:163.61, Y:-24.32, Z:-7.08 [[ 9.77872934e-01 2.06005561e-01 3.64174843e-02 1.63606230e+02] [-2.05867626e-01 9.78550813e-01 -7.53840959e-03 -2.43232973e+01] [-3.71893131e-02 -1.25574320e-04 9.99308230e-01 -7.07661991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81587156000003 meters 0.011982432067594102 Centerline is valid? [True, True] Translation: X:163.64, Y:-24.33, Z:-7.08 [[ 9.77655093e-01 2.07048032e-01 3.63542532e-02 1.63638477e+02] [-2.06911031e-01 9.78330766e-01 -7.53243415e-03 -2.43302037e+01] [-3.71260600e-02 -1.57973392e-04 9.99310578e-01 -7.07786700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84587156000003 meters 0.02833312004631774 Centerline is valid? [True, True] Translation: X:163.67, Y:-24.34, Z:-7.08 [[ 9.77439662e-01 2.08105065e-01 3.61107774e-02 1.63670034e+02] [-2.07970348e-01 9.78106459e-01 -7.48920881e-03 -2.43358522e+01] [-3.68787269e-02 -1.89721233e-04 9.99319730e-01 -7.07867841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87587156000004 meters 0.021053332338533085 Centerline is valid? [True, True] Translation: X:163.70, Y:-24.34, Z:-7.08 [[ 9.77014620e-01 2.10032569e-01 3.64520459e-02 1.63702753e+02] [-2.09896382e-01 9.77694356e-01 -7.56673428e-03 -2.43410067e+01] [-3.72282202e-02 -2.58342543e-04 9.99306756e-01 -7.07961559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90587156000004 meters 0.01419538026485632 Centerline is valid? [True, True] Translation: X:163.74, Y:-24.35, Z:-7.08 [[ 9.76724678e-01 2.11348000e-01 3.66186745e-02 1.63735545e+02] [-2.11211216e-01 9.77410830e-01 -7.60860692e-03 -2.43471870e+01] [-3.73995529e-02 -3.02760627e-04 9.99300346e-01 -7.08160428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93587156000004 meters 0.015531769913337169 Centerline is valid? [True, True] Translation: X:163.77, Y:-24.35, Z:-7.08 [[ 9.76362346e-01 2.12961952e-01 3.69293535e-02 1.63766599e+02] [-2.12823703e-01 9.77060427e-01 -7.68076932e-03 -2.43516177e+01] [-3.77179215e-02 -3.60227804e-04 9.99288361e-01 -7.08317588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96587156000004 meters 0.019330687457937534 Centerline is valid? [True, True] Translation: X:163.80, Y:-24.35, Z:-7.09 [[ 9.75507801e-01 2.16928357e-01 3.64227697e-02 1.63798245e+02] [-2.16796425e-01 9.76187399e-01 -7.58109127e-03 -2.43509100e+01] [-3.72000024e-02 -5.00912594e-04 9.99307715e-01 -7.08519184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99587156000004 meters 0.020494397650244498 Centerline is valid? [True, True] Translation: X:163.83, Y:-24.35, Z:-7.09 [[ 9.75043879e-01 2.19049518e-01 3.61489079e-02 1.63830324e+02] [-2.18920817e-01 9.75713576e-01 -7.52956456e-03 -2.43544935e+01] [-3.69203277e-02 -5.72092628e-04 9.99318049e-01 -7.08657535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02587156 meters 0.035229181321421964 Centerline is valid? [True, True] Translation: X:163.86, Y:-24.36, Z:-7.09 [[ 9.74601543e-01 2.21039504e-01 3.59634408e-02 1.63861953e+02] [-2.20913204e-01 9.75264647e-01 -7.49829589e-03 -2.43570324e+01] [-3.67312920e-02 -6.36948170e-04 9.99324975e-01 -7.08783226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05587156 meters 0.024958399233990826 Centerline is valid? [True, True] Translation: X:163.89, Y:-24.36, Z:-7.09 [[ 9.74256761e-01 2.22634360e-01 3.54641463e-02 1.63891989e+02] [-2.22512560e-01 9.74901775e-01 -7.39526184e-03 -2.43588753e+01] [-3.62204986e-02 -6.86334126e-04 9.99343587e-01 -7.09193686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08587156000002 meters 0.026487796798398747 Centerline is valid? [True, True] Translation: X:163.92, Y:-24.36, Z:-7.09 [[ 9.73935776e-01 2.24133510e-01 3.48320892e-02 1.63921797e+02] [-2.24016964e-01 9.74558176e-01 -7.26368413e-03 -2.43622500e+01] [-3.55739323e-02 -7.28617009e-04 9.99366782e-01 -7.09457348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11587156000002 meters 0.026627076101008274 Centerline is valid? [True, True] Translation: X:163.95, Y:-24.37, Z:-7.09 [[ 9.74002066e-01 2.23750138e-01 3.54380044e-02 1.63951677e+02] [-2.23629286e-01 9.74646267e-01 -7.38895335e-03 -2.43694344e+01] [-3.61927981e-02 -7.28119806e-04 9.99344561e-01 -7.09440077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14587156000002 meters 0.02497300499537107 Centerline is valid? [True, True] Translation: X:163.98, Y:-24.38, Z:-7.10 [[ 9.74206572e-01 2.22734522e-01 3.62061871e-02 1.63980570e+02] [-2.22607668e-01 9.74878882e-01 -7.54921790e-03 -2.43754588e+01] [-3.69781186e-02 -7.05277180e-04 9.99315827e-01 -7.09519551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17587156000002 meters 0.02327513054766885 Centerline is valid? [True, True] Translation: X:164.01, Y:-24.38, Z:-7.10 [[ 9.74565330e-01 2.21158441e-01 3.62127316e-02 1.64010440e+02] [-2.21030477e-01 9.75237677e-01 -7.54995217e-03 -2.43838947e+01] [-3.69857559e-02 -6.46195715e-04 9.99315584e-01 -7.09647435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20587156000002 meters 0.03174335952062098 Centerline is valid? [True, True] Translation: X:164.04, Y:-24.40, Z:-7.10 [[ 9.75422893e-01 2.17205226e-01 3.70414656e-02 1.64040424e+02] [-2.17068474e-01 9.76125828e-01 -7.72301829e-03 -2.43967644e+01] [-3.78346112e-02 -5.07325576e-04 9.99283886e-01 -7.09598019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23587156000002 meters 0.016247857939108476 Centerline is valid? [True, True] Translation: X:164.07, Y:-24.41, Z:-7.10 [[ 9.75816487e-01 2.15390069e-01 3.72733264e-02 1.64071276e+02] [-2.15250259e-01 9.76527995e-01 -7.77178789e-03 -2.44075831e+01] [-3.80724126e-02 -4.39254413e-04 9.99274886e-01 -7.09717657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26587156000002 meters 0.015389948471098848 Centerline is valid? [True, True] Translation: X:164.10, Y:-24.42, Z:-7.10 [[ 9.76116814e-01 2.14060624e-01 3.70677012e-02 1.64101463e+02] [-2.13921143e-01 9.76820304e-01 -7.73553138e-03 -2.44155554e+01] [-3.78643559e-02 -3.78782784e-04 9.99282816e-01 -7.09890850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29587156000002 meters 0.014861083984897229 Centerline is valid? [True, True] Translation: X:164.13, Y:-24.42, Z:-7.10 [[ 9.76371258e-01 2.12966252e-01 3.66680080e-02 1.64131753e+02] [-2.12828770e-01 9.77059501e-01 -7.65806035e-03 -2.44224977e+01] [-3.74577340e-02 -3.26897034e-04 9.99298159e-01 -7.10151848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32587156000002 meters 0.014673371485990575 Centerline is valid? [True, True] Translation: X:164.16, Y:-24.43, Z:-7.11 [[ 9.76522438e-01 2.12453636e-01 3.56002829e-02 1.64163144e+02] [-2.12323515e-01 9.77171104e-01 -7.44032274e-03 -2.44306223e+01] [-3.63682913e-02 -2.93135085e-04 9.99338412e-01 -7.10559935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35587156000003 meters 0.014867484923201972 Centerline is valid? [True, True] Translation: X:164.19, Y:-24.44, Z:-7.11 [[ 9.76484968e-01 2.12783558e-01 3.46448265e-02 1.64194918e+02] [-2.12660299e-01 9.77099316e-01 -7.24737290e-03 -2.44373587e+01] [-3.53935581e-02 -2.90628455e-04 9.99373409e-01 -7.10859375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38587156000003 meters 0.01571516053888912 Centerline is valid? [True, True] Translation: X:164.23, Y:-24.44, Z:-7.11 [[ 9.76344308e-01 2.13610573e-01 3.35009837e-02 1.64226707e+02] [-2.13495618e-01 9.76918845e-01 -7.01361238e-03 -2.44421194e+01] [-3.42259241e-02 -3.04612687e-04 9.99414075e-01 -7.11149986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41587156000003 meters 0.0166428196283782 Centerline is valid? [True, True] Translation: X:164.26, Y:-24.45, Z:-7.11 [[ 9.76037266e-01 2.15132942e-01 3.26966811e-02 1.64258699e+02] [-2.15024116e-01 9.76584712e-01 -6.85060454e-03 -2.44454108e+01] [-3.34048696e-02 -3.44129609e-04 9.99441842e-01 -7.11387902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44587156000003 meters 0.017162530980956176 Centerline is valid? [True, True] Translation: X:164.29, Y:-24.45, Z:-7.12 [[ 9.75859615e-01 2.15907221e-01 3.28950431e-02 1.64289567e+02] [-2.15797258e-01 9.76413815e-01 -6.89964043e-03 -2.44506391e+01] [-3.36088567e-02 -3.65579656e-04 9.99434996e-01 -7.11512278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47587156000003 meters 0.01904852313814505 Centerline is valid? [True, True] Translation: X:164.32, Y:-24.45, Z:-7.12 [[ 9.75689185e-01 2.16664972e-01 3.29682305e-02 1.64319430e+02] [-2.16554919e-01 9.76245941e-01 -6.91595944e-03 -2.44539032e+01] [-3.36835474e-02 -3.91605653e-04 9.99432472e-01 -7.11802139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50587156000003 meters 0.027174823019516302 Centerline is valid? [True, True] Translation: X:164.35, Y:-24.46, Z:-7.12 [[ 9.75524408e-01 2.17339878e-01 3.33992158e-02 1.64350000e+02] [-2.17227313e-01 9.76095898e-01 -7.00666262e-03 -2.44600338e+01] [-3.41236647e-02 -4.20051505e-04 9.99417530e-01 -7.11592416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53587156000003 meters 0.019187375436146025 Centerline is valid? [True, True] Translation: X:164.38, Y:-24.46, Z:-7.11 [[ 9.75269062e-01 2.18209052e-01 3.51435112e-02 1.64381038e+02] [-2.18084942e-01 9.75901935e-01 -7.37372994e-03 -2.44631560e+01] [-3.59056352e-02 -4.72899940e-04 9.99355073e-01 -7.11411344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56587156000003 meters 0.019672655117704486 Centerline is valid? [True, True] Translation: X:164.41, Y:-24.47, Z:-7.11 [[ 9.75110560e-01 2.18866088e-01 3.54546265e-02 1.64410907e+02] [-2.18740205e-01 9.75754777e-01 -7.43900742e-03 -2.44676890e+01] [-3.62231676e-02 -5.01497570e-04 9.99343600e-01 -7.11468764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59587156000003 meters 0.02038572570035209 Centerline is valid? [True, True] Translation: X:164.44, Y:-24.47, Z:-7.12 [[ 9.75008974e-01 2.19315638e-01 3.54704246e-02 1.64440284e+02] [-2.19189936e-01 9.75653823e-01 -7.44242669e-03 -2.44717610e+01] [-3.62390959e-02 -5.18327296e-04 9.99343014e-01 -7.11599994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62587156000004 meters 0.02597440621617479 Centerline is valid? [True, True] Translation: X:164.47, Y:-24.47, Z:-7.12 [[ 9.74639524e-01 2.20846833e-01 3.61175131e-02 1.64470504e+02] [-2.20717565e-01 9.75308327e-01 -7.57784648e-03 -2.44733906e+01] [-3.68992547e-02 -5.86100851e-04 9.99318819e-01 -7.11592091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65587156000004 meters 0.022421769282478195 Centerline is valid? [True, True] Translation: X:164.50, Y:-24.48, Z:-7.12 [[ 9.74535354e-01 2.21296863e-01 3.61737856e-02 1.64500347e+02] [-2.21167534e-01 9.75206302e-01 -7.58877481e-03 -2.44775641e+01] [-3.69562757e-02 -6.04937610e-04 9.99316700e-01 -7.11774538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68587156000004 meters 0.026254058537112997 Centerline is valid? [True, True] Translation: X:164.53, Y:-24.48, Z:-7.12 [[ 9.74429596e-01 2.21787875e-01 3.60152915e-02 1.64529800e+02] [-2.21660043e-01 9.75094740e-01 -7.55466697e-03 -2.44838677e+01] [-3.67938548e-02 -6.21659983e-04 9.99322684e-01 -7.11831889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71587156000004 meters 0.02261026261308849 Centerline is valid? [True, True] Translation: X:164.56, Y:-24.49, Z:-7.12 [[ 9.74368166e-01 2.22192228e-01 3.51751591e-02 1.64559660e+02] [-2.22070594e-01 9.75002680e-01 -7.37737216e-03 -2.44888483e+01] [-3.59350691e-02 -6.23091891e-04 9.99353933e-01 -7.12146036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74587156000004 meters 0.023162349158702304 Centerline is valid? [True, True] Translation: X:164.59, Y:-24.49, Z:-7.12 [[ 9.74325875e-01 2.22424280e-01 3.48787909e-02 1.64588444e+02] [-2.22304824e-01 9.74949767e-01 -7.31555478e-03 -2.44928396e+01] [-3.56322261e-02 -6.25989154e-04 9.99364775e-01 -7.12320255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77587156 meters 0.023195099604291364 Centerline is valid? [True, True] Translation: X:164.62, Y:-24.50, Z:-7.12 [[ 9.74312141e-01 2.22496579e-01 3.48012218e-02 1.64617749e+02] [-2.22377750e-01 9.74933268e-01 -7.29788537e-03 -2.44980224e+01] [-3.55526235e-02 -6.28599080e-04 9.99367608e-01 -7.12460384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80587156 meters 0.023105350745649816 Centerline is valid? [True, True] Translation: X:164.65, Y:-24.50, Z:-7.13 [[ 9.74365041e-01 2.22270118e-01 3.47672377e-02 1.64646571e+02] [-2.22151407e-01 9.74984928e-01 -7.28989963e-03 -2.45034083e+01] [-3.55178596e-02 -6.20567428e-04 9.99368849e-01 -7.12601354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83587156000002 meters 0.025698097311978824 Centerline is valid? [True, True] Translation: X:164.68, Y:-24.50, Z:-7.13 [[ 9.74473761e-01 2.21666315e-01 3.55659151e-02 1.64675483e+02] [-2.21541714e-01 9.75122387e-01 -7.45656622e-03 -2.45045690e+01] [-3.63339896e-02 -6.13105658e-04 9.99339515e-01 -7.12848762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86587156000002 meters 0.02166286505384019 Centerline is valid? [True, True] Translation: X:164.70, Y:-24.52, Z:-7.13 [[ 9.74525944e-01 2.21398785e-01 3.58017203e-02 1.64703231e+02] [-2.21272396e-01 9.75183166e-01 -7.50458271e-03 -2.45154387e+01] [-3.65747405e-02 -6.08521906e-04 9.99330735e-01 -7.12691501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89587156000002 meters 0.02233672366462658 Centerline is valid? [True, True] Translation: X:164.73, Y:-24.52, Z:-7.13 [[ 9.74500656e-01 2.21520761e-01 3.57354805e-02 1.64731766e+02] [-2.21394951e-01 9.75155463e-01 -7.48991078e-03 -2.45202576e+01] [-3.65068198e-02 -6.12732008e-04 9.99333216e-01 -7.12828154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92587156000002 meters 0.02316162770865933 Centerline is valid? [True, True] Translation: X:164.76, Y:-24.52, Z:-7.13 [[ 9.74463952e-01 2.21715404e-01 3.55286530e-02 1.64759638e+02] [-2.21591224e-01 9.75111223e-01 -7.44524929e-03 -2.45244858e+01] [-3.62951148e-02 -6.17710652e-04 9.99340924e-01 -7.13070055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95587156000002 meters 0.02371136863633849 Centerline is valid? [True, True] Translation: X:164.79, Y:-24.53, Z:-7.13 [[ 9.74266611e-01 2.22642968e-01 3.51380068e-02 1.64788958e+02] [-2.22522156e-01 9.74899836e-01 -7.36201084e-03 -2.45278069e+01] [-3.58951370e-02 -6.46423661e-04 9.99355353e-01 -7.13246974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98587156000002 meters 0.024265786664935927 Centerline is valid? [True, True] Translation: X:164.82, Y:-24.53, Z:-7.13 [[ 9.74162448e-01 2.23129584e-01 3.49387052e-02 1.64817266e+02] [-2.23010474e-01 9.74788568e-01 -7.31962521e-03 -2.45315388e+01] [-3.56910754e-02 -6.61193193e-04 9.99362652e-01 -7.13426237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01587156000002 meters 0.024511817802732632 Centerline is valid? [True, True] Translation: X:164.85, Y:-24.53, Z:-7.14 [[ 9.73936885e-01 2.24290409e-01 3.37750967e-02 1.64846990e+02] [-2.24179863e-01 9.74522112e-01 -7.07402150e-03 -2.45343074e+01] [-3.45012138e-02 -6.82046085e-04 9.99404423e-01 -7.13650031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04587156000002 meters 0.026733018590998213 Centerline is valid? [True, True] Translation: X:164.87, Y:-24.54, Z:-7.14 [[ 9.73899977e-01 2.24518017e-01 3.33240932e-02 1.64874855e+02] [-2.24410552e-01 9.74469700e-01 -6.97914018e-03 -2.45353708e+01] [-3.40402618e-02 -6.81293696e-04 9.99420230e-01 -7.13983457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07587156000002 meters 0.027382953632404637 Centerline is valid? [True, True] Translation: X:164.90, Y:-24.54, Z:-7.14 [[ 9.73870031e-01 2.24644157e-01 3.33491571e-02 1.64902128e+02] [-2.24536675e-01 9.74440624e-01 -6.98229335e-03 -2.45387363e+01] [-3.40653048e-02 -6.88262611e-04 9.99419372e-01 -7.14192151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10587156000003 meters 0.0275770095350293 Centerline is valid? [True, True] Translation: X:164.93, Y:-24.54, Z:-7.14 [[ 9.73870109e-01 2.24661975e-01 3.32266122e-02 1.64930077e+02] [-2.24555364e-01 9.74436516e-01 -6.95451769e-03 -2.45433091e+01] [-3.39396399e-02 -6.88417118e-04 9.99423647e-01 -7.14373460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13587156000003 meters 0.02766522545577257 Centerline is valid? [True, True] Translation: X:164.96, Y:-24.55, Z:-7.14 [[ 9.73966025e-01 2.24160520e-01 3.37970900e-02 1.64957594e+02] [-2.24049967e-01 9.74551996e-01 -7.07238906e-03 -2.45477079e+01] [-3.45223719e-02 -6.83970258e-04 9.99403691e-01 -7.14388220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16587156000003 meters 0.026891275792550854 Centerline is valid? [True, True] Translation: X:164.99, Y:-24.55, Z:-7.14 [[ 9.74057446e-01 2.23634746e-01 3.46351410e-02 1.64986281e+02] [-2.23518389e-01 9.74672782e-01 -7.24550869e-03 -2.45528679e+01] [-3.53782767e-02 -6.84049235e-04 9.99373759e-01 -7.14318255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19587156000003 meters 0.026597653373227323 Centerline is valid? [True, True] Translation: X:165.01, Y:-24.56, Z:-7.14 [[ 9.74157257e-01 2.23082581e-01 3.53808053e-02 1.65013545e+02] [-2.22960852e-01 9.74799313e-01 -7.39989098e-03 -2.45570813e+01] [-3.61399714e-02 -6.79876996e-04 9.99346507e-01 -7.14318669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22587156000003 meters 0.03303824275229845 Centerline is valid? [True, True] Translation: X:165.04, Y:-24.56, Z:-7.14 [[ 9.74273862e-01 2.22520766e-01 3.57064393e-02 1.65041030e+02] [-2.22396486e-01 9.74927722e-01 -7.46587662e-03 -2.45612357e+01] [-3.64725101e-02 -6.67178166e-04 9.99334434e-01 -7.14369502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25587156000003 meters 0.024440261606882493 Centerline is valid? [True, True] Translation: X:165.07, Y:-24.57, Z:-7.14 [[ 9.74647718e-01 2.20808608e-01 3.61300986e-02 1.65069839e+02] [-2.20680260e-01 9.75316966e-01 -7.55242162e-03 -2.45670224e+01] [-3.69059379e-02 -6.12249075e-04 9.99318556e-01 -7.14471521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28587156000003 meters 0.02139965836948079 Centerline is valid? [True, True] Translation: X:165.10, Y:-24.58, Z:-7.14 [[ 9.74812721e-01 2.20014957e-01 3.65181684e-02 1.65097719e+02] [-2.19883379e-01 9.75496319e-01 -7.63088094e-03 -2.45756609e+01] [-3.73022468e-02 -5.91058453e-04 9.99303854e-01 -7.14368148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31587156000003 meters 0.020910632678148487 Centerline is valid? [True, True] Translation: X:165.12, Y:-24.58, Z:-7.15 [[ 9.75022613e-01 2.19031612e-01 3.68246691e-02 1.65124769e+02] [-2.18897180e-01 9.75717602e-01 -7.69318678e-03 -2.45805878e+01] [-3.76155289e-02 -5.59785122e-04 9.99292129e-01 -7.14527433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34587156000003 meters 0.020074263066075185 Centerline is valid? [True, True] Translation: X:165.15, Y:-24.59, Z:-7.15 [[ 9.75615643e-01 2.16393865e-01 3.67125683e-02 1.65152240e+02] [-2.16258467e-01 9.76306040e-01 -7.66751092e-03 -2.45853328e+01] [-3.75019045e-02 -4.58860162e-04 9.99296451e-01 -7.14817188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37587156000004 meters 0.020074263066075185 Centerline is valid? [True, True] Translation: X:165.18, Y:-24.59, Z:-7.15 [[ 9.75625064e-01 2.16351308e-01 3.67130334e-02 1.65179965e+02] [-2.16215964e-01 9.76315472e-01 -7.66528318e-03 -2.45910260e+01] [-3.75018966e-02 -4.59501518e-04 9.99296451e-01 -7.14944782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40587156000004 meters 0.01710636067663406 Centerline is valid? [True, True] Translation: X:165.21, Y:-24.60, Z:-7.15 [[ 9.75925558e-01 2.14941177e-01 3.70080382e-02 1.65207585e+02] [-2.14802698e-01 9.76626910e-01 -7.72520103e-03 -2.46001742e+01] [-3.78035098e-02 -4.10205324e-04 9.99285108e-01 -7.14925915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43587156000004 meters 0.016211529686373124 Centerline is valid? [True, True] Translation: X:165.24, Y:-24.61, Z:-7.15 [[ 9.76213049e-01 2.13683277e-01 3.67088463e-02 1.65235707e+02] [-2.13546206e-01 9.76902926e-01 -7.66097767e-03 -2.46067494e+01] [-3.74980022e-02 -3.60288486e-04 9.99296638e-01 -7.15108341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46587156000004 meters 0.0153992021548884 Centerline is valid? [True, True] Translation: X:165.26, Y:-24.61, Z:-7.15 [[ 9.76520218e-01 2.12415129e-01 3.58898010e-02 1.65263655e+02] [-2.12283314e-01 9.77179471e-01 -7.48835098e-03 -2.46137772e+01] [-3.66614158e-02 -3.06279759e-04 9.99327697e-01 -7.15397529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49587156000004 meters 0.013686805184791208 Centerline is valid? [True, True] Translation: X:165.29, Y:-24.62, Z:-7.16 [[ 9.77065653e-01 2.10076792e-01 3.47915266e-02 1.65291907e+02] [-2.09951506e-01 9.77684865e-01 -7.25735981e-03 -2.46217256e+01] [-3.55397518e-02 -2.13616388e-04 9.99368241e-01 -7.15698303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52587156 meters 0.013591466135079637 Centerline is valid? [True, True] Translation: X:165.32, Y:-24.63, Z:-7.16 [[ 9.77302972e-01 2.09061545e-01 3.42369986e-02 1.65319881e+02] [-2.08939624e-01 9.77902470e-01 -7.14097691e-03 -2.46271681e+01] [-3.49733491e-02 -1.74567652e-04 9.99388230e-01 -7.16035748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55587156 meters 0.012866853895026521 Centerline is valid? [True, True] Translation: X:165.35, Y:-24.63, Z:-7.16 [[ 9.77574214e-01 2.07840013e-01 3.39291112e-02 1.65348186e+02] [-2.07719588e-01 9.78162825e-01 -7.07539200e-03 -2.46345145e+01] [-3.46587448e-02 -1.31020220e-04 9.99399197e-01 -7.16168819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58587156000002 meters 0.012525762298237788 Centerline is valid? [True, True] Translation: X:165.38, Y:-24.64, Z:-7.16 [[ 9.77833238e-01 2.06645268e-01 3.37622805e-02 1.65376876e+02] [-2.06525340e-01 9.78415927e-01 -7.03977851e-03 -2.46419668e+01] [-3.44882899e-02 -8.90370462e-05 9.99405098e-01 -7.16340500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61587156000002 meters 0.012207011675184717 Centerline is valid? [True, True] Translation: X:165.40, Y:-24.65, Z:-7.16 [[ 9.78391276e-01 2.03928376e-01 3.41134764e-02 1.65404760e+02] [-2.03804322e-01 9.78985811e-01 -7.11204157e-03 -2.46517619e+01] [-3.48469565e-02 5.88549767e-06 9.99392660e-01 -7.16480998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64587156000002 meters 0.011985840008055127 Centerline is valid? [True, True] Translation: X:165.43, Y:-24.66, Z:-7.16 [[ 9.78619114e-01 2.02728825e-01 3.47225068e-02 1.65434512e+02] [-2.02599564e-01 9.79234916e-01 -7.23847099e-03 -2.46593734e+01] [-3.54689378e-02 4.89413337e-05 9.99370778e-01 -7.16472824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67587156000002 meters 0.012190054535895856 Centerline is valid? [True, True] Translation: X:165.46, Y:-24.67, Z:-7.17 [[ 9.78809489e-01 2.01740338e-01 3.51115291e-02 1.65462656e+02] [-2.01607524e-01 9.79439038e-01 -7.31967649e-03 -2.46667692e+01] [-3.58662762e-02 8.58203724e-05 9.99356594e-01 -7.16597896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70587156000002 meters 0.012742936809373563 Centerline is valid? [True, True] Translation: X:165.49, Y:-24.68, Z:-7.17 [[ 9.79134451e-01 2.00068410e-01 3.56140249e-02 1.65492811e+02] [-1.99930687e-01 9.79781919e-01 -7.42369438e-03 -2.46755584e+01] [-3.63792244e-02 1.48458440e-04 9.99338046e-01 -7.16593772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73587156000002 meters 0.025238976693952028 Centerline is valid? [True, True] Translation: X:165.52, Y:-24.68, Z:-7.17 [[ 9.79265949e-01 1.99459264e-01 3.54147241e-02 1.65523693e+02] [-1.99322650e-01 9.79906104e-01 -7.38297859e-03 -2.46827161e+01] [-3.61757078e-02 1.70942863e-04 9.99345430e-01 -7.16604072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76587156000002 meters 0.023125228501601015 Centerline is valid? [True, True] Translation: X:165.55, Y:-24.69, Z:-7.17 [[ 9.79435066e-01 1.98622691e-01 3.54397780e-02 1.65554480e+02] [-1.98485354e-01 9.80076010e-01 -7.38770000e-03 -2.46923280e+01] [-3.62010411e-02 2.01495554e-04 9.99344507e-01 -7.16933612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79587156000002 meters 0.013703804776467678 Centerline is valid? [True, True] Translation: X:165.59, Y:-24.70, Z:-7.17 [[ 9.79655593e-01 1.97469989e-01 3.57843786e-02 1.65586554e+02] [-1.97328960e-01 9.80308900e-01 -7.46604662e-03 -2.47004683e+01] [-3.65540650e-02 2.52860104e-04 9.99331645e-01 -7.16924073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82587156000002 meters 0.0262308570906891 Centerline is valid? [True, True] Translation: X:165.62, Y:-24.71, Z:-7.17 [[ 9.79844770e-01 1.96525519e-01 3.58042936e-02 1.65616071e+02] [-1.96383424e-01 9.80498666e-01 -7.47781765e-03 -2.47104253e+01] [-3.65756441e-02 2.95730749e-04 9.99330844e-01 -7.17141997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85587156000003 meters 0.022533258268236843 Centerline is valid? [True, True] Translation: X:165.65, Y:-24.72, Z:-7.17 [[ 9.80184501e-01 1.94634398e-01 3.68211117e-02 1.65646662e+02] [-1.94482550e-01 9.80875784e-01 -7.69630720e-03 -2.47202647e+01] [-3.76149030e-02 3.82737328e-04 9.99292236e-01 -7.16885042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88587156000003 meters 0.017414093484195668 Centerline is valid? [True, True] Translation: X:165.68, Y:-24.73, Z:-7.17 [[ 9.80338319e-01 1.93833816e-01 3.69490482e-02 1.65676636e+02] [-1.93680070e-01 9.81034288e-01 -7.73026119e-03 -2.47306927e+01] [-3.77466692e-02 4.21977035e-04 9.99287251e-01 -7.17172899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91587156000003 meters 0.02463992244931941 Centerline is valid? [True, True] Translation: X:165.71, Y:-24.74, Z:-7.17 [[ 9.80528043e-01 1.93079638e-01 3.58470323e-02 1.65707424e+02] [-1.92934323e-01 9.81182990e-01 -7.50248886e-03 -2.47422379e+01] [-3.66210761e-02 4.40277817e-04 9.99329126e-01 -7.17460023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94587156000003 meters 0.018805842948739233 Centerline is valid? [True, True] Translation: X:165.74, Y:-24.75, Z:-7.18 [[ 9.80583447e-01 1.92973725e-01 3.48890427e-02 1.65738323e+02] [-1.92835805e-01 9.81203827e-01 -7.30771947e-03 -2.47514261e+01] [-3.56434600e-02 4.37972125e-04 9.99364474e-01 -7.17813167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97587156000003 meters 0.01775980824427433 Centerline is valid? [True, True] Translation: X:165.77, Y:-24.76, Z:-7.18 [[ 9.80498340e-01 1.93525299e-01 3.42193481e-02 1.65770300e+02] [-1.93392773e-01 9.81095197e-01 -7.17278875e-03 -2.47589651e+01] [-3.49605542e-02 4.15132832e-04 9.99388607e-01 -7.17987837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00587156000003 meters 0.026779857126935792 Centerline is valid? [True, True] Translation: X:165.80, Y:-24.77, Z:-7.18 [[ 9.80324342e-01 1.94482049e-01 3.37774675e-02 1.65801459e+02] [-1.94353257e-01 9.80906003e-01 -7.08700827e-03 -2.47674539e+01] [-3.45108166e-02 3.82805893e-04 9.99404251e-01 -7.18220973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03587156000003 meters 0.014649603305967452 Centerline is valid? [True, True] Translation: X:165.83, Y:-24.77, Z:-7.18 [[ 9.79577560e-01 1.98004526e-01 3.49572681e-02 1.65834438e+02] [-1.97868528e-01 9.80201067e-01 -7.34260541e-03 -2.47699049e+01] [-3.57190206e-02 2.75708301e-04 9.99361834e-01 -7.18095013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06587156000003 meters 0.012571019261477759 Centerline is valid? [True, True] Translation: X:165.87, Y:-24.77, Z:-7.18 [[ 9.79037112e-01 2.00527758e-01 3.57064654e-02 1.65866751e+02] [-2.00387497e-01 9.79688003e-01 -7.50123799e-03 -2.47737685e+01] [-3.64854022e-02 1.88861172e-04 9.99334168e-01 -7.17985528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09587156000003 meters 0.01998064349327699 Centerline is valid? [True, True] Translation: X:165.90, Y:-24.78, Z:-7.18 [[ 9.78456767e-01 2.03285439e-01 3.60192357e-02 1.65898647e+02] [-2.03144335e-01 9.79119513e-01 -7.57347760e-03 -2.47787598e+01] [-3.68067143e-02 9.32167128e-05 9.99322399e-01 -7.17965057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12587156000004 meters 0.01805495578095484 Centerline is valid? [True, True] Translation: X:165.93, Y:-24.78, Z:-7.18 [[ 9.77779708e-01 2.06432323e-01 3.65039534e-02 1.65930199e+02] [-2.06289334e-01 9.78460881e-01 -7.68210289e-03 -2.47824206e+01] [-3.73035247e-02 -1.89719192e-05 9.99303981e-01 -7.18171829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15587156000004 meters 0.013539553688446863 Centerline is valid? [True, True] Translation: X:165.96, Y:-24.78, Z:-7.18 [[ 9.76496884e-01 2.12428885e-01 3.64390593e-02 1.65961412e+02] [-2.12290278e-01 9.77176500e-01 -7.67637043e-03 -2.47802601e+01] [-3.72380753e-02 -2.39706220e-04 9.99306394e-01 -7.18251982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18587156000004 meters 0.015385612052273212 Centerline is valid? [True, True] Translation: X:165.99, Y:-24.78, Z:-7.18 [[ 9.75820857e-01 2.15450095e-01 3.68091298e-02 1.65992494e+02] [-2.15310804e-01 9.76514786e-01 -7.75433066e-03 -2.47827759e+01] [-3.76153308e-02 -3.58565738e-04 9.99292229e-01 -7.18296670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21587156000004 meters 0.018102354665043566 Centerline is valid? [True, True] Translation: X:166.02, Y:-24.78, Z:-7.18 [[ 9.75191194e-01 2.18267513e-01 3.68975292e-02 1.66021887e+02] [-2.18129559e-01 9.75888863e-01 -7.77316466e-03 -2.47840656e+01] [-3.77045171e-02 -4.68120035e-04 9.99288822e-01 -7.18464829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24587156000004 meters 0.02406633141844684 Centerline is valid? [True, True] Translation: X:166.05, Y:-24.78, Z:-7.19 [[ 9.74115201e-01 2.23058930e-01 3.66645555e-02 1.66051811e+02] [-2.22926138e-01 9.74804745e-01 -7.72309047e-03 -2.47814825e+01] [-3.74634870e-02 -6.50307942e-04 9.99297786e-01 -7.18744749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27587156 meters 0.02464368106722904 Centerline is valid? [True, True] Translation: X:166.08, Y:-24.79, Z:-7.19 [[ 9.73760308e-01 2.24673396e-01 3.62315738e-02 1.66080122e+02] [-2.24544890e-01 9.74433870e-01 -7.63051887e-03 -2.47865604e+01] [-3.70196473e-02 -7.05318341e-04 9.99314289e-01 -7.18865642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30587156 meters 0.024735502971563614 Centerline is valid? [True, True] Translation: X:166.11, Y:-24.79, Z:-7.19 [[ 9.73480478e-01 2.25943390e-01 3.58516938e-02 1.66108779e+02] [-2.25818497e-01 9.74140147e-01 -7.54858071e-03 -2.47924853e+01] [-3.66301262e-02 -7.47579640e-04 9.99328612e-01 -7.19004391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33587156000002 meters 0.027729314496731834 Centerline is valid? [True, True] Translation: X:166.14, Y:-24.79, Z:-7.19 [[ 9.73250539e-01 2.27067454e-01 3.49822880e-02 1.66136344e+02] [-2.26949286e-01 9.73878728e-01 -7.36512527e-03 -2.47935966e+01] [-3.57408864e-02 -7.71093130e-04 9.99360793e-01 -7.19370420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36587156000002 meters 0.02680393665852277 Centerline is valid? [True, True] Translation: X:166.16, Y:-24.80, Z:-7.19 [[ 9.73298610e-01 2.26845950e-01 3.50817875e-02 1.66164352e+02] [-2.26727068e-01 9.73930349e-01 -7.38317014e-03 -2.48003020e+01] [-3.58420598e-02 -7.67961585e-04 9.99357172e-01 -7.19467986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39587156000002 meters 0.027401622886643523 Centerline is valid? [True, True] Translation: X:166.19, Y:-24.80, Z:-7.20 [[ 9.73377900e-01 2.26511454e-01 3.50431895e-02 1.66192094e+02] [-2.26392675e-01 9.74008208e-01 -7.37342571e-03 -2.48048419e+01] [-3.58025196e-02 -7.56391790e-04 9.99358598e-01 -7.19629109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42587156000002 meters 0.02613415956304136 Centerline is valid? [True, True] Translation: X:166.22, Y:-24.81, Z:-7.20 [[ 9.73524693e-01 2.25871081e-01 3.50988076e-02 1.66219671e+02] [-2.25751590e-01 9.74156924e-01 -7.38285309e-03 -2.48120721e+01] [-3.58593195e-02 -7.36221844e-04 9.99356577e-01 -7.19712957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45587156000002 meters 0.024785396277806446 Centerline is valid? [True, True] Translation: X:166.25, Y:-24.82, Z:-7.20 [[ 9.73873806e-01 2.24388102e-01 3.49254918e-02 1.66247830e+02] [-2.24268901e-01 9.74499624e-01 -7.34457409e-03 -2.48202162e+01] [-3.56829137e-02 -6.80013348e-04 9.99362931e-01 -7.19856825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48587156000002 meters 0.024715462079122074 Centerline is valid? [True, True] Translation: X:166.27, Y:-24.83, Z:-7.20 [[ 9.74017954e-01 2.23823120e-01 3.45287663e-02 1.66274808e+02] [-2.23706294e-01 9.74629563e-01 -7.26012518e-03 -2.48265511e+01] [-3.52777403e-02 -6.52810061e-04 9.99377334e-01 -7.20017899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51587156000002 meters 0.032408144735438064 Centerline is valid? [True, True] Translation: X:166.30, Y:-24.83, Z:-7.20 [[ 9.74067574e-01 2.23638694e-01 3.43234009e-02 1.66302012e+02] [-2.23523212e-01 9.74671903e-01 -7.21489054e-03 -2.48314573e+01] [-3.50675832e-02 -6.44285871e-04 9.99384735e-01 -7.20256505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54587156000002 meters 0.024271603341493066 Centerline is valid? [True, True] Translation: X:166.33, Y:-24.84, Z:-7.20 [[ 9.74127073e-01 2.23456410e-01 3.38183190e-02 1.66329849e+02] [-2.23344270e-01 9.74713720e-01 -7.10645283e-03 -2.48391729e+01] [-3.45511619e-02 -6.30539671e-04 9.99402731e-01 -7.20368649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57587156000002 meters 0.023933309037196874 Centerline is valid? [True, True] Translation: X:166.36, Y:-24.85, Z:-7.21 [[ 9.74289607e-01 2.22809905e-01 3.33992151e-02 1.66357251e+02] [-2.22700199e-01 9.74861726e-01 -7.01690498e-03 -2.48453576e+01] [-3.41230524e-02 -6.01514234e-04 9.99417458e-01 -7.20639349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60587156000003 meters 0.02393401179744973 Centerline is valid? [True, True] Translation: X:166.39, Y:-24.85, Z:-7.21 [[ 9.74316730e-01 2.22717565e-01 3.32234398e-02 1.66385994e+02] [-2.22609030e-01 9.74882829e-01 -6.97782293e-03 -2.48509957e+01] [-3.39430447e-02 -5.97228084e-04 9.99423590e-01 -7.20769036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63587156000003 meters 0.023415633615390657 Centerline is valid? [True, True] Translation: X:166.41, Y:-24.86, Z:-7.21 [[ 9.74309190e-01 2.22708200e-01 3.35061146e-02 1.66413964e+02] [-2.22597861e-01 9.74884964e-01 -7.03554609e-03 -2.48559216e+01] [-3.42314811e-02 -6.03592217e-04 9.99413749e-01 -7.20807350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66587156000003 meters 0.02531952425552595 Centerline is valid? [True, True] Translation: X:166.44, Y:-24.86, Z:-7.21 [[ 9.74094439e-01 2.23576097e-01 3.39669453e-02 1.66442524e+02] [-2.23463283e-01 9.74686264e-01 -7.13071509e-03 -2.48557367e+01] [-3.47013725e-02 -6.44375222e-04 9.99397518e-01 -7.20846836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69587156000003 meters 0.02516177233208254 Centerline is valid? [True, True] Translation: X:166.47, Y:-24.86, Z:-7.21 [[ 9.73910907e-01 2.24313740e-01 3.43640998e-02 1.66471471e+02] [-2.24198811e-01 9.74516743e-01 -7.21181856e-03 -2.48598489e+01] [-3.51061006e-02 -6.80721577e-04 9.99383359e-01 -7.20827271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72587156000003 meters 0.027015910825517672 Centerline is valid? [True, True] Translation: X:166.50, Y:-24.86, Z:-7.21 [[ 9.73693772e-01 2.25201711e-01 3.47077488e-02 1.66499957e+02] [-2.25085093e-01 9.74311895e-01 -7.28232232e-03 -2.48613235e+01] [-3.54561640e-02 -7.21444962e-04 9.99370972e-01 -7.20918653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75587156000003 meters 0.02720768327219662 Centerline is valid? [True, True] Translation: X:166.53, Y:-24.87, Z:-7.21 [[ 9.73434479e-01 2.26320261e-01 3.47052521e-02 1.66528513e+02] [-2.26204448e-01 9.74052645e-01 -7.27957793e-03 -2.48671648e+01] [-3.54522586e-02 -7.64290245e-04 9.99371079e-01 -7.20892939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78587156000003 meters 0.02997874430975568 Centerline is valid? [True, True] Translation: X:166.56, Y:-24.86, Z:-7.21 [[ 9.73032749e-01 2.27976765e-01 3.51264162e-02 1.66557008e+02] [-2.27859265e-01 9.73666213e-01 -7.36613264e-03 -2.48639313e+01] [-3.58807118e-02 -8.36391111e-04 9.99355730e-01 -7.21080273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81587156000003 meters 0.030278133841781716 Centerline is valid? [True, True] Translation: X:166.59, Y:-24.87, Z:-7.21 [[ 9.72906043e-01 2.28473977e-01 3.54044114e-02 1.66585763e+02] [-2.28355009e-01 9.73549637e-01 -7.42250058e-03 -2.48670492e+01] [-3.61638001e-02 -8.63379028e-04 9.99345503e-01 -7.21106960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84587156000003 meters 0.030463144000349267 Centerline is valid? [True, True] Translation: X:166.61, Y:-24.87, Z:-7.21 [[ 9.72865672e-01 2.28639826e-01 3.54431094e-02 1.66614036e+02] [-2.28520760e-01 9.73510693e-01 -7.42916646e-03 -2.48701252e+01] [-3.62028493e-02 -8.71905284e-04 9.99344082e-01 -7.21221814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87587156000004 meters 0.030885962416968137 Centerline is valid? [True, True] Translation: X:166.64, Y:-24.87, Z:-7.21 [[ 9.72921591e-01 2.28439907e-01 3.51964061e-02 1.66640890e+02] [-2.28322455e-01 9.73557634e-01 -7.37487811e-03 -2.48725484e+01] [-3.59504463e-02 -8.60951715e-04 9.99353203e-01 -7.21386131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90587156000004 meters 0.0297880360467967 Centerline is valid? [True, True] Translation: X:166.67, Y:-24.87, Z:-7.22 [[ 9.73280062e-01 2.26972134e-01 3.47789043e-02 1.66668738e+02] [-2.26856663e-01 9.73900923e-01 -7.28325325e-03 -2.48745244e+01] [-3.55243025e-02 -8.01180994e-04 9.99368492e-01 -7.21634018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93587156000004 meters 0.029310959833852377 Centerline is valid? [True, True] Translation: X:166.70, Y:-24.88, Z:-7.22 [[ 9.73592160e-01 2.25672815e-01 3.44976176e-02 1.66696580e+02] [-2.25558466e-01 9.74202863e-01 -7.22220133e-03 -2.48817924e+01] [-3.52375323e-02 -7.49751101e-04 9.99378684e-01 -7.21686020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96587156000004 meters 0.024103776007935042 Centerline is valid? [True, True] Translation: X:166.72, Y:-24.89, Z:-7.22 [[ 9.74430828e-01 2.22036248e-01 3.44160655e-02 1.66724145e+02] [-2.21920230e-01 9.75038216e-01 -7.20344236e-03 -2.48876797e+01] [-3.51564044e-02 -6.18364848e-04 9.99381631e-01 -7.21897108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99587156000004 meters 0.02214804460759783 Centerline is valid? [True, True] Translation: X:166.75, Y:-24.89, Z:-7.22 [[ 9.74864594e-01 2.20075476e-01 3.47247511e-02 1.66751855e+02] [-2.19956184e-01 9.75482690e-01 -7.26632696e-03 -2.48945270e+01] [-3.54725340e-02 -5.54238867e-04 9.99370498e-01 -7.22019732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02587156 meters 0.02832717755154168 Centerline is valid? [True, True] Translation: X:166.78, Y:-24.90, Z:-7.22 [[ 9.75263828e-01 2.18279151e-01 3.48522289e-02 1.66780031e+02] [-2.18157895e-01 9.75886248e-01 -7.29130093e-03 -2.49018849e+01] [-3.56033499e-02 -4.92346846e-04 9.99365878e-01 -7.22029731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05587156 meters 0.01837930644854342 Centerline is valid? [True, True] Translation: X:166.81, Y:-24.91, Z:-7.22 [[ 9.75738394e-01 2.16068771e-01 3.53393949e-02 1.66808404e+02] [-2.15942717e-01 9.76378057e-01 -7.39136717e-03 -2.49089502e+01] [-3.61016533e-02 -4.19244216e-04 9.99348035e-01 -7.22175689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08587156000002 meters 0.016558041008911627 Centerline is valid? [True, True] Translation: X:166.84, Y:-24.91, Z:-7.22 [[ 9.76218265e-01 2.13877889e-01 3.54139504e-02 1.66835528e+02] [-2.13749901e-01 9.76860345e-01 -7.40588067e-03 -2.49148237e+01] [-3.61784379e-02 -3.39972405e-04 9.99345288e-01 -7.22325954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11587156000002 meters 0.014086695039609225 Centerline is valid? [True, True] Translation: X:166.86, Y:-24.92, Z:-7.23 [[ 9.77000845e-01 2.10363139e-01 3.48811998e-02 1.66863141e+02] [-2.10236806e-01 9.77623295e-01 -7.29239953e-03 -2.49201467e+01] [-3.56347255e-02 -2.08631547e-04 9.99364860e-01 -7.22568282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14587156000002 meters 0.013138844349633102 Centerline is valid? [True, True] Translation: X:166.89, Y:-24.93, Z:-7.23 [[ 9.77394275e-01 2.08550219e-01 3.47453154e-02 1.66891456e+02] [-2.08423801e-01 9.78011649e-01 -7.26180285e-03 -2.49273464e+01] [-3.54957738e-02 -1.44106156e-04 9.99369816e-01 -7.22773571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17587156000002 meters 0.012453499447060425 Centerline is valid? [True, True] Translation: X:166.92, Y:-24.93, Z:-7.23 [[ 9.77801944e-01 2.06663889e-01 3.45455608e-02 1.66918063e+02] [-2.06537798e-01 9.78411995e-01 -7.21852620e-03 -2.49344820e+01] [-3.52915997e-02 -7.66750996e-05 9.99377055e-01 -7.22920229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20587156000002 meters 0.028465958870242506 Centerline is valid? [True, True] Translation: X:166.95, Y:-24.94, Z:-7.23 [[ 9.78537317e-01 2.03256949e-01 3.39312811e-02 1.66945602e+02] [-2.03133327e-01 9.79125432e-01 -7.08807268e-03 -2.49425030e+01] [-3.46636803e-02 4.33695907e-05 9.99399033e-01 -7.23054214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23587156000002 meters 0.018866629919611758 Centerline is valid? [True, True] Translation: X:166.97, Y:-24.95, Z:-7.23 [[ 9.78866402e-01 2.01659787e-01 3.39690586e-02 1.66973822e+02] [-2.01534983e-01 9.79455625e-01 -7.09436787e-03 -2.49487472e+01] [-3.47018343e-02 9.84847019e-05 9.99397705e-01 -7.23225726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26587156000002 meters 0.013572951374987883 Centerline is valid? [True, True] Translation: X:167.00, Y:-24.96, Z:-7.23 [[ 9.79235968e-01 1.99827109e-01 3.41474074e-02 1.67001987e+02] [-1.99699933e-01 9.79831159e-01 -7.13000176e-03 -2.49555402e+01] [-3.48834614e-02 1.62719212e-04 9.99391374e-01 -7.23367846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29587156000002 meters 0.013572951374987883 Centerline is valid? [True, True] Translation: X:167.03, Y:-24.96, Z:-7.23 [[ 9.79244841e-01 1.99783567e-01 3.41477245e-02 1.67029711e+02] [-1.99656417e-01 9.79840038e-01 -7.12848275e-03 -2.49612337e+01] [-3.48834614e-02 1.62717640e-04 9.99391374e-01 -7.23495435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32587156000002 meters 0.028698964652927733 Centerline is valid? [True, True] Translation: X:167.06, Y:-24.97, Z:-7.23 [[ 9.79839148e-01 1.96727819e-01 3.48340153e-02 1.67057657e+02] [-1.96593632e-01 9.80458102e-01 -7.27010965e-03 -2.49682275e+01] [-3.55835253e-02 2.75392483e-04 9.99366668e-01 -7.23372799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35587156000003 meters 0.016445714773016665 Centerline is valid? [True, True] Translation: X:167.09, Y:-24.97, Z:-7.24 [[ 9.80213568e-01 1.94897310e-01 3.45890248e-02 1.67085435e+02] [-1.94763927e-01 9.80823595e-01 -7.21720926e-03 -2.49747142e+01] [-3.53323463e-02 3.37712134e-04 9.99375561e-01 -7.23543003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38587156000003 meters 0.022602403435484066 Centerline is valid? [True, True] Translation: X:167.11, Y:-24.98, Z:-7.24 [[ 9.80580052e-01 1.93077866e-01 3.44049285e-02 1.67113788e+02] [-1.92944828e-01 9.81183356e-01 -7.17744982e-03 -2.49824412e+01] [-3.51433499e-02 3.99811122e-04 9.99382202e-01 -7.23640370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41587156000003 meters 0.018811923376034014 Centerline is valid? [True, True] Translation: X:167.14, Y:-24.99, Z:-7.24 [[ 9.81021929e-01 1.90775918e-01 3.46485780e-02 1.67143405e+02] [-1.90639591e-01 9.81633493e-01 -7.22720085e-03 -2.49904725e+01] [-3.53909805e-02 4.84651801e-04 9.99373426e-01 -7.23704932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44587156000003 meters 0.032665299517503237 Centerline is valid? [True, True] Translation: X:167.17, Y:-25.01, Z:-7.24 [[ 9.81842626e-01 1.86557177e-01 3.43726341e-02 1.67172399e+02] [-1.86420482e-01 9.82443903e-01 -7.16806249e-03 -2.50050314e+01] [-3.51064383e-02 6.30146271e-04 9.99383380e-01 -7.23956304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47587156000003 meters 0.029319601345089135 Centerline is valid? [True, True] Translation: X:167.20, Y:-25.02, Z:-7.24 [[ 9.82230215e-01 1.84526513e-01 3.42603485e-02 1.67200474e+02] [-1.84389229e-01 9.82827282e-01 -7.15168026e-03 -2.50170372e+01] [-3.49916798e-02 7.07357205e-04 9.99387353e-01 -7.24318462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50587156000003 meters 0.03184718799230485 Centerline is valid? [True, True] Translation: X:167.23, Y:-25.03, Z:-7.24 [[ 9.82558021e-01 1.82759666e-01 3.43313229e-02 1.67230639e+02] [-1.82620724e-01 9.83157316e-01 -7.16680333e-03 -2.50267275e+01] [-3.50628938e-02 7.72189054e-04 9.99384809e-01 -7.24488335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53587156000003 meters 0.030072401345932552 Centerline is valid? [True, True] Translation: X:167.26, Y:-25.03, Z:-7.24 [[ 9.83001089e-01 1.80414737e-01 3.40496853e-02 1.67262589e+02] [-1.80276643e-01 9.83590261e-01 -7.10849718e-03 -2.50323502e+01] [-3.47734165e-02 8.49297513e-04 9.99394861e-01 -7.24420161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56587156000003 meters 0.03620248849249653 Centerline is valid? [True, True] Translation: X:167.29, Y:-25.05, Z:-7.25 [[ 9.83102519e-01 1.79885012e-01 3.39237402e-02 1.67291375e+02] [-1.79747604e-01 9.83687264e-01 -7.08275800e-03 -2.50470842e+01] [-3.46444332e-02 8.65366209e-04 9.99399327e-01 -7.24872717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59587156000003 meters 0.03666845550553878 Centerline is valid? [True, True] Translation: X:167.32, Y:-25.05, Z:-7.25 [[ 9.83117322e-01 1.79804527e-01 3.39214423e-02 1.67321868e+02] [-1.79666857e-01 9.83701971e-01 -7.08896374e-03 -2.50539960e+01] [-3.46432174e-02 8.74724103e-04 9.99399361e-01 -7.25017350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62587156000004 meters 0.029380209536938557 Centerline is valid? [True, True] Translation: X:167.36, Y:-25.05, Z:-7.25 [[ 9.83013762e-01 1.80389628e-01 3.38160698e-02 1.67355683e+02] [-1.80253187e-01 9.83594865e-01 -7.06612702e-03 -2.50519439e+01] [-3.45359687e-02 8.50645748e-04 9.99403093e-01 -7.24836853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65587156000004 meters 0.028774795713043783 Centerline is valid? [True, True] Translation: X:167.39, Y:-25.06, Z:-7.25 [[ 9.82582731e-01 1.82709638e-01 3.38875223e-02 1.67386306e+02] [-1.82573788e-01 9.83166611e-01 -7.08708170e-03 -2.50577853e+01] [-3.46119586e-02 7.76670762e-04 9.99400525e-01 -7.25032018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68587156000004 meters 0.026622114016931556 Centerline is valid? [True, True] Translation: X:167.42, Y:-25.06, Z:-7.25 [[ 9.82226121e-01 1.84545093e-01 3.42776282e-02 1.67417380e+02] [-1.84406971e-01 9.82823779e-01 -7.17557337e-03 -2.50608593e+01] [-3.50130850e-02 7.27001991e-04 9.99386590e-01 -7.25067306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71587156000004 meters 0.023231113140503818 Centerline is valid? [True, True] Translation: X:167.45, Y:-25.06, Z:-7.25 [[ 9.81787883e-01 1.86810730e-01 3.45586946e-02 1.67447957e+02] [-1.86671697e-01 9.82395707e-01 -7.23549265e-03 -2.50620568e+01] [-3.53019809e-02 6.52588839e-04 9.99376478e-01 -7.25078296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74587156000004 meters 0.020789602746402132 Centerline is valid? [True, True] Translation: X:167.48, Y:-25.06, Z:-7.25 [[ 9.81330043e-01 1.89157327e-01 3.47972993e-02 1.67478388e+02] [-1.89017840e-01 9.81946627e-01 -7.28544890e-03 -2.50643422e+01] [-3.55471868e-02 5.72119517e-04 9.99367835e-01 -7.25143261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77587156 meters 0.017353963969243793 Centerline is valid? [True, True] Translation: X:167.51, Y:-25.06, Z:-7.25 [[ 9.80425456e-01 1.93755450e-01 3.49964399e-02 1.67507844e+02] [-1.93617275e-01 9.81049774e-01 -7.32748202e-03 -2.50639536e+01] [-3.57529890e-02 4.08134593e-04 9.99360574e-01 -7.25341130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80587156 meters 0.015377750106348023 Centerline is valid? [True, True] Translation: X:167.54, Y:-25.07, Z:-7.25 [[ 9.79967213e-01 1.96026634e-01 3.51826655e-02 1.67537398e+02] [-1.95888494e-01 9.80598518e-01 -7.36514418e-03 -2.50660037e+01] [-3.59438341e-02 3.25720454e-04 9.99353759e-01 -7.25398399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83587156000002 meters 0.014121863207321412 Centerline is valid? [True, True] Translation: X:167.57, Y:-25.07, Z:-7.26 [[ 9.79579929e-01 1.97903864e-01 3.54573497e-02 1.67565556e+02] [-1.97764827e-01 9.80221400e-01 -7.42154123e-03 -2.50685128e+01] [-3.62248047e-02 2.57776209e-04 9.99343633e-01 -7.25538308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86587156000002 meters 0.012885958865938844 Centerline is valid? [True, True] Translation: X:167.59, Y:-25.07, Z:-7.26 [[ 9.79195434e-01 1.99765333e-01 3.56386491e-02 1.67594731e+02] [-1.99626185e-01 9.79843751e-01 -7.45719243e-03 -2.50714997e+01] [-3.64099961e-02 1.87641222e-04 9.99336919e-01 -7.25704384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89587156000002 meters 0.012997129123499878 Centerline is valid? [True, True] Translation: X:167.62, Y:-25.08, Z:-7.26 [[ 9.79192476e-01 1.99788965e-01 3.55874174e-02 1.67621980e+02] [-1.99650292e-01 9.79838933e-01 -7.44483816e-03 -2.50771366e+01] [-3.63573336e-02 1.84891236e-04 9.99338836e-01 -7.25873239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92587156000002 meters 0.025792377293093638 Centerline is valid? [True, True] Translation: X:167.65, Y:-25.08, Z:-7.26 [[ 9.79362526e-01 1.98942047e-01 3.56525492e-02 1.67649940e+02] [-1.98802388e-01 9.80011233e-01 -7.45618385e-03 -2.50841191e+01] [-3.64232472e-02 2.14495147e-04 9.99336430e-01 -7.25977162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95587156000002 meters 0.014086699075875066 Centerline is valid? [True, True] Translation: X:167.68, Y:-25.09, Z:-7.26 [[ 9.79559177e-01 1.97890199e-01 3.61010701e-02 1.67677751e+02] [-1.97746354e-01 9.80224160e-01 -7.54821820e-03 -2.50912973e+01] [-3.68808595e-02 2.55071434e-04 9.99319637e-01 -7.26107928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98587156000002 meters 0.01651277215138047 Centerline is valid? [True, True] Translation: X:167.71, Y:-25.10, Z:-7.26 [[ 9.80170974e-01 1.94932807e-01 3.55817639e-02 1.67705114e+02] [-1.94791189e-01 9.80816533e-01 -7.43782314e-03 -2.51025333e+01] [-3.63490581e-02 3.59324266e-04 9.99339090e-01 -7.26340294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01587156000002 meters 0.028392921305839768 Centerline is valid? [True, True] Translation: X:167.73, Y:-25.11, Z:-7.27 [[ 9.80518513e-01 1.93260226e-01 3.51273457e-02 1.67733798e+02] [-1.93121175e-01 9.81147447e-01 -7.34158523e-03 -2.51120940e+01] [-3.58839420e-02 4.14725976e-04 9.99355878e-01 -7.26556861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04587156000002 meters 0.01941537745973588 Centerline is valid? [True, True] Translation: X:167.76, Y:-25.12, Z:-7.27 [[ 9.80800341e-01 1.91872019e-01 3.48686032e-02 1.67762008e+02] [-1.91734161e-01 9.81419847e-01 -7.28668672e-03 -2.51211605e+01] [-3.56188505e-02 4.61282429e-04 9.99365341e-01 -7.26823053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07587156000002 meters 0.03171846318241194 Centerline is valid? [True, True] Translation: X:167.79, Y:-25.13, Z:-7.27 [[ 9.81171855e-01 1.90030102e-01 3.45014688e-02 1.67789715e+02] [-1.89894027e-01 9.81778126e-01 -7.20904266e-03 -2.51331567e+01] [-3.52427225e-02 5.21686912e-04 9.99378646e-01 -7.26988785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10587156000003 meters 0.021935650022807656 Centerline is valid? [True, True] Translation: X:167.82, Y:-25.14, Z:-7.27 [[ 9.81207516e-01 1.89821026e-01 3.46379587e-02 1.67818230e+02] [-1.89683752e-01 9.81818566e-01 -7.23726054e-03 -2.51401467e+01] [-3.53819751e-02 5.30996475e-04 9.99373721e-01 -7.27177010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13587156000003 meters 0.022263854668032115 Centerline is valid? [True, True] Translation: X:167.85, Y:-25.15, Z:-7.27 [[ 9.81194446e-01 1.89884759e-01 3.46588770e-02 1.67846615e+02] [-1.89747401e-01 9.81806243e-01 -7.24047307e-03 -2.51476027e+01] [-3.54031574e-02 5.27880127e-04 9.99372972e-01 -7.27336017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16587156000003 meters 0.021945707736783216 Centerline is valid? [True, True] Translation: X:167.88, Y:-25.15, Z:-7.27 [[ 9.81144296e-01 1.90055494e-01 3.51394283e-02 1.67875176e+02] [-1.89914379e-01 9.81773206e-01 -7.34166114e-03 -2.51539614e+01] [-3.58942722e-02 5.29746258e-04 9.99355453e-01 -7.27374971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19587156000003 meters 0.0206875357735132 Centerline is valid? [True, True] Translation: X:167.90, Y:-25.16, Z:-7.28 [[ 9.80841266e-01 1.91615413e-01 3.51275499e-02 1.67902691e+02] [-1.91475419e-01 9.81469975e-01 -7.33846384e-03 -2.51609563e+01] [-3.58827983e-02 4.71805832e-04 9.99355894e-01 -7.27537228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22587156000003 meters 0.01941009720523432 Centerline is valid? [True, True] Translation: X:167.93, Y:-25.17, Z:-7.28 [[ 9.80620294e-01 1.92831051e-01 3.46413881e-02 1.67931832e+02] [-1.92695710e-01 9.81231884e-01 -7.23561340e-03 -2.51665909e+01] [-3.53864854e-02 4.20142473e-04 9.99373614e-01 -7.27717873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25587156000003 meters 0.02931860836505813 Centerline is valid? [True, True] Translation: X:167.96, Y:-25.17, Z:-7.28 [[ 9.80280399e-01 1.94595538e-01 3.43935371e-02 1.67960233e+02] [-1.94463232e-01 9.80883506e-01 -7.18328287e-03 -2.51710537e+01] [-3.51338880e-02 3.53353031e-04 9.99382552e-01 -7.27863123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28587156000003 meters 0.014108489144216915 Centerline is valid? [True, True] Translation: X:167.99, Y:-25.17, Z:-7.28 [[ 9.79349923e-01 1.99294663e-01 3.39906631e-02 1.67990131e+02] [-1.99168308e-01 9.79939592e-01 -7.09795111e-03 -2.51708625e+01] [-3.47233803e-02 1.81515024e-04 9.99396945e-01 -7.28169896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31587156000003 meters 0.012695370506870819 Centerline is valid? [True, True] Translation: X:168.02, Y:-25.17, Z:-7.28 [[ 9.78807327e-01 2.01865058e-01 3.44487372e-02 1.68018464e+02] [-2.01736973e-01 9.79413340e-01 -7.19048807e-03 -2.51735097e+01] [-3.51910610e-02 8.85184481e-05 9.99380599e-01 -7.28242606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34587156000003 meters 0.011543458285929961 Centerline is valid? [True, True] Translation: X:168.05, Y:-25.18, Z:-7.28 [[ 9.78210545e-01 2.04661373e-01 3.48977319e-02 1.68047358e+02] [-2.04531760e-01 9.78832837e-01 -7.28264080e-03 -2.51753795e+01] [-3.56495211e-02 -1.37384825e-05 9.99364354e-01 -7.27938652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37587156000004 meters 0.024714951344583503 Centerline is valid? [True, True] Translation: X:168.08, Y:-25.17, Z:-7.28 [[ 9.77000943e-01 2.10323538e-01 3.51164780e-02 1.68076055e+02] [-2.10196013e-01 9.77631812e-01 -7.32644354e-03 -2.51712607e+01] [-3.58719095e-02 -2.23401415e-04 9.99356371e-01 -7.28276872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40587156000004 meters 0.019003452280457394 Centerline is valid? [True, True] Translation: X:168.11, Y:-25.17, Z:-7.28 [[ 9.76425669e-01 2.12958771e-01 3.52345622e-02 1.68105000e+02] [-2.12832159e-01 9.77061133e-01 -7.34945101e-03 -2.51720042e+01] [-3.59914514e-02 -3.22855330e-04 9.99352046e-01 -7.28382408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43587156000004 meters 0.018918425704217087 Centerline is valid? [True, True] Translation: X:168.13, Y:-25.17, Z:-7.28 [[ 9.75897823e-01 2.15346103e-01 3.53482083e-02 1.68133454e+02] [-2.15220291e-01 9.76537703e-01 -7.37167661e-03 -2.51745225e+01] [-3.61063199e-02 -4.13648495e-04 9.99347869e-01 -7.28441566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46587156000004 meters 0.018833601670755422 Centerline is valid? [True, True] Translation: X:168.16, Y:-25.18, Z:-7.28 [[ 9.75435620e-01 2.17399332e-01 3.55370576e-02 1.68161289e+02] [-2.17273608e-01 9.76082623e-01 -7.40900496e-03 -2.51797865e+01] [-3.62978171e-02 -4.94257369e-04 9.99340895e-01 -7.28396969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49587156000004 meters 0.023761375332924783 Centerline is valid? [True, True] Translation: X:168.19, Y:-25.18, Z:-7.29 [[ 9.74655971e-01 2.20988375e-01 3.47832769e-02 1.68190137e+02] [-2.20870294e-01 9.75276247e-01 -7.24952491e-03 -2.51788136e+01] [-3.55253644e-02 -6.16799841e-04 9.99368585e-01 -7.28781165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52587156 meters 0.023714843213593184 Centerline is valid? [True, True] Translation: X:168.22, Y:-25.18, Z:-7.29 [[ 9.74393111e-01 2.22174101e-01 3.45938462e-02 1.68218880e+02] [-2.22058102e-01 9.75006788e-01 -7.20856608e-03 -2.51841822e+01] [-3.53307915e-02 -6.57866680e-04 9.99375456e-01 -7.28838153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55587156 meters 0.025545716359181382 Centerline is valid? [True, True] Translation: X:168.25, Y:-25.19, Z:-7.29 [[ 9.74135954e-01 2.23294697e-01 3.46210985e-02 1.68246600e+02] [-2.23179280e-01 9.74750731e-01 -7.21260790e-03 -2.51859091e+01] [-3.53574782e-02 -7.00651156e-04 9.99374483e-01 -7.28986028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58587156000002 meters 0.02833146659846662 Centerline is valid? [True, True] Translation: X:168.28, Y:-25.18, Z:-7.29 [[ 9.73699562e-01 2.25102792e-01 3.51837556e-02 1.68275545e+02] [-2.24984852e-01 9.74334708e-01 -7.32756113e-03 -2.51848796e+01] [-3.59302087e-02 -7.80968997e-04 9.99353996e-01 -7.29021777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61587156000002 meters 0.028326600654131107 Centerline is valid? [True, True] Translation: X:168.30, Y:-25.19, Z:-7.29 [[ 9.73708203e-01 2.25032723e-01 3.53922130e-02 1.68303281e+02] [-2.24913410e-01 9.74350890e-01 -7.36888397e-03 -2.51896240e+01] [-3.61426743e-02 -7.85040562e-04 9.99346332e-01 -7.29115615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64587156000002 meters 0.027139333534298038 Centerline is valid? [True, True] Translation: X:168.33, Y:-25.20, Z:-7.29 [[ 9.73800523e-01 2.24588035e-01 3.56757123e-02 1.68331027e+02] [-2.24466608e-01 9.74453493e-01 -7.42509212e-03 -2.51958787e+01] [-3.64319093e-02 -7.77447521e-04 9.99335835e-01 -7.29140305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67587156000002 meters 0.02658619343356977 Centerline is valid? [True, True] Translation: X:168.36, Y:-25.20, Z:-7.29 [[ 9.73997946e-01 2.23685345e-01 3.59564778e-02 1.68359574e+02] [-2.23561450e-01 9.74661122e-01 -7.48173305e-03 -2.52014019e+01] [-3.67189350e-02 -7.51289680e-04 9.99325350e-01 -7.29224764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70587156000002 meters 0.025287391916489814 Centerline is valid? [True, True] Translation: X:168.39, Y:-25.21, Z:-7.29 [[ 9.74255936e-01 2.22557243e-01 3.59672847e-02 1.68388094e+02] [-2.22432573e-01 9.74919365e-01 -7.48212002e-03 -2.52080543e+01] [-3.67304024e-02 -7.10795839e-04 9.99324958e-01 -7.29402335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73587156000002 meters 0.020079069446954197 Centerline is valid? [True, True] Translation: X:168.42, Y:-25.22, Z:-7.30 [[ 9.75163325e-01 2.18560989e-01 3.58829090e-02 1.68415380e+02] [-2.18434233e-01 9.75823130e-01 -7.46361304e-03 -2.52200499e+01] [-3.66466272e-02 -5.59813971e-04 9.99328130e-01 -7.29518534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76587156000002 meters 0.01806392702014433 Centerline is valid? [True, True] Translation: X:168.44, Y:-25.23, Z:-7.30 [[ 9.75719304e-01 2.15995394e-01 3.63019314e-02 1.68442286e+02] [-2.15864000e-01 9.76394268e-01 -7.54761621e-03 -2.52283110e+01] [-3.70752481e-02 -4.71925299e-04 9.99312365e-01 -7.29543707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79587156000002 meters 0.016365060594201532 Centerline is valid? [True, True] Translation: X:168.47, Y:-25.24, Z:-7.30 [[ 9.76332037e-01 2.13123447e-01 3.67987632e-02 1.68469393e+02] [-2.12986484e-01 9.77025209e-01 -7.64842937e-03 -2.52365020e+01] [-3.75833790e-02 -3.70232560e-04 9.99293427e-01 -7.29655629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82587156000002 meters 0.011623838598994254 Centerline is valid? [True, True] Translation: X:168.50, Y:-25.25, Z:-7.30 [[ 9.77737832e-01 2.06568504e-01 3.68535653e-02 1.68495623e+02] [-2.06426541e-01 9.78432133e-01 -7.65796474e-03 -2.52532984e+01] [-3.76406068e-02 -1.20072173e-04 9.99291334e-01 -7.29720052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85587156000003 meters 0.024174252375605988 Centerline is valid? [True, True] Translation: X:168.52, Y:-25.26, Z:-7.30 [[ 9.78476425e-01 2.03068811e-01 3.67007201e-02 1.68521963e+02] [-2.02925635e-01 9.79164469e-01 -7.62423758e-03 -2.52648444e+01] [-3.74842860e-02 1.26198180e-05 9.99297217e-01 -7.29875888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88587156000003 meters 0.011708244194604743 Centerline is valid? [True, True] Translation: X:168.55, Y:-25.28, Z:-7.30 [[ 9.79145505e-01 1.99795434e-01 3.68220693e-02 1.68550221e+02] [-1.99649050e-01 9.79837622e-01 -7.64794814e-03 -2.52762968e+01] [-3.76076740e-02 1.36962880e-04 9.99292572e-01 -7.30026177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91587156000003 meters 0.026503207833079717 Centerline is valid? [True, True] Translation: X:168.58, Y:-25.29, Z:-7.30 [[ 9.80326697e-01 1.94038652e-01 3.61741554e-02 1.68577590e+02] [-1.93893498e-01 9.80993822e-01 -7.51216774e-03 -2.52940915e+01] [-3.69442739e-02 3.50445035e-04 9.99317266e-01 -7.30312549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94587156000003 meters 0.017596592065774876 Centerline is valid? [True, True] Translation: X:168.61, Y:-25.31, Z:-7.31 [[ 9.80830303e-01 1.91569341e-01 3.56805906e-02 1.68606640e+02] [-1.91426472e-01 9.81478984e-01 -7.41011810e-03 -2.53050500e+01] [-3.64393013e-02 4.37858805e-04 9.99335772e-01 -7.30529815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97587156000003 meters 0.01945859584078053 Centerline is valid? [True, True] Translation: X:168.64, Y:-25.32, Z:-7.31 [[ 9.81207463e-01 1.89645613e-01 3.55873012e-02 1.68636849e+02] [-1.89502259e-01 9.81852476e-01 -7.38981968e-03 -2.53159730e+01] [-3.63429267e-02 5.07072258e-04 9.99339249e-01 -7.30701589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00587156000003 meters 0.021559256083880717 Centerline is valid? [True, True] Translation: X:168.67, Y:-25.33, Z:-7.31 [[ 9.81494962e-01 1.88251871e-01 3.50552906e-02 1.68666470e+02] [-1.88111668e-01 9.82120626e-01 -7.28539249e-03 -2.53271600e+01] [-3.58000127e-02 5.56266840e-04 9.99358819e-01 -7.30971940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03587156000003 meters 0.021989038909517585 Centerline is valid? [True, True] Translation: X:168.70, Y:-25.34, Z:-7.31 [[ 9.81854292e-01 1.86503660e-01 3.43297816e-02 1.68696451e+02] [-1.86367948e-01 9.82454075e-01 -7.13990907e-03 -2.53383990e+01] [-3.50590530e-02 6.12379424e-04 9.99385055e-01 -7.31082608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06587156000003 meters 0.023901309331788835 Centerline is valid? [True, True] Translation: X:168.73, Y:-25.35, Z:-7.31 [[ 9.81888519e-01 1.86307385e-01 3.44164932e-02 1.68726856e+02] [-1.86170674e-01 9.82491306e-01 -7.16338070e-03 -2.53495649e+01] [-3.51484961e-02 6.26299533e-04 9.99381904e-01 -7.31352910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09587156000003 meters 0.02390959989979466 Centerline is valid? [True, True] Translation: X:168.76, Y:-25.36, Z:-7.31 [[ 9.81831755e-01 1.86542568e-01 3.47602555e-02 1.68758046e+02] [-1.86403021e-01 9.82446677e-01 -7.24161688e-03 -2.53588464e+01] [-3.55009673e-02 6.30632771e-04 9.99369443e-01 -7.31446332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12587156000004 meters 0.022639863465647666 Centerline is valid? [True, True] Translation: X:168.79, Y:-25.37, Z:-7.31 [[ 9.81628610e-01 1.87524355e-01 3.52120461e-02 1.68789170e+02] [-1.87381550e-01 9.82259765e-01 -7.34232202e-03 -2.53667539e+01] [-3.59642403e-02 6.09345596e-04 9.99352892e-01 -7.31430810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15587156000004 meters 0.018579802938873763 Centerline is valid? [True, True] Translation: X:168.82, Y:-25.37, Z:-7.31 [[ 9.80936509e-01 1.90905708e-01 3.63121925e-02 1.68820771e+02] [-1.90755878e-01 9.81608248e-01 -7.57907658e-03 -2.53723620e+01] [-3.70912366e-02 5.07828781e-04 9.99311754e-01 -7.31261535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18587156000004 meters 0.018579802938873763 Centerline is valid? [True, True] Translation: X:168.85, Y:-25.38, Z:-7.31 [[ 9.80899730e-01 1.91094623e-01 3.63120459e-02 1.68852533e+02] [-1.90944896e-01 9.81571492e-01 -7.57977951e-03 -2.53791798e+01] [-3.70913241e-02 5.01403869e-04 9.99311754e-01 -7.31407981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21587156000004 meters 0.020550003205571196 Centerline is valid? [True, True] Translation: X:168.88, Y:-25.38, Z:-7.32 [[ 9.80447930e-01 1.93377642e-01 3.64272414e-02 1.68883670e+02] [-1.93228252e-01 9.81124308e-01 -7.61147784e-03 -2.53843060e+01] [-3.72115417e-02 4.23885511e-04 9.99307321e-01 -7.31522028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24587156000004 meters 0.014645413639418249 Centerline is valid? [True, True] Translation: X:168.92, Y:-25.39, Z:-7.32 [[ 9.79860220e-01 1.96341576e-01 3.63859050e-02 1.68915348e+02] [-1.96194351e-01 9.80535509e-01 -7.60864361e-03 -2.53884250e+01] [-3.71715650e-02 3.16698203e-04 9.99308848e-01 -7.31734260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27587156 meters 0.011770224240120534 Centerline is valid? [True, True] Translation: X:168.95, Y:-25.39, Z:-7.32 [[ 9.78657278e-01 2.02384756e-01 3.56418577e-02 1.68945698e+02] [-2.02247239e-01 9.79306082e-01 -7.46005234e-03 -2.53897086e+01] [-3.64140889e-02 9.23671982e-05 9.99336783e-01 -7.32078655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30587156 meters 0.018100598326007106 Centerline is valid? [True, True] Translation: X:168.98, Y:-25.39, Z:-7.32 [[ 9.78042589e-01 2.05412758e-01 3.51893777e-02 1.68975206e+02] [-2.05280555e-01 9.78675431e-01 -7.36854165e-03 -2.53923535e+01] [-3.59525718e-02 -1.69474153e-05 9.99353497e-01 -7.32229745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33587156000002 meters 0.012548799220207216 Centerline is valid? [True, True] Translation: X:169.01, Y:-25.39, Z:-7.33 [[ 9.77374115e-01 2.08630340e-01 3.48313323e-02 1.69005069e+02] [-2.08502889e-01 9.77994562e-01 -7.29260701e-03 -2.53942606e+01] [-3.55863126e-02 -1.34828086e-04 9.99366597e-01 -7.32517019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36587156000002 meters 0.016701329054810754 Centerline is valid? [True, True] Translation: X:169.03, Y:-25.39, Z:-7.33 [[ 9.76181909e-01 2.14312436e-01 3.37499807e-02 1.69034030e+02] [-2.14196169e-01 9.76765105e-01 -7.06618851e-03 -2.53922575e+01] [-3.44801755e-02 -3.31231188e-04 9.99405327e-01 -7.32848077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39587156000002 meters 0.019359152438098506 Centerline is valid? [True, True] Translation: X:169.06, Y:-25.39, Z:-7.33 [[ 9.75589670e-01 2.17011863e-01 3.36250968e-02 1.69061891e+02] [-2.16898107e-01 9.76168873e-01 -7.03861330e-03 -2.53940603e+01] [-3.43512355e-02 -4.26421407e-04 9.99409731e-01 -7.33054679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42587156000002 meters 0.02153282706314231 Centerline is valid? [True, True] Translation: X:169.09, Y:-25.40, Z:-7.33 [[ 9.75017655e-01 2.19612394e-01 3.33311921e-02 1.69090570e+02] [-2.19502221e-01 9.75587070e-01 -6.97456339e-03 -2.53967029e+01] [-3.40491806e-02 -5.15948257e-04 9.99420025e-01 -7.33166744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45587156000002 meters 0.02474192094752462 Centerline is valid? [True, True] Translation: X:169.12, Y:-25.40, Z:-7.33 [[ 9.73818152e-01 2.24687938e-01 3.45475991e-02 1.69120956e+02] [-2.24572835e-01 9.74430506e-01 -7.22709283e-03 -2.53966862e+01] [-3.52880750e-02 -7.20578062e-04 9.99376922e-01 -7.32959890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48587156000002 meters 0.027040556582344978 Centerline is valid? [True, True] Translation: X:169.15, Y:-25.40, Z:-7.33 [[ 9.73246292e-01 2.27084169e-01 3.49919239e-02 1.69149803e+02] [-2.26967655e-01 9.73874792e-01 -7.31936635e-03 -2.53981865e+01] [-3.57398648e-02 -8.18488749e-04 9.99360792e-01 -7.32988352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51587156000002 meters 0.030476742734300816 Centerline is valid? [True, True] Translation: X:169.18, Y:-25.40, Z:-7.33 [[ 9.72693696e-01 2.29417274e-01 3.51381259e-02 1.69178666e+02] [-2.29301371e-01 9.73327739e-01 -7.34808572e-03 -2.53980627e+01] [-3.58866905e-02 -9.09783810e-04 9.99355451e-01 -7.33122578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54587156000002 meters 0.03511560798362762 Centerline is valid? [True, True] Translation: X:169.21, Y:-25.39, Z:-7.33 [[ 9.71855730e-01 2.32892312e-01 3.54628066e-02 1.69208696e+02] [-2.32776625e-01 9.72501964e-01 -7.41435434e-03 -2.53946383e+01] [-3.62143952e-02 -1.04922966e-03 9.99343493e-01 -7.33280124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57587156000002 meters 0.03836723399372787 Centerline is valid? [True, True] Translation: X:169.24, Y:-25.40, Z:-7.33 [[ 9.71609352e-01 2.33990886e-01 3.49790169e-02 1.69237663e+02] [-2.33879087e-01 9.72238194e-01 -7.31203103e-03 -2.53985427e+01] [-3.57188848e-02 -1.07642280e-03 9.99361297e-01 -7.33382437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60587156000003 meters 0.0379654395866882 Centerline is valid? [True, True] Translation: X:169.27, Y:-25.40, Z:-7.34 [[ 9.71560787e-01 2.34224586e-01 3.47632014e-02 1.69265443e+02] [-2.34114369e-01 9.72181916e-01 -7.26532973e-03 -2.54003074e+01] [-3.54978746e-02 -1.07985549e-03 9.99369168e-01 -7.33740080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63587156000003 meters 0.03567676852774158 Centerline is valid? [True, True] Translation: X:169.29, Y:-25.41, Z:-7.34 [[ 9.71769000e-01 2.33433945e-01 3.42579114e-02 1.69293361e+02] [-2.33326495e-01 9.72372108e-01 -7.15755348e-03 -2.54064105e+01] [-3.49822534e-02 -1.03778979e-03 9.99387395e-01 -7.33889071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66587156000003 meters 0.0344080896160645 Centerline is valid? [True, True] Translation: X:169.32, Y:-25.41, Z:-7.34 [[ 9.72049211e-01 2.32252551e-01 3.43377926e-02 1.69321492e+02] [-2.32143922e-01 9.72655003e-01 -7.17255582e-03 -2.54118498e+01] [-3.50646702e-02 -9.99232626e-04 9.99384546e-01 -7.34033082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69587156000003 meters 0.03246325408948495 Centerline is valid? [True, True] Translation: X:169.35, Y:-25.42, Z:-7.34 [[ 9.72449884e-01 2.30544618e-01 3.45022030e-02 1.69349709e+02] [-2.30433932e-01 9.73061297e-01 -7.20519102e-03 -2.54185185e+01] [-3.52338764e-02 -9.43791122e-04 9.99378649e-01 -7.34135596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72587156000003 meters 0.030552762158859426 Centerline is valid? [True, True] Translation: X:169.38, Y:-25.42, Z:-7.34 [[ 9.73010523e-01 2.28126928e-01 3.47653156e-02 1.69377270e+02] [-2.28013066e-01 9.73631017e-01 -7.25840565e-03 -2.54248203e+01] [-3.55044274e-02 -8.64441111e-04 9.99369145e-01 -7.34230961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75587156000003 meters 0.02470237129610581 Centerline is valid? [True, True] Translation: X:169.41, Y:-25.44, Z:-7.34 [[ 9.74315041e-01 2.22430211e-01 3.51425958e-02 1.69405522e+02] [-2.22310230e-01 9.74948387e-01 -7.33510339e-03 -2.54360777e+01] [-3.58937657e-02 -6.65856999e-04 9.99355389e-01 -7.34306347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78587156000003 meters 0.021684431805748337 Centerline is valid? [True, True] Translation: X:169.43, Y:-25.44, Z:-7.34 [[ 9.75014133e-01 2.19298059e-01 3.54372884e-02 1.69432398e+02] [-2.19173989e-01 9.75657754e-01 -7.39659706e-03 -2.54449434e+01] [-3.61967246e-02 -5.55145169e-04 9.99344530e-01 -7.34408045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81587156000003 meters 0.018682387589818498 Centerline is valid? [True, True] Translation: X:169.46, Y:-25.45, Z:-7.34 [[ 9.75707847e-01 2.16127534e-01 3.58201919e-02 1.69460384e+02] [-2.15998718e-01 9.76365040e-01 -7.47410376e-03 -2.54542238e+01] [-3.65889427e-02 -4.44573837e-04 9.99330302e-01 -7.34463701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84587156000003 meters 0.013604031910895887 Centerline is valid? [True, True] Translation: X:169.49, Y:-25.47, Z:-7.34 [[ 9.76968033e-01 2.10273734e-01 3.63100445e-02 1.69487442e+02] [-2.10137373e-01 9.77642524e-01 -7.57497618e-03 -2.54686067e+01] [-3.70910621e-02 -2.29587793e-04 9.99311863e-01 -7.34474889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87587156000004 meters 0.012033806515252637 Centerline is valid? [True, True] Translation: X:169.52, Y:-25.48, Z:-7.35 [[ 9.77593994e-01 2.07384555e-01 3.60780897e-02 1.69515011e+02] [-2.07248008e-01 9.78259491e-01 -7.52538658e-03 -2.54783016e+01] [-3.68543826e-02 -1.20339483e-04 9.99320639e-01 -7.34600252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90587156000004 meters 0.01160461636379622 Centerline is valid? [True, True] Translation: X:169.54, Y:-25.49, Z:-7.35 [[ 9.78151441e-01 2.04805517e-01 3.56995760e-02 1.69541651e+02] [-2.04670162e-01 9.78802687e-01 -7.44479488e-03 -2.54863156e+01] [-3.64675760e-02 -2.45011875e-05 9.99334836e-01 -7.34810703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93587156000004 meters 0.02730019592343619 Centerline is valid? [True, True] Translation: X:169.57, Y:-25.49, Z:-7.35 [[ 9.78678095e-01 2.02297711e-01 3.55643420e-02 1.69569485e+02] [-2.02161807e-01 9.79324069e-01 -7.41430724e-03 -2.54942902e+01] [-3.63289135e-02 6.64684273e-05 9.99339885e-01 -7.34874995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96587156000004 meters 0.023044686029379008 Centerline is valid? [True, True] Translation: X:169.60, Y:-25.51, Z:-7.35 [[ 9.79703628e-01 1.97393012e-01 3.48826521e-02 1.69596588e+02] [-1.97259223e-01 9.80324406e-01 -7.27041356e-03 -2.55060961e+01] [-3.56314440e-02 2.41925717e-04 9.99364969e-01 -7.35192201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99587156000004 meters 0.028410833684175386 Centerline is valid? [True, True] Translation: X:169.63, Y:-25.52, Z:-7.35 [[ 9.80194341e-01 1.95056857e-01 3.42326773e-02 1.69625038e+02] [-1.94926634e-01 9.80791885e-01 -7.13349040e-03 -2.55162630e+01] [-3.49665683e-02 3.19346377e-04 9.99388432e-01 -7.35424806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02587156 meters 0.01832946383019359 Centerline is valid? [True, True] Translation: X:169.65, Y:-25.53, Z:-7.36 [[ 9.80648482e-01 1.92803450e-01 3.39909339e-02 1.69653575e+02] [-1.92673721e-01 9.81237317e-01 -7.08271140e-03 -2.55258965e+01] [-3.47187440e-02 3.96490467e-04 9.99397044e-01 -7.35665367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05587156 meters 0.03178463969355565 Centerline is valid? [True, True] Translation: X:169.68, Y:-25.54, Z:-7.36 [[ 9.81552959e-01 1.88220144e-01 3.35703251e-02 1.69681049e+02] [-1.88090964e-01 9.82126710e-01 -6.99392580e-03 -2.55407965e+01] [-3.42867106e-02 5.50633758e-04 9.99411886e-01 -7.35841796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08587156000002 meters 0.024968911502045336 Centerline is valid? [True, True] Translation: X:169.71, Y:-25.55, Z:-7.36 [[ 9.81875394e-01 1.86469996e-01 3.39065165e-02 1.69711330e+02] [-1.86337088e-01 9.82460460e-01 -7.06636541e-03 -2.55506851e+01] [-3.46294770e-02 6.20248754e-04 9.99400027e-01 -7.36000418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11587156000002 meters 0.026684638190051412 Centerline is valid? [True, True] Translation: X:169.74, Y:-25.56, Z:-7.36 [[ 9.82160277e-01 1.84883057e-01 3.43430408e-02 1.69742463e+02] [-1.84745754e-01 9.82760290e-01 -7.15678174e-03 -2.55610434e+01] [-3.50741444e-02 6.84375759e-04 9.99384479e-01 -7.36042108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14587156000002 meters 0.026277106864845537 Centerline is valid? [True, True] Translation: X:169.77, Y:-25.57, Z:-7.36 [[ 9.82401823e-01 1.83574016e-01 3.44563375e-02 1.69773334e+02] [-1.83434796e-01 9.83005613e-01 -7.18617368e-03 -2.55681430e+01] [-3.51899679e-02 7.39218863e-04 9.99380368e-01 -7.36019613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17587156000002 meters 0.028802406616963618 Centerline is valid? [True, True] Translation: X:169.80, Y:-25.58, Z:-7.36 [[ 9.82685436e-01 1.82098168e-01 3.41992810e-02 1.69802410e+02] [-1.81959936e-01 9.83280037e-01 -7.13799616e-03 -2.55801789e+01] [-3.49272863e-02 7.91505884e-04 9.99389543e-01 -7.36205868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20587156000002 meters 0.03443010321339143 Centerline is valid? [True, True] Translation: X:169.83, Y:-25.59, Z:-7.36 [[ 9.82721206e-01 1.81916219e-01 3.41397196e-02 1.69833739e+02] [-1.81778172e-01 9.83313707e-01 -7.13088399e-03 -2.55884958e+01] [-3.48672777e-02 8.01815078e-04 9.99391630e-01 -7.36293113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23587156000002 meters 0.02902481892035255 Centerline is valid? [True, True] Translation: X:169.87, Y:-25.60, Z:-7.36 [[ 9.82700773e-01 1.81950975e-01 3.45403180e-02 1.69865614e+02] [-1.81809488e-01 9.83307265e-01 -7.22029391e-03 -2.55968124e+01] [-3.52774851e-02 8.15630873e-04 9.99377223e-01 -7.36416178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26587156000002 meters 0.029469144889924557 Centerline is valid? [True, True] Translation: X:169.90, Y:-25.61, Z:-7.37 [[ 9.82664179e-01 1.82173378e-01 3.44088969e-02 1.69896321e+02] [-1.82032843e-01 9.83266089e-01 -7.20018715e-03 -2.56055957e+01] [-3.51447839e-02 8.11816677e-04 9.99381902e-01 -7.36590749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29587156000002 meters 0.02882968886927782 Centerline is valid? [True, True] Translation: X:169.93, Y:-25.61, Z:-7.37 [[ 9.82487880e-01 1.83172496e-01 3.41380048e-02 1.69927882e+02] [-1.83034604e-01 9.83080483e-01 -7.14820003e-03 -2.56137909e+01] [-3.48697599e-02 7.74583691e-04 9.99391565e-01 -7.36788406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32587156000002 meters 0.025196510014345846 Centerline is valid? [True, True] Translation: X:169.96, Y:-25.62, Z:-7.37 [[ 9.82331503e-01 1.83980680e-01 3.42918023e-02 1.69960613e+02] [-1.83841964e-01 9.82929573e-01 -7.18243370e-03 -2.56170279e+01] [-3.50278556e-02 7.51258613e-04 9.99386054e-01 -7.36760600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35587156000003 meters 0.026422050537479626 Centerline is valid? [True, True] Translation: X:169.99, Y:-25.63, Z:-7.37 [[ 9.82161879e-01 1.84893704e-01 3.42397712e-02 1.69990855e+02] [-1.84755926e-01 9.82758262e-01 -7.17260357e-03 -2.56268663e+01] [-3.49755873e-02 7.18657163e-04 9.99387909e-01 -7.37016427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38587156000003 meters 0.023883338200227217 Centerline is valid? [True, True] Translation: X:170.02, Y:-25.63, Z:-7.37 [[ 9.81748685e-01 1.87134950e-01 3.39120815e-02 1.70021799e+02] [-1.87000925e-01 9.82334008e-01 -7.10995781e-03 -2.56347214e+01] [-3.46435125e-02 6.38601124e-04 9.99399529e-01 -7.37210486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41587156000003 meters 0.03408353290256011 Centerline is valid? [True, True] Translation: X:170.05, Y:-25.64, Z:-7.37 [[ 9.81491930e-01 1.88582454e-01 3.33204079e-02 1.70053293e+02] [-1.88453709e-01 9.82057187e-01 -6.99151033e-03 -2.56402794e+01] [-3.40410223e-02 5.82756516e-04 9.99420267e-01 -7.37251857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44587156000003 meters 0.021175848021230567 Centerline is valid? [True, True] Translation: X:170.08, Y:-25.65, Z:-7.38 [[ 9.81194533e-01 1.90167093e-01 3.30721238e-02 1.70083993e+02] [-1.90040958e-01 9.81751596e-01 -6.94536443e-03 -2.56465727e+01] [-3.37893901e-02 5.29695491e-04 9.99428835e-01 -7.37571793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47587156000003 meters 0.018925439329033754 Centerline is valid? [True, True] Translation: X:170.12, Y:-25.65, Z:-7.38 [[ 9.80886744e-01 1.91735416e-01 3.31470203e-02 1.70115523e+02] [-1.91609426e-01 9.81446533e-01 -6.96635738e-03 -2.56520940e+01] [-3.38677256e-02 4.81926086e-04 9.99426208e-01 -7.37600821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50587156000003 meters 0.0177402424432103 Centerline is valid? [True, True] Translation: X:170.15, Y:-25.66, Z:-7.38 [[ 9.80283965e-01 1.94722983e-01 3.35605057e-02 1.70145030e+02] [-1.94595366e-01 9.80858200e-01 -7.05944250e-03 -2.56613696e+01] [-3.42927329e-02 3.89539412e-04 9.99411755e-01 -7.37740157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53587156000003 meters 0.020502887933649915 Centerline is valid? [True, True] Translation: X:170.18, Y:-25.67, Z:-7.38 [[ 9.80015296e-01 1.96066168e-01 3.35868491e-02 1.70175618e+02] [-1.95938901e-01 9.80590605e-01 -7.07189578e-03 -2.56690089e+01] [-3.43215082e-02 3.49595749e-04 9.99410782e-01 -7.37858083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56587156000003 meters 0.01595299748812721 Centerline is valid? [True, True] Translation: X:170.21, Y:-25.68, Z:-7.38 [[ 9.79693971e-01 1.97589729e-01 3.40297394e-02 1.70206508e+02] [-1.97459900e-01 9.80284758e-01 -7.16801616e-03 -2.56754566e+01] [-3.47751612e-02 3.02953266e-04 9.99395115e-01 -7.37961082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59587156000003 meters 0.01326940544595733 Centerline is valid? [True, True] Translation: X:170.24, Y:-25.68, Z:-7.38 [[ 9.79041568e-01 2.00663973e-01 3.48077465e-02 1.70238168e+02] [-2.00529882e-01 9.79660109e-01 -7.33741223e-03 -2.56806678e+01] [-3.55721150e-02 2.03638263e-04 9.99367091e-01 -7.37839151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62587156000004 meters 0.012518568837947537 Centerline is valid? [True, True] Translation: X:170.27, Y:-25.69, Z:-7.38 [[ 9.78703115e-01 2.02299194e-01 3.48604161e-02 1.70268754e+02] [-2.02165488e-01 9.79323753e-01 -7.35542910e-03 -2.56868368e+01] [-3.56276309e-02 1.51208344e-04 9.99365123e-01 -7.38008383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65587156000004 meters 0.012180166714130952 Centerline is valid? [True, True] Translation: X:170.30, Y:-25.69, Z:-7.38 [[ 9.78352621e-01 2.03951144e-01 3.50724956e-02 1.70299521e+02] [-2.03816759e-01 9.78981063e-01 -7.40317365e-03 -2.56932259e+01] [-3.58451948e-02 9.45519724e-05 9.99357350e-01 -7.38224950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68587156000004 meters 0.011752884987014867 Centerline is valid? [True, True] Translation: X:170.33, Y:-25.70, Z:-7.38 [[ 9.78010043e-01 2.05634933e-01 3.47941097e-02 1.70331084e+02] [-2.05503543e-01 9.78628772e-01 -7.34989134e-03 -2.56994887e+01] [-3.55619113e-02 3.79547269e-05 9.99367474e-01 -7.38330647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71587156000004 meters 0.02208081458975882 Centerline is valid? [True, True] Translation: X:170.36, Y:-25.71, Z:-7.39 [[ 9.77523859e-01 2.08039032e-01 3.41594346e-02 1.70360421e+02] [-2.07913601e-01 9.78120524e-01 -7.22322933e-03 -2.57062799e+01] [-3.49147577e-02 -4.13320622e-05 9.99390293e-01 -7.38576475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74587156000004 meters 0.01238191612719405 Centerline is valid? [True, True] Translation: X:170.39, Y:-25.71, Z:-7.39 [[ 9.77321769e-01 2.09044661e-01 3.38007223e-02 1.70391301e+02] [-2.08922443e-01 9.77906092e-01 -7.14766673e-03 -2.57125975e+01] [-3.45481138e-02 -7.61591653e-05 9.99403033e-01 -7.38821006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77587156 meters 0.012715039261663539 Centerline is valid? [True, True] Translation: X:170.42, Y:-25.72, Z:-7.39 [[ 9.77093321e-01 2.10149058e-01 3.35561422e-02 1.70421933e+02] [-2.10029225e-01 9.77669351e-01 -7.09675827e-03 -2.57182205e+01] [-3.42981888e-02 -1.13575435e-04 9.99411638e-01 -7.38943423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80587156 meters 0.013212023500773948 Centerline is valid? [True, True] Translation: X:170.45, Y:-25.72, Z:-7.39 [[ 9.76655299e-01 2.12043941e-01 3.43772357e-02 1.70452978e+02] [-2.11919313e-01 9.77260115e-01 -7.27128026e-03 -2.57233540e+01] [-3.51373323e-02 -1.83665782e-04 9.99382476e-01 -7.38873534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83587156000002 meters 0.01359268908016921 Centerline is valid? [True, True] Translation: X:170.48, Y:-25.73, Z:-7.39 [[ 9.76473975e-01 2.12853210e-01 3.45266178e-02 1.70483222e+02] [-2.12727971e-01 9.77084165e-01 -7.30374712e-03 -2.57296360e+01] [-3.52900376e-02 -2.12858361e-04 9.99377090e-01 -7.38956348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86587156000002 meters 0.029333018430217517 Centerline is valid? [True, True] Translation: X:170.51, Y:-25.74, Z:-7.39 [[ 9.76347624e-01 2.13463008e-01 3.43345360e-02 1.70512609e+02] [-2.13339502e-01 9.76951120e-01 -7.26408868e-03 -2.57359232e+01] [-3.50937777e-02 -2.32637088e-04 9.99383997e-01 -7.39145418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89587156000002 meters 0.028626776250435398 Centerline is valid? [True, True] Translation: X:170.54, Y:-25.74, Z:-7.39 [[ 9.76245980e-01 2.13954883e-01 3.41627665e-02 1.70541222e+02] [-2.13832888e-01 9.76843512e-01 -7.22841284e-03 -2.57415221e+01] [-3.49182310e-02 -2.48414039e-04 9.99390142e-01 -7.39345909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92587156000002 meters 0.014328853200781784 Centerline is valid? [True, True] Translation: X:170.57, Y:-25.75, Z:-7.39 [[ 9.76106493e-01 2.14437816e-01 3.51075228e-02 1.70571264e+02] [-2.14309318e-01 9.76737604e-01 -7.42752959e-03 -2.57507199e+01] [-3.58835809e-02 -2.73809406e-04 9.99355939e-01 -7.39262949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95587156000002 meters 0.014956642361389761 Centerline is valid? [True, True] Translation: X:170.60, Y:-25.76, Z:-7.39 [[ 9.76054508e-01 2.14667055e-01 3.51518419e-02 1.70601243e+02] [-2.14538345e-01 9.76687246e-01 -7.43791114e-03 -2.57571052e+01] [-3.59290301e-02 -2.81611274e-04 9.99354304e-01 -7.39429470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98587156000002 meters 0.015149350852690322 Centerline is valid? [True, True] Translation: X:170.63, Y:-25.76, Z:-7.40 [[ 9.76012663e-01 2.14903028e-01 3.48707497e-02 1.70630697e+02] [-2.14776500e-01 9.76635349e-01 -7.37898356e-03 -2.57637299e+01] [-3.56417727e-02 -2.87436161e-04 9.99364589e-01 -7.39567825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01587156000002 meters 0.027249683718676518 Centerline is valid? [True, True] Translation: X:170.66, Y:-25.77, Z:-7.40 [[ 9.75914382e-01 2.15407538e-01 3.45066804e-02 1.70660928e+02] [-2.15283962e-01 9.76524194e-01 -7.30170129e-03 -2.57705586e+01] [-3.52694498e-02 -3.02899568e-04 9.99377794e-01 -7.39652502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04587156000002 meters 0.015916349581121418 Centerline is valid? [True, True] Translation: X:170.69, Y:-25.77, Z:-7.40 [[ 9.75746243e-01 2.16183434e-01 3.44091909e-02 1.70691289e+02] [-2.16061003e-01 9.76352710e-01 -7.28206279e-03 -2.57746027e+01] [-3.51697682e-02 -3.29038896e-04 9.99381298e-01 -7.39944371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07587156000002 meters 0.023082187674218727 Centerline is valid? [True, True] Translation: X:170.72, Y:-25.78, Z:-7.40 [[ 9.75599669e-01 2.16879473e-01 3.41844836e-02 1.70720757e+02] [-2.16759040e-01 9.76198325e-01 -7.23518088e-03 -2.57794481e+01] [-3.49399978e-02 -3.51155772e-04 9.99389350e-01 -7.40068675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10587156000003 meters 0.023082187674218727 Centerline is valid? [True, True] Translation: X:170.75, Y:-25.79, Z:-7.40 [[ 9.75599671e-01 2.16879450e-01 3.41845939e-02 1.70750080e+02] [-2.16759035e-01 9.76198331e-01 -7.23465929e-03 -2.57856542e+01] [-3.49399925e-02 -3.51688371e-04 9.99389350e-01 -7.40203792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13587156000003 meters 0.029909453376358607 Centerline is valid? [True, True] Translation: X:170.78, Y:-25.79, Z:-7.40 [[ 9.75390716e-01 2.17820217e-01 3.41658354e-02 1.70779368e+02] [-2.17700503e-01 9.75988834e-01 -7.23093246e-03 -2.57899312e+01] [-3.49205172e-02 -3.84935154e-04 9.99390019e-01 -7.40342944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16587156000003 meters 0.01816778769635884 Centerline is valid? [True, True] Translation: X:170.81, Y:-25.79, Z:-7.41 [[ 9.75295104e-01 2.18196164e-01 3.44948322e-02 1.70807283e+02] [-2.18074397e-01 9.75904848e-01 -7.29973943e-03 -2.57943092e+01] [-3.52564491e-02 -4.03039585e-04 9.99378217e-01 -7.40540700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19587156000003 meters 0.017786009085770008 Centerline is valid? [True, True] Translation: X:170.84, Y:-25.80, Z:-7.41 [[ 9.75324591e-01 2.18117233e-01 3.41586706e-02 1.70836261e+02] [-2.17997814e-01 9.75922494e-01 -7.22760968e-03 -2.58005153e+01] [-3.49126812e-02 -3.97250066e-04 9.99390288e-01 -7.40690106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22587156000003 meters 0.02763429594753645 Centerline is valid? [True, True] Translation: X:170.87, Y:-25.81, Z:-7.41 [[ 9.75330386e-01 2.18169357e-01 3.36566482e-02 1.70865045e+02] [-2.18053482e-01 9.75910845e-01 -7.12057947e-03 -2.58070308e+01] [-3.43993802e-02 -3.94031809e-04 9.99408089e-01 -7.40758500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25587156000003 meters 0.01816369687471603 Centerline is valid? [True, True] Translation: X:170.89, Y:-25.81, Z:-7.41 [[ 9.75301840e-01 2.18184888e-01 3.43755068e-02 1.70893291e+02] [-2.18064045e-01 9.75907368e-01 -7.27189940e-03 -2.58102803e+01] [-3.51339289e-02 -4.03765212e-04 9.99382531e-01 -7.40928178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28587156000003 meters 0.018214338253057922 Centerline is valid? [True, True] Translation: X:170.92, Y:-25.82, Z:-7.41 [[ 9.75236275e-01 2.18401049e-01 3.48595608e-02 1.70923035e+02] [-2.18276968e-01 9.75859010e-01 -7.37285036e-03 -2.58153464e+01] [-3.56282547e-02 -4.18768098e-04 9.99365024e-01 -7.40957150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31587156000003 meters 0.018575418810838094 Centerline is valid? [True, True] Translation: X:170.95, Y:-25.82, Z:-7.41 [[ 9.75207889e-01 2.18502259e-01 3.50190849e-02 1.70950928e+02] [-2.18377131e-01 9.75836350e-01 -7.40583666e-03 -2.58195680e+01] [-3.57910880e-02 -4.25136959e-04 9.99359203e-01 -7.41062588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34587156000003 meters 0.01878511985177593 Centerline is valid? [True, True] Translation: X:170.98, Y:-25.82, Z:-7.41 [[ 9.75137261e-01 2.18842275e-01 3.48623252e-02 1.70979966e+02] [-2.18718532e-01 9.75760149e-01 -7.37130742e-03 -2.58246234e+01] [-3.56304213e-02 -4.37000066e-04 9.99364939e-01 -7.41154996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37587156000004 meters 0.017859460949732175 Centerline is valid? [True, True] Translation: X:171.01, Y:-25.83, Z:-7.41 [[ 9.75033996e-01 2.19208448e-01 3.54452132e-02 1.71009848e+02] [-2.19080805e-01 9.75677942e-01 -7.49368247e-03 -2.58290608e+01] [-3.62257912e-02 -4.58770674e-04 9.99343525e-01 -7.41130682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40587156000004 meters 0.019158683802473563 Centerline is valid? [True, True] Translation: X:171.04, Y:-25.83, Z:-7.41 [[ 9.74991779e-01 2.19379828e-01 3.55460571e-02 1.71038603e+02] [-2.19251600e-01 9.75639417e-01 -7.51419556e-03 -2.58310874e+01] [-3.63285973e-02 -4.67251002e-04 9.99339789e-01 -7.41382715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43587156000004 meters 0.018499426869877197 Centerline is valid? [True, True] Translation: X:171.07, Y:-25.84, Z:-7.42 [[ 9.75030822e-01 2.19283420e-01 3.50667587e-02 1.71067185e+02] [-2.19158617e-01 9.75661094e-01 -7.41143827e-03 -2.58368807e+01] [-3.58384777e-02 -4.58801599e-04 9.99357490e-01 -7.41508955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46587156000004 meters 0.017539887623082742 Centerline is valid? [True, True] Translation: X:171.10, Y:-25.84, Z:-7.42 [[ 9.75311693e-01 2.18099252e-01 3.46383994e-02 1.71095816e+02] [-2.17976759e-01 9.75926507e-01 -7.32019265e-03 -2.58424509e+01] [-3.54010606e-02 -4.10896538e-04 9.99373102e-01 -7.41719391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49587156000004 meters 0.016764784859448715 Centerline is valid? [True, True] Translation: X:171.12, Y:-25.85, Z:-7.42 [[ 9.75666260e-01 2.16572086e-01 3.42327316e-02 1.71123894e+02] [-2.16451558e-01 9.76266566e-01 -7.23298453e-03 -2.58488893e+01] [-3.49867339e-02 -3.52749120e-04 9.99387715e-01 -7.42007475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52587156 meters 0.015111729950503767 Centerline is valid? [True, True] Translation: X:171.15, Y:-25.86, Z:-7.42 [[ 9.76107989e-01 2.14628344e-01 3.38802010e-02 1.71152798e+02] [-2.14509142e-01 9.76695754e-01 -7.15771387e-03 -2.58576878e+01] [-3.46268968e-02 -2.80911175e-04 9.99400270e-01 -7.42189867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55587156 meters 0.013910623874194271 Centerline is valid? [True, True] Translation: X:171.18, Y:-25.87, Z:-7.42 [[ 9.76574646e-01 2.12517463e-01 3.37385346e-02 1.71181848e+02] [-2.12398056e-01 9.77157247e-01 -7.12604561e-03 -2.58670360e+01] [-3.44822627e-02 -2.06883699e-04 9.99405289e-01 -7.42304648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58587156000002 meters 0.012649972451034741 Centerline is valid? [True, True] Translation: X:171.21, Y:-25.88, Z:-7.42 [[ 9.77013949e-01 2.10328955e-01 3.47199310e-02 1.71211549e+02] [-2.10201125e-01 9.77630663e-01 -7.33309161e-03 -2.58766105e+01] [-3.54856306e-02 -1.33635752e-04 9.99370178e-01 -7.42298566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61587156000002 meters 0.02462138034100984 Centerline is valid? [True, True] Translation: X:171.24, Y:-25.89, Z:-7.42 [[ 9.77865925e-01 2.06182917e-01 3.55926582e-02 1.71241271e+02] [-2.06045839e-01 9.78513467e-01 -7.51717613e-03 -2.58885998e+01] [-3.63778087e-02 1.70712745e-05 9.99338108e-01 -7.42199380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64587156000002 meters 0.012150714397664797 Centerline is valid? [True, True] Translation: X:171.27, Y:-25.90, Z:-7.42 [[ 9.78274403e-01 2.04152911e-01 3.60663405e-02 1.71271956e+02] [-2.04010514e-01 9.78939007e-01 -7.62437503e-03 -2.58971179e+01] [-3.68632859e-02 1.00818256e-04 9.99320313e-01 -7.42348611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67587156000002 meters 0.013407676342436134 Centerline is valid? [True, True] Translation: X:171.30, Y:-25.91, Z:-7.43 [[ 9.78824261e-01 2.01568929e-01 3.56795917e-02 1.71302624e+02] [-2.01427868e-01 9.79474312e-01 -7.54223480e-03 -2.59072552e+01] [-3.64675238e-02 1.95658316e-04 9.99334819e-01 -7.42579356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70587156000002 meters 0.014165946780384653 Centerline is valid? [True, True] Translation: X:171.33, Y:-25.91, Z:-7.43 [[ 9.78967668e-01 2.00996930e-01 3.49648242e-02 1.71332666e+02] [-2.00860885e-01 9.79591847e-01 -7.39719036e-03 -2.59145172e+01] [-3.57380693e-02 2.18544671e-04 9.99361167e-01 -7.42919463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73587156000002 meters 0.03088632449633881 Centerline is valid? [True, True] Translation: X:171.36, Y:-25.92, Z:-7.43 [[ 9.78948649e-01 2.01273741e-01 3.38883943e-02 1.71364354e+02] [-2.01145938e-01 9.79535011e-01 -7.17450149e-03 -2.59205596e+01] [-3.46389074e-02 2.06955697e-04 9.99399872e-01 -7.42981600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76587156000002 meters 0.02698117833244794 Centerline is valid? [True, True] Translation: X:171.40, Y:-25.93, Z:-7.43 [[ 9.78886075e-01 2.01657349e-01 3.34120681e-02 1.71395431e+02] [-2.01533142e-01 9.79456112e-01 -7.07939315e-03 -2.59268513e+01] [-3.41532660e-02 1.96280324e-04 9.99416588e-01 -7.43221550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79587156000002 meters 0.013344270401683114 Centerline is valid? [True, True] Translation: X:171.43, Y:-25.93, Z:-7.43 [[ 9.78444241e-01 2.03694716e-01 3.39901335e-02 1.71425573e+02] [-2.03567128e-01 9.79034445e-01 -7.20972226e-03 -2.59288241e+01] [-3.47460938e-02 1.35037386e-04 9.99396163e-01 -7.43452576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82587156000002 meters 0.025265323864500977 Centerline is valid? [True, True] Translation: X:171.46, Y:-25.93, Z:-7.43 [[ 9.78068093e-01 2.05522347e-01 3.38137726e-02 1.71456618e+02] [-2.05397080e-01 9.78652420e-01 -7.17495394e-03 -2.59325462e+01] [-3.45665437e-02 7.23433632e-05 9.99402396e-01 -7.43481744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85587156000003 meters 0.012288686382911649 Centerline is valid? [True, True] Translation: X:171.49, Y:-25.94, Z:-7.44 [[ 9.77785659e-01 2.06739218e-01 3.45557729e-02 1.71486921e+02] [-2.06609111e-01 9.78396083e-01 -7.33350352e-03 -2.59352582e+01] [-3.53253556e-02 3.10570505e-05 9.99375864e-01 -7.43633297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88587156000003 meters 0.012229828814668565 Centerline is valid? [True, True] Translation: X:171.52, Y:-25.94, Z:-7.44 [[ 9.77499852e-01 2.08052997e-01 3.47561416e-02 1.71516885e+02] [-2.07922199e-01 9.78117554e-01 -7.37625479e-03 -2.59382299e+01] [-3.55302442e-02 -1.62854299e-05 9.99368601e-01 -7.43705085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91587156000003 meters 0.01255704195989544 Centerline is valid? [True, True] Translation: X:171.55, Y:-25.94, Z:-7.44 [[ 9.77023489e-01 2.10218428e-01 3.51185881e-02 1.71547470e+02] [-2.10086316e-01 9.77654439e-01 -7.45230234e-03 -2.59385960e+01] [-3.59004548e-02 -9.68603665e-05 9.99355366e-01 -7.43841189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94587156000003 meters 0.012757731406105298 Centerline is valid? [True, True] Translation: X:171.58, Y:-25.94, Z:-7.44 [[ 9.76952023e-01 2.10587357e-01 3.48956989e-02 1.71575632e+02] [-2.10457178e-01 9.77575037e-01 -7.40426229e-03 -2.59428037e+01] [-3.56724082e-02 -1.10441319e-04 9.99363531e-01 -7.44050639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97587156000003 meters 0.012792399782226408 Centerline is valid? [True, True] Translation: X:171.60, Y:-25.95, Z:-7.44 [[ 9.76956492e-01 2.10584487e-01 3.47877401e-02 1.71604501e+02] [-2.10455161e-01 9.77575655e-01 -7.37996316e-03 -2.59484670e+01] [-3.55617536e-02 -1.11356534e-04 9.99367475e-01 -7.44154895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00587156000003 meters 0.026340197767411765 Centerline is valid? [True, True] Translation: X:171.63, Y:-25.96, Z:-7.44 [[ 9.77006111e-01 2.10328613e-01 3.49418654e-02 1.71632731e+02] [-2.10198002e-01 9.77630740e-01 -7.41190603e-03 -2.59558348e+01] [-3.57191776e-02 -1.03232797e-04 9.99361861e-01 -7.44177601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03587156000003 meters 0.012415030086923925 Centerline is valid? [True, True] Translation: X:171.66, Y:-25.96, Z:-7.44 [[ 9.77166341e-01 2.09526110e-01 3.52810312e-02 1.71661275e+02] [-2.09392478e-01 9.77803049e-01 -7.48243705e-03 -2.59622815e+01] [-3.60656658e-02 -7.59969147e-05 9.99349419e-01 -7.44364304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06587156000003 meters 0.012340225365754152 Centerline is valid? [True, True] Translation: X:171.69, Y:-25.97, Z:-7.45 [[ 9.77334981e-01 2.08786065e-01 3.49959091e-02 1.71689184e+02] [-2.08654136e-01 9.77961337e-01 -7.42123290e-03 -2.59683402e+01] [-3.57740961e-02 -4.90106689e-05 9.99359901e-01 -7.44552436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09587156000003 meters 0.02069175911413213 Centerline is valid? [True, True] Translation: X:171.72, Y:-25.97, Z:-7.45 [[ 9.77411106e-01 2.08525879e-01 3.44163867e-02 1.71717752e+02] [-2.08398171e-01 9.78016849e-01 -7.29699466e-03 -2.59742636e+01] [-3.51814183e-02 -4.01484366e-05 9.99380941e-01 -7.44683707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12587156000004 meters 0.01212060190837759 Centerline is valid? [True, True] Translation: X:171.75, Y:-25.98, Z:-7.45 [[ 9.77560700e-01 2.07627627e-01 3.55787296e-02 1.71746336e+02] [-2.07490578e-01 9.78207937e-01 -7.54264961e-03 -2.59798707e+01] [-3.63694581e-02 -8.85332821e-06 9.99338412e-01 -7.44684190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15587156000004 meters 0.01199491908069958 Centerline is valid? [True, True] Translation: X:171.78, Y:-25.99, Z:-7.45 [[ 9.77588993e-01 2.07438954e-01 3.59004408e-02 1.71775267e+02] [-2.07299339e-01 9.78247965e-01 -7.60945649e-03 -2.59861234e+01] [-3.66980309e-02 -3.21674302e-06 9.99326400e-01 -7.44698729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18587156000004 meters 0.027342328209412847 Centerline is valid? [True, True] Translation: X:171.80, Y:-25.99, Z:-7.45 [[ 9.77528400e-01 2.07736212e-01 3.58314619e-02 1.71803226e+02] [-2.07597360e-01 9.78184883e-01 -7.59408338e-03 -2.59916163e+01] [-3.66273605e-02 -1.50847268e-05 9.99328993e-01 -7.44730934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21587156000004 meters 0.02487924449303472 Centerline is valid? [True, True] Translation: X:171.83, Y:-25.99, Z:-7.45 [[ 9.77398365e-01 2.08332936e-01 3.59141098e-02 1.71832195e+02] [-2.08193888e-01 9.78057967e-01 -7.61042127e-03 -2.59946339e+01] [-3.67115826e-02 -3.86848604e-05 9.99325902e-01 -7.44878944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24587156000004 meters 0.018931702215853347 Centerline is valid? [True, True] Translation: X:171.86, Y:-26.00, Z:-7.45 [[ 9.77268189e-01 2.08986141e-01 3.56606190e-02 1.71861145e+02] [-2.08849545e-01 9.77918600e-01 -7.55503831e-03 -2.59983627e+01] [-3.64520809e-02 -6.44054420e-05 9.99335400e-01 -7.45071982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27587156 meters 0.030738390626595415 Centerline is valid? [True, True] Translation: X:171.89, Y:-26.00, Z:-7.45 [[ 9.77170515e-01 2.09462474e-01 3.55423115e-02 1.71890124e+02] [-2.09327166e-01 9.77816683e-01 -7.52811802e-03 -2.60026810e+01] [-3.63307234e-02 -8.37163989e-05 9.99339818e-01 -7.45164019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30587156 meters 0.012976533648550502 Centerline is valid? [True, True] Translation: X:171.92, Y:-26.00, Z:-7.45 [[ 9.76943126e-01 2.10529839e-01 3.54868301e-02 1.71918527e+02] [-2.10395677e-01 9.77587424e-01 -7.51581860e-03 -2.60029058e+01] [-3.62737829e-02 -1.23748330e-04 9.99341882e-01 -7.45481554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33587156000002 meters 0.013132512608868227 Centerline is valid? [True, True] Translation: X:171.95, Y:-26.01, Z:-7.46 [[ 9.76886183e-01 2.10788316e-01 3.55200254e-02 1.71946704e+02] [-2.10654155e-01 9.77531722e-01 -7.52059163e-03 -2.60067913e+01] [-3.63072044e-02 -1.35678895e-04 9.99340667e-01 -7.45657743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36587156000002 meters 0.013447213456246547 Centerline is valid? [True, True] Translation: X:171.97, Y:-26.01, Z:-7.46 [[ 9.76891344e-01 2.10796317e-01 3.53300846e-02 1.71974041e+02] [-2.10663650e-01 9.77529997e-01 -7.47881090e-03 -2.60111051e+01] [-3.61127233e-02 -1.36778939e-04 9.99347714e-01 -7.45846605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39587156000002 meters 0.012682735326315505 Centerline is valid? [True, True] Translation: X:172.00, Y:-26.02, Z:-7.46 [[ 9.77156132e-01 2.09647043e-01 3.48426594e-02 1.72002342e+02] [-2.09517357e-01 9.77777126e-01 -7.37352523e-03 -2.60167799e+01] [-3.56141932e-02 -9.50565095e-05 9.99365609e-01 -7.45858083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42587156000002 meters 0.012510492831428388 Centerline is valid? [True, True] Translation: X:172.03, Y:-26.02, Z:-7.46 [[ 9.77401742e-01 2.08549117e-01 3.45412891e-02 1.72030940e+02] [-2.08421039e-01 9.78011893e-01 -7.30806248e-03 -2.60225732e+01] [-3.53058815e-02 -5.62183709e-05 9.99376551e-01 -7.46069050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45587156000002 meters 0.012548845693239686 Centerline is valid? [True, True] Translation: X:172.06, Y:-26.03, Z:-7.46 [[ 9.77691494e-01 2.07187390e-01 3.45358989e-02 1.72057601e+02] [-2.07058559e-01 9.78301275e-01 -7.30533519e-03 -2.60289610e+01] [-3.53000873e-02 -8.58939432e-06 9.99376758e-01 -7.46384364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48587156000002 meters 0.012527579681743247 Centerline is valid? [True, True] Translation: X:172.09, Y:-26.04, Z:-7.46 [[ 9.78013746e-01 2.05692402e-01 3.43474669e-02 1.72085701e+02] [-2.05564133e-01 9.78616694e-01 -7.26316010e-03 -2.60370790e+01] [-3.51069814e-02 4.28631709e-05 9.99383559e-01 -7.46436382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51587156000002 meters 0.023994243848583428 Centerline is valid? [True, True] Translation: X:172.11, Y:-26.05, Z:-7.47 [[ 9.78634108e-01 2.02868165e-01 3.34632591e-02 1.72112960e+02] [-2.02744805e-01 9.79206050e-01 -7.07501086e-03 -2.60485309e+01] [-3.42027202e-02 1.39345006e-04 9.99414906e-01 -7.46584921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54587156000002 meters 0.015418496206416242 Centerline is valid? [True, True] Translation: X:172.14, Y:-26.06, Z:-7.47 [[ 9.79005250e-01 2.01071787e-01 3.34493263e-02 1.72140621e+02] [-2.00947523e-01 9.79576488e-01 -7.07084520e-03 -2.60573818e+01] [-3.41879210e-02 2.00835296e-04 9.99415402e-01 -7.47111369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57587156000002 meters 0.01542894576191868 Centerline is valid? [True, True] Translation: X:172.17, Y:-26.06, Z:-7.47 [[ 9.79278156e-01 1.99730013e-01 3.34994899e-02 1.72169549e+02] [-1.99604636e-01 9.79850938e-01 -7.08012189e-03 -2.60633086e+01] [-3.42386194e-02 2.46755214e-04 9.99413656e-01 -7.47003566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60587156000003 meters 0.016932557947684758 Centerline is valid? [True, True] Translation: X:172.20, Y:-26.07, Z:-7.47 [[ 9.79658742e-01 1.97773663e-01 3.39753925e-02 1.72197986e+02] [-1.97643554e-01 9.80247661e-01 -7.17976147e-03 -2.60708783e+01] [-3.47242668e-02 3.18698753e-04 9.99396880e-01 -7.47049966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63587156000003 meters 0.01749267990675647 Centerline is valid? [True, True] Translation: X:172.23, Y:-26.08, Z:-7.47 [[ 9.79802241e-01 1.97041631e-01 3.40905435e-02 1.72226764e+02] [-1.96910205e-01 9.80395061e-01 -7.20380708e-03 -2.60771639e+01] [-3.48416504e-02 3.45530395e-04 9.99392786e-01 -7.47180420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66587156000003 meters 0.0192633343309105 Centerline is valid? [True, True] Translation: X:172.25, Y:-26.09, Z:-7.47 [[ 9.79939894e-01 1.96361517e-01 3.40581589e-02 1.72254780e+02] [-1.96229969e-01 9.80531498e-01 -7.19584558e-03 -2.60851525e+01] [-3.48080848e-02 3.68264667e-04 9.99393947e-01 -7.47431992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69587156000003 meters 0.019454692198320477 Centerline is valid? [True, True] Translation: X:172.28, Y:-26.09, Z:-7.47 [[ 9.79964808e-01 1.96044424e-01 3.51505096e-02 1.72282500e+02] [-1.95904071e-01 9.80594937e-01 -7.42731881e-03 -2.60912674e+01] [-3.59244961e-02 3.92383121e-04 9.99354430e-01 -7.47338255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72587156000003 meters 0.016458455195412575 Centerline is valid? [True, True] Translation: X:172.31, Y:-26.09, Z:-7.47 [[ 9.79945507e-01 1.96119372e-01 3.52703245e-02 1.72314287e+02] [-1.95978170e-01 9.80579951e-01 -7.45093994e-03 -2.60936181e+01] [-3.60466468e-02 3.89301442e-04 9.99350033e-01 -7.47069374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75587156000003 meters 0.023801318185013496 Centerline is valid? [True, True] Translation: X:172.34, Y:-26.10, Z:-7.47 [[ 9.79916158e-01 1.96318954e-01 3.49741472e-02 1.72344897e+02] [-1.96180255e-01 9.80540017e-01 -7.38799171e-03 -2.61012728e+01] [-3.57439537e-02 3.78375330e-04 9.99360909e-01 -7.47273191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78587156000003 meters 0.018590003316747625 Centerline is valid? [True, True] Translation: X:172.37, Y:-26.11, Z:-7.48 [[ 9.79902565e-01 1.96378950e-01 3.50181425e-02 1.72374422e+02] [-1.96239685e-01 9.80528001e-01 -7.40438867e-03 -2.61079523e+01] [-3.57903353e-02 3.83630191e-04 9.99359247e-01 -7.47661226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81587156000003 meters 0.016226161416685782 Centerline is valid? [True, True] Translation: X:172.41, Y:-26.11, Z:-7.48 [[ 9.79798223e-01 1.96924803e-01 3.48721130e-02 1.72405778e+02] [-1.96787025e-01 9.80418528e-01 -7.37404596e-03 -2.61095140e+01] [-3.56413983e-02 3.62697747e-04 9.99364578e-01 -7.47682865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84587156000003 meters 0.015730137536407153 Centerline is valid? [True, True] Translation: X:172.44, Y:-26.11, Z:-7.48 [[ 9.79728407e-01 1.97354444e-01 3.44016344e-02 1.72435414e+02] [-1.97220624e-01 9.80332141e-01 -7.27455870e-03 -2.61145014e+01] [-3.51606944e-02 3.42380003e-04 9.99381613e-01 -7.47823111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87587156000004 meters 0.015438099315199488 Centerline is valid? [True, True] Translation: X:172.47, Y:-26.12, Z:-7.48 [[ 9.79635880e-01 1.97876388e-01 3.40364263e-02 1.72465879e+02] [-1.97745710e-01 9.80226929e-01 -7.19733192e-03 -2.61191803e+01] [-3.47876037e-02 3.20207272e-04 9.99394677e-01 -7.48057466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90587156000004 meters 0.016988284807813933 Centerline is valid? [True, True] Translation: X:172.49, Y:-26.13, Z:-7.48 [[ 9.79610528e-01 1.97992560e-01 3.40904557e-02 1.72494541e+02] [-1.97861533e-01 9.80203472e-01 -7.20888340e-03 -2.61274103e+01] [-3.48428884e-02 3.16708244e-04 9.99392752e-01 -7.48469178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93587156000004 meters 0.015527410056448972 Centerline is valid? [True, True] Translation: X:172.52, Y:-26.13, Z:-7.48 [[ 9.79518487e-01 1.98425648e-01 3.42168830e-02 1.72523695e+02] [-1.98293922e-01 9.80115897e-01 -7.23530046e-03 -2.61315809e+01] [-3.49721801e-02 3.02110633e-04 9.99388241e-01 -7.48429892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96587156000004 meters 0.015461285116175446 Centerline is valid? [True, True] Translation: X:172.55, Y:-26.14, Z:-7.49 [[ 9.79453941e-01 1.98772396e-01 3.40515966e-02 1.72552598e+02] [-1.98642183e-01 9.80045638e-01 -7.19938887e-03 -2.61372161e+01] [-3.48031585e-02 2.87386302e-04 9.99394145e-01 -7.48576896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99587156000004 meters 0.015461285116175446 Centerline is valid? [True, True] Translation: X:172.58, Y:-26.14, Z:-7.49 [[ 9.79458591e-01 1.98749472e-01 3.40516564e-02 1.72581115e+02] [-1.98619255e-01 9.80050287e-01 -7.19910595e-03 -2.61431993e+01] [-3.48031542e-02 2.87911540e-04 9.99394145e-01 -7.48708251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02587156 meters 0.01475236187830146 Centerline is valid? [True, True] Translation: X:172.61, Y:-26.15, Z:-7.49 [[ 9.79344345e-01 1.99243552e-01 3.44479370e-02 1.72611008e+02] [-1.99110621e-01 9.79949964e-01 -7.28203641e-03 -2.61472677e+01] [-3.52081535e-02 2.72671034e-04 9.99379964e-01 -7.48710264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05587156 meters 0.01379975427743258 Centerline is valid? [True, True] Translation: X:172.64, Y:-26.15, Z:-7.49 [[ 9.78950015e-01 2.01051187e-01 3.51466730e-02 1.72640362e+02] [-2.00913999e-01 9.79580714e-01 -7.42895361e-03 -2.61490065e+01] [-3.59226030e-02 2.11115629e-04 9.99354553e-01 -7.48746912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08587156000002 meters 0.01313309529562225 Centerline is valid? [True, True] Translation: X:172.67, Y:-26.15, Z:-7.49 [[ 9.78679398e-01 2.02365464e-01 3.51405084e-02 1.72668832e+02] [-2.02229215e-01 9.79310060e-01 -7.42643652e-03 -2.61522557e+01] [-3.59163077e-02 1.61662995e-04 9.99354788e-01 -7.48838797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11587156000002 meters 0.012584708708023074 Centerline is valid? [True, True] Translation: X:172.70, Y:-26.16, Z:-7.49 [[ 9.78340492e-01 2.03928030e-01 3.55420787e-02 1.72696096e+02] [-2.03789738e-01 9.78985877e-01 -7.50965785e-03 -2.61552723e+01] [-3.63266229e-02 1.03891442e-04 9.99339965e-01 -7.49019458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14587156000002 meters 0.012871360517047672 Centerline is valid? [True, True] Translation: X:172.73, Y:-26.15, Z:-7.49 [[ 9.77460923e-01 2.08157865e-01 3.52199835e-02 1.72725275e+02] [-2.08024887e-01 9.78095241e-01 -7.43949088e-03 -2.61516609e+01] [-3.59970868e-02 -5.48214675e-05 9.99351893e-01 -7.49386384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17587156000002 meters 0.01317248870794112 Centerline is valid? [True, True] Translation: X:172.75, Y:-26.15, Z:-7.49 [[ 9.77010272e-01 2.10353212e-01 3.46764262e-02 1.72754619e+02] [-2.10225764e-01 9.77625443e-01 -7.32261058e-03 -2.61533414e+01] [-3.54408912e-02 -1.35612419e-04 9.99371765e-01 -7.49304349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20587156000002 meters 0.027127966957306588 Centerline is valid? [True, True] Translation: X:172.78, Y:-26.16, Z:-7.50 [[ 9.76612478e-01 2.12273332e-01 3.41774818e-02 1.72782703e+02] [-2.12150753e-01 9.77210311e-01 -7.21573896e-03 -2.61552179e+01] [-3.49302965e-02 -2.03797787e-04 9.99389730e-01 -7.49541995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23587156000002 meters 0.019221495390026724 Centerline is valid? [True, True] Translation: X:172.81, Y:-26.15, Z:-7.50 [[ 9.75903040e-01 2.15507565e-01 3.42015595e-02 1.72812124e+02] [-2.15386871e-01 9.76502118e-01 -7.21873287e-03 -2.61500846e+01] [-3.49535868e-02 -3.21783513e-04 9.99388885e-01 -7.50056670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26587156000002 meters 0.017991593943355352 Centerline is valid? [True, True] Translation: X:172.84, Y:-26.16, Z:-7.50 [[ 9.75633191e-01 2.16655228e-01 3.46466202e-02 1.72840972e+02] [-2.16532172e-01 9.76248112e-01 -7.31048356e-03 -2.61551613e+01] [-3.54075520e-02 -3.69757517e-04 9.99372888e-01 -7.49807884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29587156000002 meters 0.018344148050673376 Centerline is valid? [True, True] Translation: X:172.87, Y:-26.16, Z:-7.50 [[ 9.75401774e-01 2.17625743e-01 3.50772803e-02 1.72869447e+02] [-2.17500296e-01 9.76032206e-01 -7.39965025e-03 -2.61585280e+01] [-3.58469096e-02 -4.11686870e-04 9.99357208e-01 -7.49815603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32587156000002 meters 0.018377412071441793 Centerline is valid? [True, True] Translation: X:172.90, Y:-26.16, Z:-7.50 [[ 9.75246653e-01 2.18268156e-01 3.53974194e-02 1.72897487e+02] [-2.18140890e-01 9.75888732e-01 -7.46554797e-03 -2.61629342e+01] [-3.61734341e-02 -4.40873907e-04 9.99345430e-01 -7.49852733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35587156000003 meters 0.019352283844874724 Centerline is valid? [True, True] Translation: X:172.93, Y:-26.17, Z:-7.50 [[ 9.75157055e-01 2.18697573e-01 3.52149122e-02 1.72925355e+02] [-2.18571975e-01 9.75792582e-01 -7.42485676e-03 -2.61660750e+01] [-3.59862483e-02 -4.56591465e-04 9.99352181e-01 -7.50009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38587156000003 meters 0.020739362329393878 Centerline is valid? [True, True] Translation: X:172.95, Y:-26.17, Z:-7.50 [[ 9.75086033e-01 2.18943689e-01 3.56495238e-02 1.72953219e+02] [-2.18815211e-01 9.75737381e-01 -7.51443317e-03 -2.61657950e+01] [-3.64298107e-02 -4.73439218e-04 9.99336102e-01 -7.50142571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41587156000003 meters 0.02115734005357019 Centerline is valid? [True, True] Translation: X:172.98, Y:-26.17, Z:-7.50 [[ 9.75061363e-01 2.19068252e-01 3.55589577e-02 1.72980770e+02] [-2.18940628e-01 9.75709419e-01 -7.49207390e-03 -2.61686973e+01] [-3.63364855e-02 -4.80068718e-04 9.99339497e-01 -7.50311761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44587156000003 meters 0.029721705921187867 Centerline is valid? [True, True] Translation: X:173.01, Y:-26.17, Z:-7.50 [[ 9.74963705e-01 2.19542279e-01 3.53123306e-02 1.73008686e+02] [-2.19416802e-01 9.75602861e-01 -7.43810398e-03 -2.61739944e+01] [-3.60837891e-02 -4.96237250e-04 9.99348645e-01 -7.50158168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47587156000003 meters 0.03207002553957475 Centerline is valid? [True, True] Translation: X:173.04, Y:-26.18, Z:-7.50 [[ 9.74921178e-01 2.19756402e-01 3.51542361e-02 1.73037840e+02] [-2.19632272e-01 9.75554647e-01 -7.40242595e-03 -2.61775954e+01] [-3.59216089e-02 -5.04222908e-04 9.99354484e-01 -7.50278333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50587156000003 meters 0.022057599659080093 Centerline is valid? [True, True] Translation: X:173.07, Y:-26.18, Z:-7.51 [[ 9.74895142e-01 2.19826759e-01 3.54352754e-02 1.73065320e+02] [-2.19700736e-01 9.75538791e-01 -7.46008891e-03 -2.61763417e+01] [-3.62084129e-02 -5.12351660e-04 9.99344129e-01 -7.50669155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53587156000003 meters 0.020045859364742086 Centerline is valid? [True, True] Translation: X:173.09, Y:-26.18, Z:-7.51 [[ 9.74866663e-01 2.19925745e-01 3.56041681e-02 1.73092703e+02] [-2.19798704e-01 9.75516476e-01 -7.49234372e-03 -2.61819832e+01] [-3.63802119e-02 -5.21713905e-04 9.99337885e-01 -7.50619078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56587156000003 meters 0.021361230855380803 Centerline is valid? [True, True] Translation: X:173.12, Y:-26.18, Z:-7.51 [[ 9.74916338e-01 2.19765154e-01 3.52336718e-02 1.73120304e+02] [-2.19640731e-01 9.75552671e-01 -7.41183913e-03 -2.61803514e+01] [-3.60011666e-02 -5.12826357e-04 9.99351616e-01 -7.50902632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59587156000003 meters 0.02022997316843492 Centerline is valid? [True, True] Translation: X:173.15, Y:-26.19, Z:-7.51 [[ 9.74975461e-01 2.19463903e-01 3.54745778e-02 1.73148871e+02] [-2.19337699e-01 9.75620488e-01 -7.45902144e-03 -2.61854816e+01] [-3.62467108e-02 -5.08549414e-04 9.99342743e-01 -7.50950411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62587156000004 meters 0.022174201015778806 Centerline is valid? [True, True] Translation: X:173.18, Y:-26.19, Z:-7.51 [[ 9.75058696e-01 2.19023483e-01 3.59061844e-02 1.73176856e+02] [-2.18893956e-01 9.75719460e-01 -7.54796276e-03 -2.61906167e+01] [-3.66875439e-02 -4.99940030e-04 9.99326660e-01 -7.50909915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65587156000004 meters 0.020559478913964244 Centerline is valid? [True, True] Translation: X:173.21, Y:-26.19, Z:-7.51 [[ 9.75131431e-01 2.18621992e-01 3.63746630e-02 1.73205311e+02] [-2.18488850e-01 9.75809501e-01 -7.64466083e-03 -2.61917125e+01] [-3.71660327e-02 -4.92909220e-04 9.99308983e-01 -7.51134628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68587156000004 meters 0.018241757866998703 Centerline is valid? [True, True] Translation: X:173.23, Y:-26.20, Z:-7.51 [[ 9.75325450e-01 2.17628010e-01 3.71256803e-02 1.73233653e+02] [-2.17488685e-01 9.76031675e-01 -7.80002020e-03 -2.61957181e+01] [-3.79333428e-02 -4.66857194e-04 9.99280163e-01 -7.51040235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71587156000004 meters 0.01805013655367774 Centerline is valid? [True, True] Translation: X:173.26, Y:-26.20, Z:-7.51 [[ 9.75514231e-01 2.16776915e-01 3.71450449e-02 1.73261631e+02] [-2.16636896e-01 9.76221071e-01 -7.80230377e-03 -2.61988448e+01] [-3.79531348e-02 -4.35728873e-04 9.99279425e-01 -7.51216683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74587156000004 meters 0.020126708176028376 Centerline is valid? [True, True] Translation: X:173.29, Y:-26.20, Z:-7.52 [[ 9.75626080e-01 2.16223312e-01 3.74330155e-02 1.73289995e+02] [-2.16080796e-01 9.76343845e-01 -7.86042577e-03 -2.61985571e+01] [-3.82471016e-02 -4.19719415e-04 9.99268224e-01 -7.51582340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77587156000004 meters 0.016653536938638754 Centerline is valid? [True, True] Translation: X:173.32, Y:-26.20, Z:-7.52 [[ 9.75832196e-01 2.15436332e-01 3.65884093e-02 1.73317415e+02] [-2.15299701e-01 9.76517814e-01 -7.68100326e-03 -2.62044449e+01] [-3.73840006e-02 -3.82103291e-04 9.99300901e-01 -7.51582655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80587156 meters 0.01663191465626346 Centerline is valid? [True, True] Translation: X:173.34, Y:-26.21, Z:-7.52 [[ 9.75928347e-01 2.15080009e-01 3.61171774e-02 1.73344050e+02] [-2.14946726e-01 9.76596363e-01 -7.57951594e-03 -2.62074286e+01] [-3.69021064e-02 -3.66204574e-04 9.99318818e-01 -7.51777773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83587156000002 meters 0.016440249827916028 Centerline is valid? [True, True] Translation: X:173.37, Y:-26.21, Z:-7.52 [[ 9.75991683e-01 2.14763497e-01 3.62887661e-02 1.73372255e+02] [-2.14628854e-01 9.76666018e-01 -7.61207067e-03 -2.62115200e+01] [-3.70767997e-02 -3.59298636e-04 9.99312354e-01 -7.51870677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86587156000002 meters 0.016795273248763034 Centerline is valid? [True, True] Translation: X:173.40, Y:-26.22, Z:-7.52 [[ 9.76393968e-01 2.12869927e-01 3.66225841e-02 1.73400696e+02] [-2.12731531e-01 9.77080503e-01 -7.68027355e-03 -2.62159012e+01] [-3.74181121e-02 -2.91805616e-04 9.99299655e-01 -7.51901905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89587156000002 meters 0.013675443471912229 Centerline is valid? [True, True] Translation: X:173.43, Y:-26.22, Z:-7.52 [[ 9.76704512e-01 2.11401991e-01 3.68441963e-02 1.73428812e+02] [-2.11260938e-01 9.77399172e-01 -7.72492988e-03 -2.62221968e+01] [-3.76445525e-02 -2.38765611e-04 9.99291164e-01 -7.52036327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92587156000002 meters 0.01260751065105536 Centerline is valid? [True, True] Translation: X:173.46, Y:-26.23, Z:-7.52 [[ 9.77143919e-01 2.09404521e-01 3.65992997e-02 1.73457218e+02] [-2.09264009e-01 9.77829085e-01 -7.67168082e-03 -2.62292661e+01] [-3.73943444e-02 -1.62579910e-04 9.99300574e-01 -7.52231463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95587156000002 meters 0.011866690062090561 Centerline is valid? [True, True] Translation: X:173.48, Y:-26.24, Z:-7.53 [[ 9.78181660e-01 2.04569918e-01 3.62186362e-02 1.73483507e+02] [-2.04429040e-01 9.78851954e-01 -7.59073921e-03 -2.62390438e+01] [-3.70055198e-02 2.09808527e-05 9.99315061e-01 -7.52580885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98587156000002 meters 0.012219308958742677 Centerline is valid? [True, True] Translation: X:173.51, Y:-26.25, Z:-7.53 [[ 9.78705192e-01 2.02125827e-01 3.57952100e-02 1.73511611e+02] [-2.01986674e-01 9.79359555e-01 -7.49970260e-03 -2.62474650e+01] [-3.65722645e-02 1.09842479e-04 9.99331005e-01 -7.52704109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01587156000002 meters 0.01940382142483815 Centerline is valid? [True, True] Translation: X:173.54, Y:-26.26, Z:-7.53 [[ 9.79278065e-01 1.99417167e-01 3.53166516e-02 1.73539174e+02] [-1.99280011e-01 9.79914665e-01 -7.39772297e-03 -2.62564824e+01] [-3.60825378e-02 2.06525102e-04 9.99348792e-01 -7.52891688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04587156000002 meters 0.015900261308614168 Centerline is valid? [True, True] Translation: X:173.57, Y:-26.27, Z:-7.53 [[ 9.80186307e-01 1.94859893e-01 3.55587665e-02 1.73566245e+02] [-1.94717909e-01 9.80831016e-01 -7.44678435e-03 -2.62655950e+01] [-3.63282207e-02 3.75307393e-04 9.99339842e-01 -7.52948616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07587156000002 meters 0.018189891027782634 Centerline is valid? [True, True] Translation: X:173.59, Y:-26.27, Z:-7.53 [[ 9.80570807e-01 1.92891051e-01 3.56922173e-02 1.73592911e+02] [-1.92746773e-01 9.81220078e-01 -7.47259247e-03 -2.62734574e+01] [-3.64633165e-02 4.47846310e-04 9.99334892e-01 -7.53131573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10587156000003 meters 0.01959211818837074 Centerline is valid? [True, True] Translation: X:173.62, Y:-26.28, Z:-7.53 [[ 9.80919464e-01 1.91114189e-01 3.56703264e-02 1.73620599e+02] [-1.90969022e-01 9.81567678e-01 -7.46503804e-03 -2.62802582e+01] [-3.64395142e-02 5.10673774e-04 9.99335730e-01 -7.53208396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13587156000003 meters 0.02286115264753133 Centerline is valid? [True, True] Translation: X:173.65, Y:-26.29, Z:-7.53 [[ 9.81470656e-01 1.88330013e-01 3.53151196e-02 1.73646672e+02] [-1.88185974e-01 9.82105615e-01 -7.38925617e-03 -2.62900940e+01] [-3.60747959e-02 6.06527938e-04 9.99348909e-01 -7.53446377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16587156000003 meters 0.022859065881545598 Centerline is valid? [True, True] Translation: X:173.68, Y:-26.30, Z:-7.53 [[ 9.81722326e-01 1.86981050e-01 3.54874798e-02 1.73675352e+02] [-1.86834826e-01 9.82363301e-01 -7.42238774e-03 -2.62957942e+01] [-3.62494437e-02 6.56426653e-04 9.99342557e-01 -7.53455255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19587156000003 meters 0.03254582515562794 Centerline is valid? [True, True] Translation: X:173.70, Y:-26.30, Z:-7.53 [[ 9.81988444e-01 1.85492125e-01 3.59355945e-02 1.73702910e+02] [-1.85341248e-01 9.82645488e-01 -7.51443105e-03 -2.63023885e+01] [-3.67058176e-02 7.18736508e-04 9.99325856e-01 -7.53435924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22587156000003 meters 0.025212920670477274 Centerline is valid? [True, True] Translation: X:173.73, Y:-26.31, Z:-7.54 [[ 9.82162024e-01 1.84472185e-01 3.64386034e-02 1.73729941e+02] [-1.84316437e-01 9.82837437e-01 -7.61732987e-03 -2.63091353e+01] [-3.72184091e-02 7.65218566e-04 9.99306862e-01 -7.53536891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25587156000003 meters 0.028594608899114117 Centerline is valid? [True, True] Translation: X:173.76, Y:-26.32, Z:-7.54 [[ 9.82720049e-01 1.81283913e-01 3.73824487e-02 1.73756941e+02] [-1.81117778e-01 9.83430385e-01 -7.81212537e-03 -2.63197519e+01] [-3.81792486e-02 9.06506195e-04 9.99270496e-01 -7.53510097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28587156000003 meters 0.03082612401802427 Centerline is valid? [True, True] Translation: X:173.78, Y:-26.33, Z:-7.54 [[ 9.82987959e-01 1.79734162e-01 3.78193462e-02 1.73783795e+02] [-1.79563029e-01 9.83714734e-01 -7.90198431e-03 -2.63290087e+01] [-3.86237046e-02 9.76599055e-04 9.99253349e-01 -7.53626729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31587156000003 meters 0.03125517536802304 Centerline is valid? [True, True] Translation: X:173.81, Y:-26.34, Z:-7.54 [[ 9.83277097e-01 1.78173511e-01 3.76875261e-02 1.73812903e+02] [-1.78002499e-01 9.83998544e-01 -7.87249898e-03 -2.63358630e+01] [-3.84871416e-02 1.03237412e-03 9.99258562e-01 -7.53729490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34587156000003 meters 0.03454362002969873 Centerline is valid? [True, True] Translation: X:173.84, Y:-26.35, Z:-7.54 [[ 9.83822622e-01 1.75204034e-01 3.73710408e-02 1.73841440e+02] [-1.75033783e-01 9.84531488e-01 -7.80532559e-03 -2.63481678e+01] [-3.81604910e-02 1.13786125e-03 9.99270975e-01 -7.53871253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37587156000004 meters 0.042589988468636306 Centerline is valid? [True, True] Translation: X:173.87, Y:-26.36, Z:-7.54 [[ 9.84057415e-01 1.73921597e-01 3.71790526e-02 1.73870735e+02] [-1.73752177e-01 9.84758794e-01 -7.76522688e-03 -2.63581618e+01] [-3.79629396e-02 1.18148776e-03 9.99278449e-01 -7.53990150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40587156000004 meters 0.038543953992643314 Centerline is valid? [True, True] Translation: X:173.90, Y:-26.37, Z:-7.54 [[ 9.84222169e-01 1.73002170e-01 3.71075641e-02 1.73898530e+02] [-1.72832746e-01 9.84920694e-01 -7.75038121e-03 -2.63708632e+01] [-3.78888406e-02 1.21469482e-03 9.99281222e-01 -7.54307445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43587156000004 meters 0.03984745812711039 Centerline is valid? [True, True] Translation: X:173.93, Y:-26.38, Z:-7.54 [[ 9.84330031e-01 1.72455456e-01 3.67900165e-02 1.73927917e+02] [-1.72288558e-01 9.85016556e-01 -7.68352209e-03 -2.63800324e+01] [-3.75638406e-02 1.22462263e-03 9.99293480e-01 -7.54464949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46587156000004 meters 0.044363260460151856 Centerline is valid? [True, True] Translation: X:173.96, Y:-26.39, Z:-7.55 [[ 9.84339606e-01 1.72503874e-01 3.63036320e-02 1.73956552e+02] [-1.72341392e-01 9.85008100e-01 -7.58203219e-03 -2.63894462e+01] [-3.70673015e-02 1.20667611e-03 9.99312043e-01 -7.54618842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49587156000004 meters 0.0390822301807276 Centerline is valid? [True, True] Translation: X:173.99, Y:-26.40, Z:-7.55 [[ 9.84134775e-01 1.73642770e-01 3.64270943e-02 1.73985868e+02] [-1.73479976e-01 9.84808015e-01 -7.60739107e-03 -2.63957594e+01] [-3.71946628e-02 1.16732667e-03 9.99307357e-01 -7.54795284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52587156000004 meters 0.03507431388292249 Centerline is valid? [True, True] Translation: X:174.02, Y:-26.40, Z:-7.55 [[ 9.83898802e-01 1.75015549e-01 3.62312704e-02 1.74015324e+02] [-1.74855442e-01 9.84565045e-01 -7.56617647e-03 -2.63984312e+01] [-3.69962409e-02 1.10911716e-03 9.99314789e-01 -7.54830045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55587156 meters 0.03436695059701833 Centerline is valid? [True, True] Translation: X:174.04, Y:-26.40, Z:-7.55 [[ 9.83209315e-01 1.78876499e-01 3.60921241e-02 1.74044533e+02] [-1.78720248e-01 9.83871068e-01 -7.53625607e-03 -2.64029880e+01] [-3.68580557e-02 9.59323783e-04 9.99320051e-01 -7.54974399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58587156000002 meters 0.02864633192093186 Centerline is valid? [True, True] Translation: X:174.07, Y:-26.41, Z:-7.55 [[ 9.82798276e-01 1.81099440e-01 3.62014061e-02 1.74074133e+02] [-1.80943779e-01 9.83464398e-01 -7.55820715e-03 -2.64069475e+01] [-3.69715811e-02 8.77773750e-04 9.99315932e-01 -7.55166291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61587156000002 meters 0.02516836578286492 Centerline is valid? [True, True] Translation: X:174.10, Y:-26.41, Z:-7.55 [[ 9.82378775e-01 1.83357115e-01 3.62230750e-02 1.74103894e+02] [-1.83202833e-01 9.83046052e-01 -7.56186253e-03 -2.64098062e+01] [-3.69954722e-02 7.92443300e-04 9.99315119e-01 -7.55217809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64587156000002 meters 0.023591043354576537 Centerline is valid? [True, True] Translation: X:174.13, Y:-26.41, Z:-7.56 [[ 9.81508076e-01 1.87984399e-01 3.61076668e-02 1.74131819e+02] [-1.87834254e-01 9.82171822e-01 -7.53697393e-03 -2.64149383e+01] [-3.68807664e-02 6.15344138e-04 9.99319484e-01 -7.55556971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67587156000002 meters 0.020983365929004644 Centerline is valid? [True, True] Translation: X:174.16, Y:-26.42, Z:-7.56 [[ 9.81130619e-01 1.90004400e-01 3.57915587e-02 1.74161029e+02] [-1.89858265e-01 9.81783094e-01 -7.46965675e-03 -2.64183012e+01] [-3.65588149e-02 5.33385703e-04 9.99331361e-01 -7.55716117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70587156000002 meters 0.018903213174095483 Centerline is valid? [True, True] Translation: X:174.19, Y:-26.42, Z:-7.56 [[ 9.80823989e-01 1.91617179e-01 3.55971902e-02 1.74189233e+02] [-1.91473730e-01 9.81469631e-01 -7.42795527e-03 -2.64223379e+01] [-3.63608850e-02 4.69589926e-04 9.99338614e-01 -7.55836886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73587156000002 meters 0.016178286085311758 Centerline is valid? [True, True] Translation: X:174.22, Y:-26.43, Z:-7.56 [[ 9.80280294e-01 1.94458976e-01 3.51603759e-02 1.74217606e+02] [-1.94320913e-01 9.80910586e-01 -7.33515568e-03 -2.64259629e+01] [-3.59155718e-02 3.58112214e-04 9.99354764e-01 -7.55995864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76587156000002 meters 0.015086881502608517 Centerline is valid? [True, True] Translation: X:174.25, Y:-26.43, Z:-7.56 [[ 9.80012054e-01 1.95798834e-01 3.52021255e-02 1.74246295e+02] [-1.95661368e-01 9.80644034e-01 -7.34215245e-03 -2.64300506e+01] [-3.59583393e-02 3.07701858e-04 9.99353242e-01 -7.56057400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79587156000002 meters 0.02188176901919396 Centerline is valid? [True, True] Translation: X:174.27, Y:-26.43, Z:-7.56 [[ 9.79773105e-01 1.96910455e-01 3.56501931e-02 1.74273385e+02] [-1.96770260e-01 9.80421440e-01 -7.43400325e-03 -2.64346669e+01] [-3.64160467e-02 2.68738684e-04 9.99336680e-01 -7.56030730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82587156000002 meters 0.013513475095266583 Centerline is valid? [True, True] Translation: X:174.30, Y:-26.44, Z:-7.56 [[ 9.79536781e-01 1.97906166e-01 3.66175445e-02 1.74302299e+02] [-1.97759058e-01 9.80220941e-01 -7.63288292e-03 -2.64391930e+01] [-3.74038785e-02 2.35238441e-04 9.99300202e-01 -7.56075319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85587156000003 meters 0.01269815579054224 Centerline is valid? [True, True] Translation: X:174.33, Y:-26.44, Z:-7.56 [[ 9.79246808e-01 1.99160174e-01 3.75621425e-02 1.74329887e+02] [-1.99006367e-01 9.79966933e-01 -7.82798091e-03 -2.64446142e+01] [-3.83686796e-02 1.90419810e-04 9.99263633e-01 -7.56084099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88587156000003 meters 0.012729630539814142 Centerline is valid? [True, True] Translation: X:174.36, Y:-26.45, Z:-7.56 [[ 9.79235854e-01 1.99259206e-01 3.73217155e-02 1.74356969e+02] [-1.99107516e-01 9.79946802e-01 -7.77571918e-03 -2.64505127e+01] [-3.81226794e-02 1.83228943e-04 9.99273050e-01 -7.56225140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91587156000003 meters 0.012729630539814142 Centerline is valid? [True, True] Translation: X:174.38, Y:-26.46, Z:-7.56 [[ 9.79249533e-01 1.99191871e-01 3.73222481e-02 1.74383884e+02] [-1.99040230e-01 9.79960491e-01 -7.77316158e-03 -2.64559811e+01] [-3.81226792e-02 1.83235998e-04 9.99273050e-01 -7.56348965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94587156000003 meters 0.012723290757540669 Centerline is valid? [True, True] Translation: X:174.41, Y:-26.46, Z:-7.57 [[ 9.79229303e-01 1.99310975e-01 3.72170395e-02 1.74411009e+02] [-1.99160375e-01 9.79936276e-01 -7.74858800e-03 -2.64623447e+01] [-3.80147058e-02 1.75484867e-04 9.99277164e-01 -7.56534476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97587156000003 meters 0.012509567759966655 Centerline is valid? [True, True] Translation: X:174.44, Y:-26.47, Z:-7.57 [[ 9.79309186e-01 1.98950763e-01 3.70420173e-02 1.74439343e+02] [-1.98801425e-01 9.80009469e-01 -7.70936956e-03 -2.64689495e+01] [-3.78353126e-02 1.85850628e-04 9.99283971e-01 -7.56561919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00587156000003 meters 0.012772829697827583 Centerline is valid? [True, True] Translation: X:174.47, Y:-26.48, Z:-7.57 [[ 9.79379163e-01 1.98566677e-01 3.72522569e-02 1.74466686e+02] [-1.98415427e-01 9.80087361e-01 -7.75133637e-03 -2.64756259e+01] [-3.80496233e-02 2.00074848e-04 9.99275831e-01 -7.56705464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03587156000003 meters 0.013004475300522523 Centerline is valid? [True, True] Translation: X:174.49, Y:-26.48, Z:-7.57 [[ 9.79471645e-01 1.98110776e-01 3.72480546e-02 1.74494598e+02] [-1.97959323e-01 9.80179613e-01 -7.74806782e-03 -2.64824456e+01] [-3.80447595e-02 2.15413051e-04 9.99276013e-01 -7.56823082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06587156000003 meters 0.013585469120056988 Centerline is valid? [True, True] Translation: X:174.52, Y:-26.49, Z:-7.57 [[ 9.79676246e-01 1.97172094e-01 3.68458688e-02 1.74522747e+02] [-1.97023298e-01 9.80368861e-01 -7.66262865e-03 -2.64899793e+01] [-3.76333990e-02 2.47400663e-04 9.99291582e-01 -7.56992240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09587156000003 meters 0.014058494657009694 Centerline is valid? [True, True] Translation: X:174.55, Y:-26.50, Z:-7.57 [[ 9.79754435e-01 1.96802191e-01 3.67443242e-02 1.74549997e+02] [-1.96654022e-01 9.80443181e-01 -7.63971241e-03 -2.64967262e+01] [-3.75292342e-02 2.59122969e-04 9.99295497e-01 -7.57227307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12587156000004 meters 0.013969147130490056 Centerline is valid? [True, True] Translation: X:174.58, Y:-26.50, Z:-7.57 [[ 9.79822519e-01 1.96433029e-01 3.69038691e-02 1.74578617e+02] [-1.96283376e-01 9.80517206e-01 -7.67108464e-03 -2.65030753e+01] [-3.76917330e-02 2.72685448e-04 9.99289377e-01 -7.57287370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15587156000004 meters 0.03198731114122386 Centerline is valid? [True, True] Translation: X:174.61, Y:-26.51, Z:-7.57 [[ 9.79967326e-01 1.95732429e-01 3.67812048e-02 1.74605439e+02] [-1.95583341e-01 9.80657294e-01 -7.64387160e-03 -2.65108220e+01] [-3.75659103e-02 2.96953507e-04 9.99294108e-01 -7.57304246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18587156000004 meters 0.015253795030880622 Centerline is valid? [True, True] Translation: X:174.63, Y:-26.52, Z:-7.58 [[ 9.80211646e-01 1.94474549e-01 3.69429131e-02 1.74633046e+02] [-1.94323342e-01 9.80907504e-01 -7.67511803e-03 -2.65192006e+01] [-3.77301958e-02 3.44369758e-04 9.99287903e-01 -7.57565550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21587156000004 meters 0.016089962218812787 Centerline is valid? [True, True] Translation: X:174.66, Y:-26.53, Z:-7.58 [[ 9.80356978e-01 1.93776841e-01 3.67522918e-02 1.74659880e+02] [-1.93626765e-01 9.81045565e-01 -7.63381844e-03 -2.65266313e+01] [-3.75349301e-02 3.67639800e-04 9.99295249e-01 -7.57767908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24587156000004 meters 0.01693510220974869 Centerline is valid? [True, True] Translation: X:174.69, Y:-26.54, Z:-7.58 [[ 9.80588339e-01 1.92548009e-01 3.70374666e-02 1.74687655e+02] [-1.92394807e-01 9.81287466e-01 -7.69068570e-03 -2.65366798e+01] [-3.78252279e-02 4.15580482e-04 9.99284284e-01 -7.57813884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27587156000004 meters 0.01766043849450324 Centerline is valid? [True, True] Translation: X:174.71, Y:-26.55, Z:-7.58 [[ 9.80734383e-01 1.91709714e-01 3.75160603e-02 1.74714373e+02] [-1.91551981e-01 9.81451568e-01 -7.78829581e-03 -2.65451581e+01] [-3.83132882e-02 4.51973825e-04 9.99265674e-01 -7.57890026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30587156 meters 0.018188019499125067 Centerline is valid? [True, True] Translation: X:174.74, Y:-26.55, Z:-7.58 [[ 9.80821965e-01 1.91214692e-01 3.77520252e-02 1.74742210e+02] [-1.91054693e-01 9.81548124e-01 -7.83489823e-03 -2.65536289e+01] [-3.85535772e-02 4.71938696e-04 9.99256423e-01 -7.57995444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33587156000002 meters 0.01821173354682028 Centerline is valid? [True, True] Translation: X:174.77, Y:-26.56, Z:-7.58 [[ 9.80876152e-01 1.90927325e-01 3.77985493e-02 1.74769777e+02] [-1.90766787e-01 9.81604057e-01 -7.84275006e-03 -2.65609045e+01] [-3.86006046e-02 4.82058696e-04 9.99254603e-01 -7.58081643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36587156000002 meters 0.018605558888911723 Centerline is valid? [True, True] Translation: X:174.80, Y:-26.57, Z:-7.58 [[ 9.80942468e-01 1.90590937e-01 3.77752394e-02 1.74797437e+02] [-1.90430421e-01 9.81669421e-01 -7.83601687e-03 -2.65707145e+01] [-3.85762712e-02 4.93126986e-04 9.99255537e-01 -7.58218729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39587156000002 meters 0.018508824961244553 Centerline is valid? [True, True] Translation: X:174.83, Y:-26.58, Z:-7.58 [[ 9.80917326e-01 1.90727663e-01 3.77380238e-02 1.74826160e+02] [-1.90567620e-01 9.81642869e-01 -7.82686650e-03 -2.65788835e+01] [-3.85380619e-02 4.85863580e-04 9.99257015e-01 -7.58380063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42587156000002 meters 0.018433886672068845 Centerline is valid? [True, True] Translation: X:174.85, Y:-26.59, Z:-7.59 [[ 9.80874171e-01 1.90949360e-01 3.77386151e-02 1.74853515e+02] [-1.90789507e-01 9.81599773e-01 -7.82616535e-03 -2.65867281e+01] [-3.85386173e-02 4.76351681e-04 9.99256998e-01 -7.58521114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45587156000002 meters 0.01767853195275159 Centerline is valid? [True, True] Translation: X:174.88, Y:-26.59, Z:-7.59 [[ 9.80853960e-01 1.91080691e-01 3.75989330e-02 1.74881980e+02] [-1.90922170e-01 9.81574221e-01 -7.79579134e-03 -2.65933352e+01] [-3.83957686e-02 4.68062918e-04 9.99262501e-01 -7.58645186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48587156000002 meters 0.017846882883535132 Centerline is valid? [True, True] Translation: X:174.91, Y:-26.60, Z:-7.59 [[ 9.80710455e-01 1.91805192e-01 3.76532995e-02 1.74908595e+02] [-1.91646782e-01 9.81432919e-01 -7.80613248e-03 -2.66038198e+01] [-3.84514444e-02 4.39422052e-04 9.99260373e-01 -7.58794888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51587156000002 meters 0.01747608674683336 Centerline is valid? [True, True] Translation: X:174.94, Y:-26.61, Z:-7.59 [[ 9.80623756e-01 1.92198976e-01 3.79025463e-02 1.74937405e+02] [-1.92038789e-01 9.81355885e-01 -7.85693913e-03 -2.66117451e+01] [-3.87059825e-02 4.25942084e-04 9.99250552e-01 -7.58901492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54587156000002 meters 0.016172000802625625 Centerline is valid? [True, True] Translation: X:174.97, Y:-26.62, Z:-7.59 [[ 9.80336933e-01 1.93668731e-01 3.78407279e-02 1.74965185e+02] [-1.93510191e-01 9.81066913e-01 -7.84330951e-03 -2.66193992e+01] [-3.86432899e-02 3.66519506e-04 9.99253002e-01 -7.59088029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57587156000002 meters 0.029099430457097737 Centerline is valid? [True, True] Translation: X:174.99, Y:-26.63, Z:-7.59 [[ 9.80158289e-01 1.94580149e-01 3.77927757e-02 1.74992995e+02] [-1.94422740e-01 9.80886567e-01 -7.83203721e-03 -2.66261762e+01] [-3.85943850e-02 3.28861198e-04 9.99254905e-01 -7.59114763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60587156000003 meters 0.013899697894180893 Centerline is valid? [True, True] Translation: X:175.02, Y:-26.63, Z:-7.59 [[ 9.79923725e-01 1.95730642e-01 3.79342694e-02 1.75022191e+02] [-1.95572967e-01 9.80657655e-01 -7.85996745e-03 -2.66309071e+01] [-3.87389682e-02 2.83250975e-04 9.99249324e-01 -7.59293992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63587156000003 meters 0.018519796338799525 Centerline is valid? [True, True] Translation: X:175.05, Y:-26.64, Z:-7.59 [[ 9.79287343e-01 1.98870408e-01 3.80376183e-02 1.75051404e+02] [-1.98714274e-01 9.80025783e-01 -7.88046082e-03 -2.66356179e+01] [-3.88450371e-02 1.58617857e-04 9.99245234e-01 -7.59244124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66587156000003 meters 0.011571196302330484 Centerline is valid? [True, True] Translation: X:175.08, Y:-26.64, Z:-7.60 [[ 9.78808953e-01 2.01216531e-01 3.80123861e-02 1.75079777e+02] [-2.01062406e-01 9.79546785e-01 -7.87435004e-03 -2.66404107e+01] [-3.88193600e-02 6.46224947e-05 9.99246242e-01 -7.59739676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69587156000003 meters 0.011266755924566312 Centerline is valid? [True, True] Translation: X:175.11, Y:-26.64, Z:-7.60 [[ 9.78359618e-01 2.03403884e-01 3.79383411e-02 1.75108634e+02] [-2.03252055e-01 9.79094918e-01 -7.85765343e-03 -2.66444067e+01] [-3.87435142e-02 -2.34349802e-05 9.99249188e-01 -7.59721872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72587156000003 meters 0.012480177867634772 Centerline is valid? [True, True] Translation: X:175.14, Y:-26.65, Z:-7.60 [[ 9.77533350e-01 2.07375681e-01 3.77342998e-02 1.75137660e+02] [-2.07228507e-01 9.78261363e-01 -7.81358155e-03 -2.66464831e+01] [-3.85343544e-02 -1.81586050e-04 9.99257259e-01 -7.59869229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75587156000003 meters 0.01351653842660849 Centerline is valid? [True, True] Translation: X:175.17, Y:-26.65, Z:-7.60 [[ 9.77222840e-01 2.08880366e-01 3.74768319e-02 1.75166329e+02] [-2.08736369e-01 9.77941171e-01 -7.75845056e-03 -2.66505684e+01] [-3.82707249e-02 -2.41042713e-04 9.99267378e-01 -7.60061403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78587156000003 meters 0.014173471773383678 Centerline is valid? [True, True] Translation: X:175.19, Y:-26.66, Z:-7.60 [[ 9.77016979e-01 2.09865807e-01 3.73385197e-02 1.75194344e+02] [-2.09723660e-01 9.77730159e-01 -7.72800573e-03 -2.66564093e+01] [-3.81288410e-02 -2.80378188e-04 9.99272792e-01 -7.60175332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81587156000003 meters 0.014868902022155893 Centerline is valid? [True, True] Translation: X:175.22, Y:-26.66, Z:-7.60 [[ 9.76921116e-01 2.10350386e-01 3.71193760e-02 1.75221543e+02] [-2.10210319e-01 9.77626015e-01 -7.68090663e-03 -2.66625199e+01] [-3.79045493e-02 -2.99235972e-04 9.99281320e-01 -7.60393598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84587156000003 meters 0.021971771007940722 Centerline is valid? [True, True] Translation: X:175.25, Y:-26.67, Z:-7.60 [[ 9.76951347e-01 2.10252998e-01 3.68746913e-02 1.75249535e+02] [-2.10114791e-01 9.77646966e-01 -7.62793717e-03 -2.66707340e+01] [-3.76542267e-02 -2.95794538e-04 9.99290784e-01 -7.60451261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87587156000004 meters 0.01451308345901301 Centerline is valid? [True, True] Translation: X:175.28, Y:-26.68, Z:-7.61 [[ 9.77066100e-01 2.09740040e-01 3.67552872e-02 1.75275844e+02] [-2.09602428e-01 9.77757147e-01 -7.60151245e-03 -2.66799287e+01] [-3.75320863e-02 -2.76817323e-04 9.99295385e-01 -7.60714063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90587156000004 meters 0.01376801697921534 Centerline is valid? [True, True] Translation: X:175.30, Y:-26.69, Z:-7.61 [[ 9.77163743e-01 2.09189690e-01 3.72919882e-02 1.75304181e+02] [-2.09047724e-01 9.77875046e-01 -7.71000782e-03 -2.66879508e+01] [-3.80797588e-02 -2.61865135e-04 9.99274669e-01 -7.60703875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93587156000004 meters 0.013728014579165743 Centerline is valid? [True, True] Translation: X:175.33, Y:-26.70, Z:-7.61 [[ 9.77249707e-01 2.08745934e-01 3.75252492e-02 1.75330769e+02] [-2.08601907e-01 9.77969874e-01 -7.75698422e-03 -2.66961681e+01] [-3.83178022e-02 -2.47327978e-04 9.99265573e-01 -7.60858892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96587156000004 meters 0.026746932375285047 Centerline is valid? [True, True] Translation: X:175.36, Y:-26.70, Z:-7.61 [[ 9.77240058e-01 2.08756283e-01 3.77184697e-02 1.75358655e+02] [-2.08610869e-01 9.77967664e-01 -7.79450081e-03 -2.67038373e+01] [-3.85145948e-02 -2.51384338e-04 9.99258006e-01 -7.60828773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99587156000004 meters 0.0160295206449647 Centerline is valid? [True, True] Translation: X:175.39, Y:-26.71, Z:-7.61 [[ 9.77166350e-01 2.09047828e-01 3.80122320e-02 1.75386303e+02] [-2.08900432e-01 9.77905381e-01 -7.85336052e-03 -2.67092556e+01] [-3.88140942e-02 -2.66732030e-04 9.99246414e-01 -7.61014180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02587156000004 meters 0.014014761199056227 Centerline is valid? [True, True] Translation: X:175.41, Y:-26.72, Z:-7.61 [[ 9.77084553e-01 2.09402282e-01 3.81636148e-02 1.75414664e+02] [-2.09254075e-01 9.77829537e-01 -7.88217252e-03 -2.67156438e+01] [-3.89680547e-02 -2.84342882e-04 9.99240416e-01 -7.61086248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05587156 meters 0.022131505324414758 Centerline is valid? [True, True] Translation: X:175.44, Y:-26.72, Z:-7.61 [[ 9.76875702e-01 2.10430891e-01 3.78510678e-02 1.75441443e+02] [-2.10285943e-01 9.77608682e-01 -7.81584479e-03 -2.67215517e+01] [-3.86482277e-02 -3.24438629e-04 9.99252825e-01 -7.61210788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08587156000002 meters 0.02764961278289535 Centerline is valid? [True, True] Translation: X:175.47, Y:-26.73, Z:-7.61 [[ 9.76817409e-01 2.10814580e-01 3.72150805e-02 1.75469014e+02] [-2.10674829e-01 9.77526010e-01 -7.68219847e-03 -2.67284838e+01] [-3.79982286e-02 -3.36175526e-04 9.99277750e-01 -7.61388469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11587156000002 meters 0.015181250972913207 Centerline is valid? [True, True] Translation: X:175.50, Y:-26.73, Z:-7.62 [[ 9.76791915e-01 2.10963107e-01 3.70421754e-02 1.75497236e+02] [-2.10824829e-01 9.77493964e-01 -7.64467357e-03 -2.67346007e+01] [-3.78212469e-02 -3.42154953e-04 9.99284462e-01 -7.61708504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14587156000002 meters 0.02430056571669233 Centerline is valid? [True, True] Translation: X:175.52, Y:-26.74, Z:-7.62 [[ 9.76818289e-01 2.10905196e-01 3.66746430e-02 1.75524904e+02] [-2.10769674e-01 9.77506462e-01 -7.56709007e-03 -2.67389460e+01] [-3.74456392e-02 -3.38230566e-04 9.99298609e-01 -7.61927277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17587156000002 meters 0.01541432262191658 Centerline is valid? [True, True] Translation: X:175.55, Y:-26.75, Z:-7.62 [[ 9.76842995e-01 2.10709012e-01 3.71412937e-02 1.75552381e+02] [-2.10569968e-01 9.77548770e-01 -7.66093102e-03 -2.67470386e+01] [-3.79216532e-02 -3.37314227e-04 9.99280658e-01 -7.61976788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20587156000002 meters 0.02468471901928716 Centerline is valid? [True, True] Translation: X:175.58, Y:-26.75, Z:-7.62 [[ 9.76947428e-01 2.10113817e-01 3.77611823e-02 1.75580664e+02] [-2.09969721e-01 9.77676879e-01 -7.78688767e-03 -2.67545972e+01] [-3.85543676e-02 -3.21325042e-04 9.99256452e-01 -7.61866649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23587156000002 meters 0.013515969280919953 Centerline is valid? [True, True] Translation: X:175.61, Y:-26.76, Z:-7.62 [[ 9.77289925e-01 2.08357767e-01 3.86192096e-02 1.75607569e+02] [-2.08205754e-01 9.78052644e-01 -7.96180344e-03 -2.67641576e+01] [-3.94305236e-02 -2.59751380e-04 9.99222281e-01 -7.62017193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26587156000002 meters 0.012605269497519708 Centerline is valid? [True, True] Translation: X:175.64, Y:-26.77, Z:-7.62 [[ 9.77553635e-01 2.07140578e-01 3.84924882e-02 1.75636260e+02] [-2.06988676e-01 9.78311165e-01 -7.93419807e-03 -2.67731720e+01] [-3.93011253e-02 -2.11405003e-04 9.99227390e-01 -7.62064667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29587156000002 meters 0.0118793873520458 Centerline is valid? [True, True] Translation: X:175.67, Y:-26.78, Z:-7.62 [[ 9.77801982e-01 2.05898397e-01 3.88475850e-02 1.75665935e+02] [-2.05742742e-01 9.78573361e-01 -8.00629211e-03 -2.67821767e+01] [-3.96636946e-02 -1.64040378e-04 9.99213073e-01 -7.62174721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32587156000002 meters 0.010949436842795295 Centerline is valid? [True, True] Translation: X:175.70, Y:-26.79, Z:-7.62 [[ 9.78292179e-01 2.03473492e-01 3.92803979e-02 1.75695566e+02] [-2.03312399e-01 9.79080453e-01 -8.09537151e-03 -2.67945767e+01] [-4.01058633e-02 -6.65532859e-05 9.99195434e-01 -7.62251629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35587156000003 meters 0.019583017365206446 Centerline is valid? [True, True] Translation: X:175.73, Y:-26.80, Z:-7.62 [[ 9.78488635e-01 2.02549812e-01 3.91607553e-02 1.75726567e+02] [-2.02388949e-01 9.79271961e-01 -8.07094762e-03 -2.68038956e+01] [-3.99837985e-02 -2.83736081e-05 9.99200328e-01 -7.62331962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38587156000003 meters 0.010851904939629026 Centerline is valid? [True, True] Translation: X:175.76, Y:-26.81, Z:-7.63 [[ 9.78592319e-01 2.02047047e-01 3.91671207e-02 1.75757777e+02] [-2.01885456e-01 9.79375817e-01 -8.07909328e-03 -2.68125589e+01] [-3.99916877e-02 -1.13338388e-06 9.99200012e-01 -7.62674982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41587156000003 meters 0.010859738739358856 Centerline is valid? [True, True] Translation: X:175.79, Y:-26.82, Z:-7.63 [[ 9.78805861e-01 2.00985017e-01 3.92951629e-02 1.75788677e+02] [-2.00821211e-01 9.79594314e-01 -8.11298646e-03 -2.68235771e+01] [-4.01239069e-02 4.97364858e-05 9.99194711e-01 -7.62809036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44587156000003 meters 0.010933688752919439 Centerline is valid? [True, True] Translation: X:175.82, Y:-26.83, Z:-7.63 [[ 9.78876665e-01 2.00638704e-01 3.93012170e-02 1.75820409e+02] [-2.00474303e-01 9.79665303e-01 -8.12086375e-03 -2.68322765e+01] [-4.01313982e-02 7.04399462e-05 9.99194408e-01 -7.62875814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47587156000003 meters 0.010955526057753046 Centerline is valid? [True, True] Translation: X:175.85, Y:-26.84, Z:-7.63 [[ 9.78870161e-01 2.00677214e-01 3.92665732e-02 1.75852416e+02] [-2.00512812e-01 9.79657415e-01 -8.12172051e-03 -2.68408314e+01] [-4.00976338e-02 7.66588627e-05 9.99195764e-01 -7.63059058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50587156000003 meters 0.011406213636320557 Centerline is valid? [True, True] Translation: X:175.88, Y:-26.85, Z:-7.63 [[ 9.78944960e-01 2.00465612e-01 3.84747056e-02 1.75882702e+02] [-2.00307309e-01 9.79700735e-01 -7.96565104e-03 -2.68514115e+01] [-3.92905364e-02 9.11691840e-05 9.99227825e-01 -7.63429751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53587156000003 meters 0.026005512525123786 Centerline is valid? [True, True] Translation: X:175.91, Y:-26.86, Z:-7.63 [[ 9.79012426e-01 2.00098666e-01 3.86677319e-02 1.75914192e+02] [-1.99938194e-01 9.79775745e-01 -8.01295897e-03 -2.68599832e+01] [-3.94890882e-02 1.13629905e-04 9.99219995e-01 -7.63379110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56587156000003 meters 0.011532845623086697 Centerline is valid? [True, True] Translation: X:175.94, Y:-26.87, Z:-7.64 [[ 9.78975642e-01 2.00250646e-01 3.88119995e-02 1.75944920e+02] [-2.00088779e-01 9.79744694e-01 -8.05078039e-03 -2.68680726e+01] [-3.96380246e-02 1.15672312e-04 9.99214098e-01 -7.63656018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59587156000003 meters 0.01853554096571023 Centerline is valid? [True, True] Translation: X:175.98, Y:-26.88, Z:-7.64 [[ 9.79039324e-01 1.99929695e-01 3.88602450e-02 1.75977094e+02] [-1.99766884e-01 9.79810236e-01 -8.06803751e-03 -2.68765422e+01] [-3.96887061e-02 1.35935927e-04 9.99212084e-01 -7.63656067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62587156000004 meters 0.01239218476907396 Centerline is valid? [True, True] Translation: X:176.01, Y:-26.89, Z:-7.64 [[ 9.79380954e-01 1.98268582e-01 3.87623044e-02 1.76007728e+02] [-1.98104975e-01 9.80147706e-01 -8.05566010e-03 -2.68889383e+01] [-3.95899680e-02 2.10554734e-04 9.99215988e-01 -7.63935438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65587156000004 meters 0.013313205860512833 Centerline is valid? [True, True] Translation: X:176.04, Y:-26.90, Z:-7.64 [[ 9.79582573e-01 1.97270333e-01 3.87607756e-02 1.76038023e+02] [-1.97105689e-01 9.80349096e-01 -8.06213914e-03 -2.69001633e+01] [-3.95895122e-02 2.57561630e-04 9.99215995e-01 -7.64137662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68587156000004 meters 0.014241832068098346 Centerline is valid? [True, True] Translation: X:176.07, Y:-26.91, Z:-7.64 [[ 9.79826597e-01 1.96072858e-01 3.86687668e-02 1.76068208e+02] [-1.95907767e-01 9.80589280e-01 -8.05047782e-03 -2.69105730e+01] [-3.94966584e-02 3.12560532e-04 9.99219654e-01 -7.64272530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71587156000004 meters 0.015028709827011516 Centerline is valid? [True, True] Translation: X:176.10, Y:-26.92, Z:-7.64 [[ 9.80046474e-01 1.94955793e-01 3.87446372e-02 1.76098597e+02] [-1.94788934e-01 9.80811963e-01 -8.07249771e-03 -2.69208856e+01] [-3.95749838e-02 3.64396331e-04 9.99216537e-01 -7.64385217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74587156000004 meters 0.01679073881360251 Centerline is valid? [True, True] Translation: X:176.13, Y:-26.94, Z:-7.64 [[ 9.80383615e-01 1.93147069e-01 3.92705618e-02 1.76127086e+02] [-1.92973912e-01 9.81169714e-01 -8.18913528e-03 -2.69350747e+01] [-4.01127933e-02 4.50300097e-04 9.99195057e-01 -7.64483138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77587156000004 meters 0.017215484577358976 Centerline is valid? [True, True] Translation: X:176.16, Y:-26.95, Z:-7.65 [[ 9.80412060e-01 1.92918422e-01 3.96821638e-02 1.76157232e+02] [-1.92741169e-01 9.81214686e-01 -8.28135529e-03 -2.69451888e+01] [-4.05343479e-02 4.70753943e-04 9.99178035e-01 -7.64520634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80587156 meters 0.017215484577358976 Centerline is valid? [True, True] Translation: X:176.19, Y:-26.95, Z:-7.65 [[ 9.80375722e-01 1.93103303e-01 3.96807075e-02 1.76188982e+02] [-1.92925919e-01 9.81178319e-01 -8.28832743e-03 -2.69520134e+01] [-4.05343532e-02 4.70238019e-04 9.99178035e-01 -7.64667087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83587156000002 meters 0.025522623549848036 Centerline is valid? [True, True] Translation: X:176.22, Y:-26.96, Z:-7.65 [[ 9.80322762e-01 1.93178058e-01 4.06142755e-02 1.76219916e+02] [-1.92991949e-01 9.81163596e-01 -8.49151943e-03 -2.69649968e+01] [-4.14896238e-02 4.86201589e-04 9.99138817e-01 -7.64544187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86587156000002 meters 0.01677933210242994 Centerline is valid? [True, True] Translation: X:176.25, Y:-26.97, Z:-7.65 [[ 9.80152358e-01 1.93981607e-01 4.08961051e-02 1.76249659e+02] [-1.93793261e-01 9.81005057e-01 -8.55866474e-03 -2.69737378e+01] [-4.17795094e-02 4.63405879e-04 9.99126748e-01 -7.64698760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89587156000002 meters 0.016119489848766985 Centerline is valid? [True, True] Translation: X:176.28, Y:-26.98, Z:-7.65 [[ 9.79978151e-01 1.94851259e-01 4.09366702e-02 1.76280429e+02] [-1.94663027e-01 9.80832707e-01 -8.57361980e-03 -2.69818900e+01] [-4.18226057e-02 4.33103951e-04 9.99124958e-01 -7.64822908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92587156000002 meters 0.013653176213207923 Centerline is valid? [True, True] Translation: X:176.31, Y:-26.99, Z:-7.65 [[ 9.79389160e-01 1.97820929e-01 4.07891336e-02 1.76311632e+02] [-1.97636335e-01 9.80238125e-01 -8.54965661e-03 -2.69900518e+01] [-4.16743649e-02 3.12026136e-04 9.99131198e-01 -7.64980766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95587156000002 meters 0.012628257540890983 Centerline is valid? [True, True] Translation: X:176.34, Y:-27.00, Z:-7.65 [[ 9.79011876e-01 1.99798820e-01 4.02017071e-02 1.76342368e+02] [-1.99620892e-01 9.79836914e-01 -8.43333885e-03 -2.69967254e+01] [-4.10760877e-02 2.31238244e-04 9.99155995e-01 -7.65269529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98587156000002 meters 0.010846678521349778 Centerline is valid? [True, True] Translation: X:176.37, Y:-27.00, Z:-7.66 [[ 9.78044548e-01 2.04690541e-01 3.91234626e-02 1.76373657e+02] [-2.04525701e-01 9.78826737e-01 -8.21316855e-03 -2.70001410e+01] [-3.99762492e-02 3.10910969e-05 9.99200630e-01 -7.65622822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01587156000002 meters 0.011097855606334134 Centerline is valid? [True, True] Translation: X:176.41, Y:-27.00, Z:-7.66 [[ 9.77438952e-01 2.07699936e-01 3.83905089e-02 1.76405041e+02] [-2.07543311e-01 9.78192583e-01 -8.06502087e-03 -2.70043612e+01] [-3.92284154e-02 -8.46277844e-05 9.99230266e-01 -7.65934849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04587156000002 meters 0.012562277890172054 Centerline is valid? [True, True] Translation: X:176.44, Y:-27.01, Z:-7.66 [[ 9.76784820e-01 2.10858604e-01 3.78161851e-02 1.76437045e+02] [-2.10708736e-01 9.77516551e-01 -7.95113038e-03 -2.70089039e+01] [-3.86425111e-02 -2.01657081e-04 9.99253079e-01 -7.66133478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07587156000002 meters 0.014912720470126675 Centerline is valid? [True, True] Translation: X:176.47, Y:-27.01, Z:-7.66 [[ 9.76048199e-01 2.14249251e-01 3.77779224e-02 1.76468713e+02] [-2.14101979e-01 9.76778967e-01 -7.94938048e-03 -2.70127266e+01] [-3.86038288e-02 -3.29349460e-04 9.99254540e-01 -7.66291113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10587156000003 meters 0.01645696444737831 Centerline is valid? [True, True] Translation: X:176.50, Y:-27.02, Z:-7.66 [[ 9.75311119e-01 2.17550276e-01 3.79486280e-02 1.76500543e+02] [-2.17403918e-01 9.76049010e-01 -7.99165507e-03 -2.70180958e+01] [-3.87783075e-02 -4.55830369e-04 9.99247735e-01 -7.66306673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13587156000003 meters 0.02400056789795716 Centerline is valid? [True, True] Translation: X:176.53, Y:-27.02, Z:-7.67 [[ 9.73991507e-01 2.23523815e-01 3.71166816e-02 1.76531404e+02] [-2.23387845e-01 9.74698237e-01 -7.82412040e-03 -2.70164395e+01] [-3.79264414e-02 -6.70788695e-04 9.99280309e-01 -7.66683053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16587156000003 meters 0.023987550845741803 Centerline is valid? [True, True] Translation: X:176.56, Y:-27.02, Z:-7.67 [[ 9.73409363e-01 2.26048318e-01 3.70994625e-02 1.76562152e+02] [-2.25914348e-01 9.74115786e-01 -7.81934659e-03 -2.70240607e+01] [-3.79067222e-02 -7.69875689e-04 9.99280985e-01 -7.66743608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19587156000003 meters 0.026969920657921958 Centerline is valid? [True, True] Translation: X:176.59, Y:-27.03, Z:-7.67 [[ 9.72905465e-01 2.28212365e-01 3.70684884e-02 1.76593426e+02] [-2.28079956e-01 9.73611010e-01 -7.81891026e-03 -2.70272950e+01] [-3.78746604e-02 -8.47518689e-04 9.99282138e-01 -7.66935565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22587156000003 meters 0.032443391641352126 Centerline is valid? [True, True] Translation: X:176.62, Y:-27.03, Z:-7.67 [[ 9.72196326e-01 2.30986412e-01 3.84653317e-02 1.76624809e+02] [-2.30845728e-01 9.72956478e-01 -8.12048293e-03 -2.70324184e+01] [-3.93008149e-02 -9.84853841e-04 9.99226939e-01 -7.66780855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25587156000003 meters 0.03026193292334249 Centerline is valid? [True, True] Translation: X:176.66, Y:-27.04, Z:-7.67 [[ 9.71850451e-01 2.32439105e-01 3.84546868e-02 1.76656275e+02] [-2.32299516e-01 9.72610395e-01 -8.12127044e-03 -2.70392778e+01] [-3.92891289e-02 -1.04034478e-03 9.99227343e-01 -7.66964217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28587156000003 meters 0.032080660359662144 Centerline is valid? [True, True] Translation: X:176.69, Y:-27.04, Z:-7.67 [[ 9.71636107e-01 2.33280172e-01 3.87767605e-02 1.76687187e+02] [-2.33138627e-01 9.72408969e-01 -8.19622007e-03 -2.70444207e+01] [-3.96188853e-02 -1.07661736e-03 9.99214284e-01 -7.67091417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31587156000003 meters 0.03405971223938389 Centerline is valid? [True, True] Translation: X:176.72, Y:-27.05, Z:-7.67 [[ 9.71293359e-01 2.34665535e-01 3.90038078e-02 1.76716709e+02] [-2.34523159e-01 9.72075513e-01 -8.25131741e-03 -2.70497539e+01] [-3.98509463e-02 -1.13284644e-03 9.99204993e-01 -7.67232888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34587156000003 meters 0.034503859889183926 Centerline is valid? [True, True] Translation: X:176.75, Y:-27.06, Z:-7.67 [[ 9.71213626e-01 2.35009872e-01 3.89159711e-02 1.76747338e+02] [-2.34868397e-01 9.71992310e-01 -8.23314498e-03 -2.70562708e+01] [-3.97608950e-02 -1.14398917e-03 9.99208568e-01 -7.67332725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37587156000004 meters 0.03978494511010069 Centerline is valid? [True, True] Translation: X:176.78, Y:-27.06, Z:-7.68 [[ 9.71162696e-01 2.35195386e-01 3.90659421e-02 1.76777254e+02] [-2.35052923e-01 9.71947425e-01 -8.26600192e-03 -2.70554328e+01] [-3.99141673e-02 -1.15493117e-03 9.99202445e-01 -7.67551929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40587156000004 meters 0.035336950643451596 Centerline is valid? [True, True] Translation: X:176.81, Y:-27.07, Z:-7.68 [[ 9.71293026e-01 2.34678575e-01 3.89335930e-02 1.76805866e+02] [-2.34536682e-01 9.72072368e-01 -8.23746974e-03 -2.70666636e+01] [-3.97794276e-02 -1.13035884e-03 9.99207846e-01 -7.67651758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43587156000004 meters 0.034174471553117786 Centerline is valid? [True, True] Translation: X:176.83, Y:-27.08, Z:-7.68 [[ 9.71516885e-01 2.33850238e-01 3.83276415e-02 1.76834808e+02] [-2.33712085e-01 9.72272030e-01 -8.10926406e-03 -2.70750208e+01] [-3.91612471e-02 -1.07934605e-03 9.99232321e-01 -7.67885665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46587156000004 meters 0.032792725068505925 Centerline is valid? [True, True] Translation: X:176.86, Y:-27.08, Z:-7.68 [[ 9.71766460e-01 2.32803331e-01 3.83739021e-02 1.76864799e+02] [-2.32664034e-01 9.72523280e-01 -8.11891591e-03 -2.70847181e+01] [-3.92096238e-02 -1.03853669e-03 9.99230467e-01 -7.68016591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49587156000004 meters 0.030432506219025518 Centerline is valid? [True, True] Translation: X:176.89, Y:-27.10, Z:-7.68 [[ 9.72257435e-01 2.30645054e-01 3.89658583e-02 1.76894807e+02] [-2.30499655e-01 9.73037475e-01 -8.24510600e-03 -2.70958102e+01] [-3.98169333e-02 -9.65251280e-04 9.99206525e-01 -7.67970473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52587156000004 meters 0.030653388768108972 Centerline is valid? [True, True] Translation: X:176.92, Y:-27.10, Z:-7.68 [[ 9.72468290e-01 2.29664898e-01 3.94900029e-02 1.76924986e+02] [-2.29514713e-01 9.73269314e-01 -8.35697137e-03 -2.71017643e+01] [-4.03537110e-02 -9.36647027e-04 9.99185018e-01 -7.68066022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55587156 meters 0.027083851569945954 Centerline is valid? [True, True] Translation: X:176.96, Y:-27.11, Z:-7.68 [[ 9.72549636e-01 2.29220152e-01 4.00665392e-02 1.76955887e+02] [-2.29065157e-01 9.73374160e-01 -8.47934908e-03 -2.71134074e+01] [-4.09433716e-02 -9.31260232e-04 9.99161035e-01 -7.68022260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58587156000002 meters 0.028963250205713116 Centerline is valid? [True, True] Translation: X:176.99, Y:-27.12, Z:-7.68 [[ 9.72513514e-01 2.29283039e-01 4.05802158e-02 1.76987608e+02] [-2.29123805e-01 9.73359341e-01 -8.59510704e-03 -2.71177317e+01] [-4.14698444e-02 -9.39035722e-04 9.99139315e-01 -7.68100828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61587156000002 meters 0.02986032874109092 Centerline is valid? [True, True] Translation: X:177.02, Y:-27.12, Z:-7.68 [[ 9.72300350e-01 2.30078902e-01 4.11792291e-02 1.77018873e+02] [-2.29915301e-01 9.73171485e-01 -8.73010132e-03 -2.71222107e+01] [-4.20830636e-02 -9.79454292e-04 9.99113635e-01 -7.68106020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64587156000002 meters 0.03133028021416089 Centerline is valid? [True, True] Translation: X:177.05, Y:-27.13, Z:-7.68 [[ 9.72097687e-01 2.30894632e-01 4.13975316e-02 1.77048838e+02] [-2.30729988e-01 9.72978227e-01 -8.77739319e-03 -2.71256946e+01] [-4.23055499e-02 -1.01916836e-03 9.99104200e-01 -7.68201623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67587156000002 meters 0.03936285534460829 Centerline is valid? [True, True] Translation: X:177.08, Y:-27.12, Z:-7.68 [[ 9.71552072e-01 2.33225821e-01 4.11374186e-02 1.77079765e+02] [-2.33065309e-01 9.72421965e-01 -8.72266834e-03 -2.71186710e+01] [-4.20372809e-02 -1.11317865e-03 9.99115423e-01 -7.68499191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70587156000002 meters 0.034191352171950615 Centerline is valid? [True, True] Translation: X:177.11, Y:-27.13, Z:-7.69 [[ 9.71342503e-01 2.34187213e-01 4.06213101e-02 1.77108791e+02] [-2.34031492e-01 9.72190852e-01 -8.61445924e-03 -2.71302847e+01] [-4.15090623e-02 -1.13907543e-03 9.99137478e-01 -7.68674435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73587156000002 meters 0.0345313576422096 Centerline is valid? [True, True] Translation: X:177.14, Y:-27.13, Z:-7.69 [[ 9.71246594e-01 2.34684792e-01 4.00387606e-02 1.77138968e+02] [-2.34533908e-01 9.72070852e-01 -8.49143675e-03 -2.71346846e+01] [-4.09133232e-02 -1.14316796e-03 9.99162045e-01 -7.68937547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76587156000002 meters 0.034534709035619005 Centerline is valid? [True, True] Translation: X:177.17, Y:-27.14, Z:-7.69 [[ 9.71280863e-01 2.34613938e-01 3.96205169e-02 1.77169078e+02] [-2.34466132e-01 9.72087973e-01 -8.40273546e-03 -2.71395114e+01] [-4.04860268e-02 -1.12825319e-03 9.99179468e-01 -7.69147968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79587156000002 meters 0.03662420488389772 Centerline is valid? [True, True] Translation: X:177.20, Y:-27.14, Z:-7.70 [[ 9.71776489e-01 2.32750720e-01 3.84390081e-02 1.77198607e+02] [-2.32610141e-01 9.72535893e-01 -8.15222715e-03 -2.71427663e+01] [-3.92807518e-02 -1.01916041e-03 9.99227694e-01 -7.69549578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82587156000002 meters 0.03308059244319664 Centerline is valid? [True, True] Translation: X:177.23, Y:-27.15, Z:-7.70 [[ 9.72066851e-01 2.31572903e-01 3.82103221e-02 1.77227782e+02] [-2.31433097e-01 9.72817073e-01 -8.10334230e-03 -2.71497146e+01] [-3.90481682e-02 -9.66142769e-04 9.99236862e-01 -7.69799493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85587156000003 meters 0.03059363427791069 Centerline is valid? [True, True] Translation: X:177.26, Y:-27.16, Z:-7.70 [[ 9.72359320e-01 2.30332332e-01 3.82670783e-02 1.77256278e+02] [-2.30191186e-01 9.73111593e-01 -8.11449976e-03 -2.71574714e+01] [-3.91071692e-02 -9.18534665e-04 9.99234600e-01 -7.69830849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88587156000003 meters 0.028712128193372797 Centerline is valid? [True, True] Translation: X:177.29, Y:-27.16, Z:-7.70 [[ 9.72849255e-01 2.28206385e-01 3.85509105e-02 1.77285069e+02] [-2.28061503e-01 9.73612418e-01 -8.17377062e-03 -2.71616395e+01] [-3.93989518e-02 -8.40131924e-04 9.99223207e-01 -7.69889939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91587156000003 meters 0.027774449685012498 Centerline is valid? [True, True] Translation: X:177.31, Y:-27.17, Z:-7.70 [[ 9.73035183e-01 2.27381015e-01 3.87350809e-02 1.77314121e+02] [-2.27234129e-01 9.73805533e-01 -8.21190534e-03 -2.71659980e+01] [-3.95876675e-02 -8.11459545e-04 9.99215772e-01 -7.69946520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94587156000003 meters 0.027237155718179754 Centerline is valid? [True, True] Translation: X:177.34, Y:-27.17, Z:-7.70 [[ 9.73154909e-01 2.26747881e-01 3.94325031e-02 1.77343729e+02] [-2.26595174e-01 9.73953160e-01 -8.35882300e-03 -2.71698449e+01] [-4.03007564e-02 -8.00785279e-04 9.99187274e-01 -7.69991794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97587156000003 meters 0.026137899079345293 Centerline is valid? [True, True] Translation: X:177.37, Y:-27.17, Z:-7.70 [[ 9.73475990e-01 2.25351586e-01 3.95115051e-02 1.77372883e+02] [-2.25197152e-01 9.74277223e-01 -8.37470488e-03 -2.71723818e+01] [-4.03824125e-02 -7.45304285e-04 9.99184020e-01 -7.70106620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00587156000003 meters 0.02298775285270221 Centerline is valid? [True, True] Translation: X:177.40, Y:-27.18, Z:-7.70 [[ 9.73698045e-01 2.24474950e-01 3.90271027e-02 1.77402124e+02] [-2.24323637e-01 9.74479607e-01 -8.27052548e-03 -2.71805485e+01] [-3.98876415e-02 -7.01707132e-04 9.99203925e-01 -7.70252634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03587156000003 meters 0.03078667979740481 Centerline is valid? [True, True] Translation: X:177.43, Y:-27.18, Z:-7.70 [[ 9.73958946e-01 2.23396158e-01 3.87056595e-02 1.77432096e+02] [-2.23246476e-01 9.74727516e-01 -8.20240604e-03 -2.71837296e+01] [-3.95598573e-02 -6.52095355e-04 9.99216990e-01 -7.70412347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06587156000003 meters 0.021066766326476808 Centerline is valid? [True, True] Translation: X:177.46, Y:-27.19, Z:-7.71 [[ 9.74613777e-01 2.20565723e-01 3.84544911e-02 1.77459602e+02] [-2.20415771e-01 9.75371969e-01 -8.14927167e-03 -2.71903094e+01] [-3.93048827e-02 -5.33583885e-04 9.99227122e-01 -7.70797294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09587156000003 meters 0.01918989773539039 Centerline is valid? [True, True] Translation: X:177.49, Y:-27.20, Z:-7.71 [[ 9.75011763e-01 2.18814464e-01 3.83704544e-02 1.77488564e+02] [-2.18663835e-01 9.75766374e-01 -8.13086461e-03 -2.71976901e+01] [-3.92197499e-02 -4.62542070e-04 9.99230503e-01 -7.70984812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12587156000004 meters 0.01711303573898263 Centerline is valid? [True, True] Translation: X:177.52, Y:-27.20, Z:-7.71 [[ 9.75461968e-01 2.16807769e-01 3.83189222e-02 1.77517734e+02] [-2.16656032e-01 9.76214242e-01 -8.11901345e-03 -2.72049656e+01] [-3.91677428e-02 -3.82236803e-04 9.99232576e-01 -7.71161396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15587156000004 meters 0.01387914943556562 Centerline is valid? [True, True] Translation: X:177.55, Y:-27.21, Z:-7.71 [[ 9.76303882e-01 2.13058155e-01 3.79071486e-02 1.77545568e+02] [-2.12906852e-01 9.77039493e-01 -8.03134356e-03 -2.72135032e+01] [-3.87479244e-02 -2.29659765e-04 9.99248991e-01 -7.71395144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18587156000004 meters 0.012123268514173335 Centerline is valid? [True, True] Translation: X:177.58, Y:-27.22, Z:-7.71 [[ 9.76701796e-01 2.11272730e-01 3.76488347e-02 1.77576823e+02] [-2.11122217e-01 9.77427137e-01 -7.97503408e-03 -2.72231729e+01] [-3.84838999e-02 -1.59275362e-04 9.99259208e-01 -7.71490478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21587156000004 meters 0.01167296290562925 Centerline is valid? [True, True] Translation: X:177.61, Y:-27.23, Z:-7.72 [[ 9.77109878e-01 2.09394118e-01 3.75551679e-02 1.77606678e+02] [-2.09242718e-01 9.77831324e-01 -7.96163075e-03 -2.72307330e+01] [-3.83897382e-02 -7.87573765e-05 9.99262839e-01 -7.71823933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24587156000004 meters 0.01120459532116384 Centerline is valid? [True, True] Translation: X:177.64, Y:-27.24, Z:-7.72 [[ 9.77797679e-01 2.06077850e-01 3.79949896e-02 1.77638247e+02] [-2.05920153e-01 9.78535598e-01 -8.06066707e-03 -2.72419237e+01] [-3.88405748e-02 5.77674987e-05 9.99245419e-01 -7.71635073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27587156000004 meters 0.01177017703398475 Centerline is valid? [True, True] Translation: X:177.67, Y:-27.25, Z:-7.72 [[ 9.78086447e-01 2.04669171e-01 3.81763441e-02 1.77668744e+02] [-2.04508587e-01 9.78831199e-01 -8.10692974e-03 -2.72511637e+01] [-3.90274352e-02 1.21887929e-04 9.99238132e-01 -7.71805842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30587156 meters 0.012497059539098637 Centerline is valid? [True, True] Translation: X:177.70, Y:-27.26, Z:-7.72 [[ 9.78382659e-01 2.03238145e-01 3.82312595e-02 1.77700437e+02] [-2.03075729e-01 9.79129318e-01 -8.12568807e-03 -2.72605210e+01] [-3.90847968e-02 1.86191422e-04 9.99235880e-01 -7.71916998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33587156000002 meters 0.013439468405383773 Centerline is valid? [True, True] Translation: X:177.73, Y:-27.27, Z:-7.72 [[ 9.78645555e-01 2.01935330e-01 3.84057317e-02 1.77730906e+02] [-2.01770104e-01 9.79398827e-01 -8.17089951e-03 -2.72692795e+01] [-3.92645218e-02 2.47286018e-04 9.99228821e-01 -7.72028065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36587156000002 meters 0.014107172709417491 Centerline is valid? [True, True] Translation: X:177.76, Y:-27.28, Z:-7.72 [[ 9.78911033e-01 2.00552937e-01 3.88806893e-02 1.77762179e+02] [-2.00382377e-01 9.79682818e-01 -8.27523490e-03 -2.72777026e+01] [-3.97503659e-02 3.09713798e-04 9.99209594e-01 -7.72012779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39587156000002 meters 0.014354362008981124 Centerline is valid? [True, True] Translation: X:177.79, Y:-27.29, Z:-7.72 [[ 9.78953110e-01 2.00280452e-01 3.92243284e-02 1.77794362e+02] [-2.00106372e-01 9.79738553e-01 -8.35514733e-03 -2.72854312e+01] [-4.01029595e-02 3.30259405e-04 9.99195498e-01 -7.72086317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42587156000002 meters 0.015156889951635591 Centerline is valid? [True, True] Translation: X:177.83, Y:-27.29, Z:-7.72 [[ 9.78939158e-01 2.00246938e-01 3.97402743e-02 1.77825082e+02] [-2.00067890e-01 9.79745398e-01 -8.47313804e-03 -2.72939562e+01] [-4.06320708e-02 3.43933812e-04 9.99174117e-01 -7.72186935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45587156000002 meters 0.013527508270305024 Centerline is valid? [True, True] Translation: X:177.86, Y:-27.30, Z:-7.72 [[ 9.78702838e-01 2.01274187e-01 4.03665415e-02 1.77856981e+02] [-2.01090005e-01 9.79534891e-01 -8.61430629e-03 -2.72995976e+01] [-4.12742734e-02 3.13537962e-04 9.99147805e-01 -7.72065709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48587156000002 meters 0.02543419255509767 Centerline is valid? [True, True] Translation: X:177.89, Y:-27.31, Z:-7.72 [[ 9.78476560e-01 2.02402937e-01 4.02078539e-02 1.77888658e+02] [-2.02220861e-01 9.79302291e-01 -8.58757032e-03 -2.73053627e+01] [-4.11137929e-02 2.71869436e-04 9.99154434e-01 -7.72149638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51587156000002 meters 0.011528536322113696 Centerline is valid? [True, True] Translation: X:177.92, Y:-27.31, Z:-7.73 [[ 9.77837274e-01 2.05539643e-01 3.98462087e-02 1.77919976e+02] [-2.05363132e-01 9.78648780e-01 -8.51764631e-03 -2.73085785e+01] [-4.07461575e-02 1.45929842e-04 9.99169520e-01 -7.72534496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54587156000002 meters 0.011120826868728515 Centerline is valid? [True, True] Translation: X:177.95, Y:-27.31, Z:-7.73 [[ 9.77481063e-01 2.07301454e-01 3.94573084e-02 1.77951178e+02] [-2.07129663e-01 9.78277109e-01 -8.43808010e-03 -2.73133672e+01] [-4.03494078e-02 7.52845220e-05 9.99185628e-01 -7.72804857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57587156000002 meters 0.010798983290297827 Centerline is valid? [True, True] Translation: X:177.98, Y:-27.32, Z:-7.73 [[ 9.77128305e-01 2.09063441e-01 3.88941339e-02 1.77983601e+02] [-2.08897644e-01 9.77902080e-01 -8.32449160e-03 -2.73174378e+01] [-3.97750013e-02 9.20345285e-06 9.99208661e-01 -7.72938632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60587156000003 meters 0.0108751604220613 Centerline is valid? [True, True] Translation: X:178.02, Y:-27.32, Z:-7.73 [[ 9.76729948e-01 2.10953708e-01 3.86929044e-02 1.78016351e+02] [-2.10790806e-01 9.77496051e-01 -8.28894990e-03 -2.73214169e+01] [-3.95707460e-02 -6.00429139e-05 9.99216770e-01 -7.73079368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63587156000003 meters 0.011770239191445065 Centerline is valid? [True, True] Translation: X:178.05, Y:-27.32, Z:-7.73 [[ 9.76132928e-01 2.13698264e-01 3.86982984e-02 1.78049116e+02] [-2.13537153e-01 9.76899701e-01 -8.29814890e-03 -2.73227918e+01] [-3.95776562e-02 -1.63428072e-04 9.99216484e-01 -7.73394345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66587156000003 meters 0.012420674146936048 Centerline is valid? [True, True] Translation: X:178.08, Y:-27.33, Z:-7.74 [[ 9.75848747e-01 2.15035339e-01 3.84581170e-02 1.78080920e+02] [-2.14876964e-01 9.76606246e-01 -8.25413871e-03 -2.73284186e+01] [-3.93333687e-02 -2.08972515e-04 9.99226122e-01 -7.73574289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69587156000003 meters 0.013436267542961658 Centerline is valid? [True, True] Translation: X:178.11, Y:-27.33, Z:-7.74 [[ 9.75475760e-01 2.16811942e-01 3.79423775e-02 1.78111596e+02] [-2.16658847e-01 9.76213352e-01 -8.15076785e-03 -2.73326203e+01] [-3.88070393e-02 -2.69675298e-04 9.99246687e-01 -7.73760599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72587156000003 meters 0.013436267542961658 Centerline is valid? [True, True] Translation: X:178.14, Y:-27.34, Z:-7.74 [[ 9.75470583e-01 2.16835267e-01 3.79421821e-02 1.78141704e+02] [-2.16682154e-01 9.76208172e-01 -8.15167730e-03 -2.73391341e+01] [-3.88070394e-02 -2.69672350e-04 9.99246687e-01 -7.73899472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75587156000003 meters 0.01397405051473328 Centerline is valid? [True, True] Translation: X:178.17, Y:-27.34, Z:-7.74 [[ 9.75264159e-01 2.17801075e-01 3.77162009e-02 1.78173148e+02] [-2.17650466e-01 9.75993135e-01 -8.10406071e-03 -2.73436119e+01] [-3.85758263e-02 -3.05348762e-04 9.99255629e-01 -7.74041737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78587156000003 meters 0.01455363091419407 Centerline is valid? [True, True] Translation: X:178.20, Y:-27.35, Z:-7.74 [[ 9.75049998e-01 2.18770650e-01 3.76417749e-02 1.78203808e+02] [-2.18621321e-01 9.75776248e-01 -8.08901819e-03 -2.73481634e+01] [-3.84995896e-02 -3.42097387e-04 9.99258557e-01 -7.74248785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81587156000003 meters 0.015758428013591265 Centerline is valid? [True, True] Translation: X:178.23, Y:-27.35, Z:-7.74 [[ 9.74859499e-01 2.19676541e-01 3.72984639e-02 1.78233796e+02] [-2.19530548e-01 9.75572692e-01 -8.01626808e-03 -2.73523132e+01] [-3.81483489e-02 -3.73417123e-04 9.99272017e-01 -7.74469799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84587156000003 meters 0.016374115101678226 Centerline is valid? [True, True] Translation: X:178.26, Y:-27.36, Z:-7.75 [[ 9.74671063e-01 2.20558032e-01 3.70199059e-02 1.78263133e+02] [-2.20414820e-01 9.75373770e-01 -7.95712831e-03 -2.73570864e+01] [-3.78632537e-02 -4.04153180e-04 9.99282848e-01 -7.74654646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87587156000004 meters 0.01821260863385294 Centerline is valid? [True, True] Translation: X:178.29, Y:-27.36, Z:-7.75 [[ 9.74320026e-01 2.22125502e-01 3.68883202e-02 1.78291846e+02] [-2.21984460e-01 9.75017972e-01 -7.92801334e-03 -2.73581605e+01] [-3.77277891e-02 -4.64211674e-04 9.99287946e-01 -7.74866216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90587156000004 meters 0.018164271272474906 Centerline is valid? [True, True] Translation: X:178.32, Y:-27.36, Z:-7.75 [[ 9.74151786e-01 2.22852415e-01 3.69472337e-02 1.78320683e+02] [-2.22711500e-01 9.74852069e-01 -7.93921160e-03 -2.73636866e+01] [-3.77873597e-02 -4.94576679e-04 9.99285680e-01 -7.74930222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93587156000004 meters 0.019619268271362907 Centerline is valid? [True, True] Translation: X:178.35, Y:-27.37, Z:-7.75 [[ 9.74060296e-01 2.23266669e-01 3.68582899e-02 1.78348824e+02] [-2.23126760e-01 9.74757269e-01 -7.91925992e-03 -2.73670766e+01] [-3.76959928e-02 -5.10234157e-04 9.99289123e-01 -7.75161969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96587156000004 meters 0.020555937959775606 Centerline is valid? [True, True] Translation: X:178.38, Y:-27.37, Z:-7.75 [[ 9.73905443e-01 2.23908493e-01 3.70563726e-02 1.78376938e+02] [-2.23767588e-01 9.74610023e-01 -7.96056755e-03 -2.73704865e+01] [-3.78979508e-02 -5.39175043e-04 9.99281469e-01 -7.75247448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99587156000004 meters 0.020202807211432233 Centerline is valid? [True, True] Translation: X:178.41, Y:-27.38, Z:-7.75 [[ 9.73891928e-01 2.23951066e-01 3.71541775e-02 1.78405738e+02] [-2.23809536e-01 9.74600238e-01 -7.97923988e-03 -2.73755817e+01] [-3.79974295e-02 -5.44541926e-04 9.99277689e-01 -7.75391957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02587156000004 meters 0.020389824243158886 Centerline is valid? [True, True] Translation: X:178.43, Y:-27.38, Z:-7.76 [[ 9.73917078e-01 2.23899406e-01 3.68046368e-02 1.78433890e+02] [-2.23760557e-01 9.74612110e-01 -7.90240324e-03 -2.73794165e+01] [-3.76395881e-02 -5.39140553e-04 9.99291234e-01 -7.75606026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05587156 meters 0.025422110875122618 Centerline is valid? [True, True] Translation: X:178.46, Y:-27.39, Z:-7.76 [[ 9.73975073e-01 2.23633506e-01 3.68864668e-02 1.78462060e+02] [-2.23493915e-01 9.74673162e-01 -7.91819007e-03 -2.73856750e+01] [-3.77230218e-02 -5.31781116e-04 9.99288092e-01 -7.75606382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08587156000002 meters 0.01878652335958993 Centerline is valid? [True, True] Translation: X:178.49, Y:-27.39, Z:-7.76 [[ 9.74137358e-01 2.22873634e-01 3.71988166e-02 1.78490460e+02] [-2.22731185e-01 9.74847211e-01 -7.98337990e-03 -2.73916193e+01] [-3.80424476e-02 -5.08427917e-04 9.99275995e-01 -7.75781171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11587156000002 meters 0.017729782228220498 Centerline is valid? [True, True] Translation: X:178.52, Y:-27.40, Z:-7.76 [[ 9.74460715e-01 2.21370791e-01 3.76999599e-02 1.78518306e+02] [-2.21223429e-01 9.75189604e-01 -8.08895069e-03 -2.73976649e+01] [-3.85552663e-02 -4.57749731e-04 9.99256364e-01 -7.75843918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14587156000002 meters 0.01735122579469928 Centerline is valid? [True, True] Translation: X:178.55, Y:-27.40, Z:-7.76 [[ 9.74638942e-01 2.20568665e-01 3.77941446e-02 1.78545969e+02] [-2.20420011e-01 9.75371355e-01 -8.10790851e-03 -2.74030567e+01] [-3.86516766e-02 -4.28302380e-04 9.99252653e-01 -7.75956374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17587156000002 meters 0.015402060183078195 Centerline is valid? [True, True] Translation: X:178.57, Y:-27.41, Z:-7.76 [[ 9.74839750e-01 2.19640918e-01 3.80174957e-02 1.78574770e+02] [-2.19489894e-01 9.75580704e-01 -8.15328553e-03 -2.74107437e+01] [-3.88799303e-02 -3.96309286e-04 9.99243811e-01 -7.75948200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20587156000002 meters 0.014715041485475444 Centerline is valid? [True, True] Translation: X:178.60, Y:-27.42, Z:-7.76 [[ 9.75017042e-01 2.18768001e-01 3.85010307e-02 1.78603852e+02] [-2.18612469e-01 9.75776833e-01 -8.25598945e-03 -2.74162858e+01] [-3.93745601e-02 -3.67074959e-04 9.99224454e-01 -7.76002013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23587156000002 meters 0.013940838588333353 Centerline is valid? [True, True] Translation: X:178.63, Y:-27.42, Z:-7.76 [[ 9.75480005e-01 2.16713422e-01 3.83933922e-02 1.78632514e+02] [-2.16557215e-01 9.76235224e-01 -8.23168279e-03 -2.74207557e+01] [-3.92648979e-02 -2.84524122e-04 9.99228796e-01 -7.76277784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26587156000002 meters 0.01290881119702636 Centerline is valid? [True, True] Translation: X:178.66, Y:-27.43, Z:-7.76 [[ 9.75702649e-01 2.15711374e-01 3.83789372e-02 1.78661714e+02] [-2.15554474e-01 9.76457139e-01 -8.22951779e-03 -2.74278176e+01] [-3.92505878e-02 -2.43189292e-04 9.99229369e-01 -7.76369151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29587156000002 meters 0.026401071929994344 Centerline is valid? [True, True] Translation: X:178.69, Y:-27.43, Z:-7.76 [[ 9.75837677e-01 2.15158587e-01 3.80474890e-02 1.78691212e+02] [-2.15004002e-01 9.76579098e-01 -8.15750411e-03 -2.74339825e+01] [-3.89115396e-02 -2.19962570e-04 9.99242635e-01 -7.76435482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32587156000002 meters 0.012014100326432771 Centerline is valid? [True, True] Translation: X:178.72, Y:-27.44, Z:-7.77 [[ 9.76135250e-01 2.13774270e-01 3.82169398e-02 1.78719754e+02] [-2.13617280e-01 9.76883071e-01 -8.19293026e-03 -2.74382464e+01] [-3.90849192e-02 -1.66390688e-04 9.99235879e-01 -7.76725257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35587156000003 meters 0.01149065743371101 Centerline is valid? [True, True] Translation: X:178.75, Y:-27.44, Z:-7.77 [[ 9.76300378e-01 2.12933141e-01 3.86917350e-02 1.78747436e+02] [-2.12771623e-01 9.77066763e-01 -8.29322106e-03 -2.74438605e+01] [-3.95703099e-02 -1.35828389e-04 9.99216779e-01 -7.76802111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38587156000003 meters 0.011425998121808403 Centerline is valid? [True, True] Translation: X:178.78, Y:-27.45, Z:-7.77 [[ 9.76499222e-01 2.12006964e-01 3.87597173e-02 1.78775614e+02] [-2.11844206e-01 9.77268150e-01 -8.30633807e-03 -2.74493029e+01] [-3.96396387e-02 -9.98888761e-05 9.99214036e-01 -7.77022820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41587156000003 meters 0.01077264324422974 Centerline is valid? [True, True] Translation: X:178.81, Y:-27.46, Z:-7.77 [[ 9.76897820e-01 2.10081545e-01 3.91968640e-02 1.78805788e+02] [-2.09913614e-01 9.77683867e-01 -8.39824946e-03 -2.74568857e+01] [-4.00864588e-02 -2.37238026e-05 9.99196215e-01 -7.76969100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44587156000003 meters 0.010767961615958414 Centerline is valid? [True, True] Translation: X:178.84, Y:-27.46, Z:-7.77 [[ 9.77127382e-01 2.08986942e-01 3.93260309e-02 1.78835605e+02] [-2.08816973e-01 9.77918431e-01 -8.42698632e-03 -2.74640721e+01] [-4.02187805e-02 2.22963523e-05 9.99190897e-01 -7.77139148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47587156000003 meters 0.010989352172048196 Centerline is valid? [True, True] Translation: X:178.86, Y:-27.47, Z:-7.77 [[ 9.77370985e-01 2.07833184e-01 3.93868690e-02 1.78863874e+02] [-2.07661730e-01 9.78164282e-01 -8.44058252e-03 -2.74711327e+01] [-4.02810616e-02 7.04351174e-05 9.99188386e-01 -7.77284385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50587156000003 meters 0.01177874087402159 Centerline is valid? [True, True] Translation: X:178.89, Y:-27.48, Z:-7.77 [[ 9.77843363e-01 2.05523508e-01 3.97799615e-02 1.78892731e+02] [-2.05346701e-01 9.78652165e-01 -8.52482203e-03 -2.74798346e+01] [-4.06827968e-02 1.67256757e-04 9.99172098e-01 -7.77380940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53587156000003 meters 0.012141177938200165 Centerline is valid? [True, True] Translation: X:178.92, Y:-27.49, Z:-7.78 [[ 9.78005293e-01 2.04780120e-01 3.96326712e-02 1.78922849e+02] [-2.04604014e-01 9.78807981e-01 -8.49315127e-03 -2.74870290e+01] [-4.05320034e-02 1.97343281e-04 9.99178221e-01 -7.77519294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56587156000003 meters 0.012927674183772615 Centerline is valid? [True, True] Translation: X:178.95, Y:-27.49, Z:-7.78 [[ 9.78237611e-01 2.03740408e-01 3.92558725e-02 1.78953537e+02] [-2.03566762e-01 9.79024918e-01 -8.41334460e-03 -2.74946974e+01] [-4.01466156e-02 2.39059265e-04 9.99193771e-01 -7.77749942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59587156000003 meters 0.012853940520793241 Centerline is valid? [True, True] Translation: X:178.98, Y:-27.50, Z:-7.78 [[ 9.78273965e-01 2.03566332e-01 3.92529928e-02 1.78983873e+02] [-2.03392534e-01 9.79061125e-01 -8.41367187e-03 -2.75007135e+01] [-4.01438196e-02 2.47110478e-04 9.99193881e-01 -7.77886708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62587156000004 meters 0.012883635603387933 Centerline is valid? [True, True] Translation: X:179.01, Y:-27.51, Z:-7.78 [[ 9.78224929e-01 2.03798333e-01 3.92712120e-02 1.79013906e+02] [-2.03624519e-01 9.79012861e-01 -8.41860757e-03 -2.75070971e+01] [-4.01627198e-02 2.38710151e-04 9.99193124e-01 -7.78088482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65587156000004 meters 0.019128048206440536 Centerline is valid? [True, True] Translation: X:179.04, Y:-27.51, Z:-7.78 [[ 9.78151373e-01 2.04183152e-01 3.91041093e-02 1.79044338e+02] [-2.04011105e-01 9.78932679e-01 -8.38320503e-03 -2.75124373e+01] [-3.99919997e-02 2.22370966e-04 9.99199975e-01 -7.78127145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68587156000004 meters 0.02826610640537504 Centerline is valid? [True, True] Translation: X:179.07, Y:-27.52, Z:-7.78 [[ 9.77823974e-01 2.05823501e-01 3.86905859e-02 1.79074149e+02] [-2.05656319e-01 9.78589118e-01 -8.29555239e-03 -2.75169486e+01] [-3.95696060e-02 1.54626547e-04 9.99216804e-01 -7.78403002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71587156000004 meters 0.011311369984244327 Centerline is valid? [True, True] Translation: X:179.10, Y:-27.52, Z:-7.79 [[ 9.77619874e-01 2.06771217e-01 3.87949174e-02 1.79103458e+02] [-2.06603851e-01 9.78389314e-01 -8.31858468e-03 -2.75211043e+01] [-3.96765765e-02 1.17234379e-04 9.99212568e-01 -7.78648624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74587156000004 meters 0.011234264970366854 Centerline is valid? [True, True] Translation: X:179.13, Y:-27.53, Z:-7.79 [[ 9.77428393e-01 2.07815580e-01 3.80318519e-02 1.79132210e+02] [-2.07655558e-01 9.78168022e-01 -8.15413216e-03 -2.75250780e+01] [-3.88960971e-02 7.25548720e-05 9.99243258e-01 -7.78975674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77587156000004 meters 0.01386819884291795 Centerline is valid? [True, True] Translation: X:179.16, Y:-27.53, Z:-7.79 [[ 9.77182705e-01 2.09143541e-01 3.70532020e-02 1.79160192e+02] [-2.08992655e-01 9.77884952e-01 -7.94300179e-03 -2.75285056e+01] [-3.78949962e-02 1.79169009e-05 9.99281727e-01 -7.79266422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80587156 meters 0.013967272249453598 Centerline is valid? [True, True] Translation: X:179.19, Y:-27.53, Z:-7.79 [[ 9.76769789e-01 2.11237098e-01 3.60509116e-02 1.79190040e+02] [-2.11095742e-01 9.77434849e-01 -7.72680061e-03 -2.75309420e+01] [-3.68696043e-02 -6.28885103e-05 9.99320083e-01 -7.79388718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83587156000002 meters 0.011767941301126888 Centerline is valid? [True, True] Translation: X:179.22, Y:-27.53, Z:-7.80 [[ 9.76551562e-01 2.12209571e-01 3.62511400e-02 1.79219522e+02] [-2.12067343e-01 9.77224175e-01 -7.76878409e-03 -2.75348970e+01] [-3.70741007e-02 -1.01064709e-04 9.99312514e-01 -7.79571742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86587156000002 meters 0.021791483446523447 Centerline is valid? [True, True] Translation: X:179.25, Y:-27.54, Z:-7.79 [[ 9.76151632e-01 2.13942031e-01 3.68347515e-02 1.79248136e+02] [-2.13796442e-01 9.76846343e-01 -7.89320865e-03 -2.75366892e+01] [-3.76705814e-02 -1.70170308e-04 9.99290197e-01 -7.79497890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89587156000002 meters 0.012956065124276123 Centerline is valid? [True, True] Translation: X:179.28, Y:-27.54, Z:-7.80 [[ 9.75979869e-01 2.14581747e-01 3.76559271e-02 1.79275291e+02] [-2.14430172e-01 9.76706012e-01 -8.06647904e-03 -2.75403382e+01] [-3.85096895e-02 -2.01845775e-04 9.99258206e-01 -7.79683771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92587156000002 meters 0.02556541180009637 Centerline is valid? [True, True] Translation: X:179.30, Y:-27.54, Z:-7.80 [[ 9.75844822e-01 2.15141229e-01 3.79622799e-02 1.79302798e+02] [-2.14987692e-01 9.76582920e-01 -8.12972516e-03 -2.75440326e+01] [-3.88223533e-02 -2.28072750e-04 9.99246102e-01 -7.79634009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95587156000002 meters 0.01752780632715599 Centerline is valid? [True, True] Translation: X:179.33, Y:-27.55, Z:-7.79 [[ 9.75519069e-01 2.16352994e-01 3.94198894e-02 1.79331810e+02] [-2.16188525e-01 9.76315163e-01 -8.43939650e-03 -2.75482337e+01] [-4.03121245e-02 -2.89335536e-04 9.99187094e-01 -7.79337328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98587156000002 meters 0.014865726409757215 Centerline is valid? [True, True] Translation: X:179.36, Y:-27.55, Z:-7.80 [[ 9.75351966e-01 2.16963540e-01 4.01915876e-02 1.79359626e+02] [-2.16793169e-01 9.76179655e-01 -8.60254540e-03 -2.75497966e+01] [-4.11006488e-02 -3.22752091e-04 9.99154959e-01 -7.79544947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01587156000002 meters 0.02710349552895313 Centerline is valid? [True, True] Translation: X:179.39, Y:-27.56, Z:-7.79 [[ 9.75277625e-01 2.17232344e-01 4.05421174e-02 1.79387457e+02] [-2.17059329e-01 9.76119866e-01 -8.67491934e-03 -2.75557845e+01] [-4.14584392e-02 -3.39590067e-04 9.99140172e-01 -7.79398618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04587156000002 meters 0.0135703184830913 Centerline is valid? [True, True] Translation: X:179.42, Y:-27.56, Z:-7.80 [[ 9.75400471e-01 2.16737824e-01 4.02322843e-02 1.79415159e+02] [-2.16567105e-01 9.76229796e-01 -8.60665826e-03 -2.75622274e+01] [-4.11413431e-02 -3.18050803e-04 9.99153286e-01 -7.79712484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07587156000002 meters 0.013518708405621367 Centerline is valid? [True, True] Translation: X:179.44, Y:-27.57, Z:-7.80 [[ 9.75595618e-01 2.15991555e-01 3.95074486e-02 1.79442237e+02] [-2.15826399e-01 9.76395190e-01 -8.44970349e-03 -2.75685613e+01] [-4.03999474e-02 -2.83256683e-04 9.99183549e-01 -7.79998087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10587156000003 meters 0.012424367891335561 Centerline is valid? [True, True] Translation: X:179.47, Y:-27.58, Z:-7.80 [[ 9.75905127e-01 2.14662169e-01 3.91067385e-02 1.79470201e+02] [-2.14499390e-01 9.76688333e-01 -8.36128752e-03 -2.75768313e+01] [-3.99899473e-02 -2.28548170e-04 9.99200056e-01 -7.80202537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13587156000003 meters 0.011441544538708692 Centerline is valid? [True, True] Translation: X:179.50, Y:-27.59, Z:-7.81 [[ 9.76552372e-01 2.11846283e-01 3.82964278e-02 1.79497521e+02] [-2.11688093e-01 9.77302993e-01 -8.18604611e-03 -2.75864244e+01] [-3.91613969e-02 -1.12795022e-04 9.99232892e-01 -7.80548970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16587156000003 meters 0.011138890095935034 Centerline is valid? [True, True] Translation: X:179.53, Y:-27.59, Z:-7.81 [[ 9.76852913e-01 2.10484270e-01 3.81412970e-02 1.79525255e+02] [-2.10326375e-01 9.77597243e-01 -8.15150502e-03 -2.75947006e+01] [-3.90025903e-02 -5.92993226e-05 9.99239108e-01 -7.80745876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19587156000003 meters 0.011010016502945098 Centerline is valid? [True, True] Translation: X:179.55, Y:-27.60, Z:-7.81 [[ 9.77132596e-01 2.09177914e-01 3.81639896e-02 1.79552473e+02] [-2.09018912e-01 9.77877600e-01 -8.15440604e-03 -2.76028060e+01] [-3.90254322e-02 -9.05963054e-06 9.99238218e-01 -7.80867284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22587156000003 meters 0.02268508640587932 Centerline is valid? [True, True] Translation: X:179.58, Y:-27.61, Z:-7.81 [[ 9.77384371e-01 2.08082533e-01 3.77021293e-02 1.79581535e+02] [-2.07926598e-01 9.78111271e-01 -8.05428674e-03 -2.76107013e+01] [-3.85528340e-02 3.28585188e-05 9.99256563e-01 -7.80842387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25587156000003 meters 0.011387046835157842 Centerline is valid? [True, True] Translation: X:179.61, Y:-27.62, Z:-7.81 [[ 9.77720412e-01 2.06571531e-01 3.72961033e-02 1.79610539e+02] [-2.06417873e-01 9.78431497e-01 -7.96663754e-03 -2.76182297e+01] [-3.81373627e-02 9.05618419e-05 9.99272502e-01 -7.81182656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28587156000003 meters 0.011673950086990183 Centerline is valid? [True, True] Translation: X:179.64, Y:-27.62, Z:-7.81 [[ 9.77750513e-01 2.06513224e-01 3.68269210e-02 1.79638485e+02] [-2.06363399e-01 9.78443805e-01 -7.86559632e-03 -2.76243445e+01] [-3.76574224e-02 9.08622411e-05 9.99290704e-01 -7.81406190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31587156000003 meters 0.011355329471180852 Centerline is valid? [True, True] Translation: X:179.67, Y:-27.63, Z:-7.81 [[ 9.77747477e-01 2.06410997e-01 3.74749411e-02 1.79667207e+02] [-2.06255834e-01 9.78465376e-01 -8.00249742e-03 -2.76304742e+01] [-3.83197358e-02 9.49964556e-05 9.99265525e-01 -7.81366443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34587156000003 meters 0.01112710329400152 Centerline is valid? [True, True] Translation: X:179.70, Y:-27.64, Z:-7.81 [[ 9.77591166e-01 2.06907808e-01 3.87900961e-02 1.79696424e+02] [-2.06741992e-01 9.78360441e-01 -8.28223969e-03 -2.76366158e+01] [-3.96643556e-02 7.71025990e-05 9.99213057e-01 -7.81246687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37587156000004 meters 0.030568120037489696 Centerline is valid? [True, True] Translation: X:179.72, Y:-27.64, Z:-7.81 [[ 9.77458502e-01 2.07397116e-01 3.95134486e-02 1.79724814e+02] [-2.07225472e-01 9.78256834e-01 -8.43628121e-03 -2.76412644e+01] [-4.04039615e-02 5.79217549e-05 9.99183425e-01 -7.81067818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40587156000004 meters 0.010619523799136098 Centerline is valid? [True, True] Translation: X:179.75, Y:-27.65, Z:-7.81 [[ 9.77289518e-01 2.08026121e-01 4.03773673e-02 1.79753548e+02] [-2.07847485e-01 9.78123270e-01 -8.61922268e-03 -2.76456220e+01] [-4.12870660e-02 3.11417235e-05 9.99147325e-01 -7.81224158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43587156000004 meters 0.01077742256585686 Centerline is valid? [True, True] Translation: X:179.78, Y:-27.65, Z:-7.81 [[ 9.76916002e-01 2.09836009e-01 4.00496575e-02 1.79782747e+02] [-2.09661838e-01 9.77736594e-01 -8.54788996e-03 -2.76473055e+01] [-4.09516709e-02 -4.63143300e-05 9.99161127e-01 -7.81387484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46587156000004 meters 0.024134118232366344 Centerline is valid? [True, True] Translation: X:179.81, Y:-27.65, Z:-7.81 [[ 9.76711858e-01 2.10837569e-01 3.97676405e-02 1.79811015e+02] [-2.10666749e-01 9.77521105e-01 -8.48583542e-03 -2.76513609e+01] [-4.06628408e-02 -8.95034565e-05 9.99172921e-01 -7.81358935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49587156000004 meters 0.011262196789083011 Centerline is valid? [True, True] Translation: X:179.84, Y:-27.66, Z:-7.82 [[ 9.76451041e-01 2.12032509e-01 3.98193358e-02 1.79839954e+02] [-2.11862318e-01 9.77262603e-01 -8.49489738e-03 -2.76551828e+01] [-4.07151422e-02 -1.41365386e-04 9.99170785e-01 -7.81602066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52587156000004 meters 0.013093956619197987 Centerline is valid? [True, True] Translation: X:179.87, Y:-27.65, Z:-7.82 [[ 9.75874769e-01 2.14776138e-01 3.92383249e-02 1.79868109e+02] [-2.14613168e-01 9.76663272e-01 -8.36912156e-03 -2.76536688e+01] [-4.01201183e-02 -2.53846640e-04 9.99194832e-01 -7.81879088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55587156 meters 0.014532506625730657 Centerline is valid? [True, True] Translation: X:179.90, Y:-27.66, Z:-7.82 [[ 9.75577405e-01 2.16250425e-01 3.85289649e-02 1.79896413e+02] [-2.16094559e-01 9.76337880e-01 -8.21493368e-03 -2.76553629e+01] [-3.93937708e-02 -3.11595985e-04 9.99223716e-01 -7.82089950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58587156000002 meters 0.01487642585526265 Centerline is valid? [True, True] Translation: X:179.93, Y:-27.66, Z:-7.82 [[ 9.75300150e-01 2.17499585e-01 3.85168521e-02 1.79925286e+02] [-2.17344898e-01 9.76060345e-01 -8.20961428e-03 -2.76586503e+01] [-3.93803596e-02 -3.64603230e-04 9.99224226e-01 -7.82166976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61587156000002 meters 0.01487642585526265 Centerline is valid? [True, True] Translation: X:179.95, Y:-27.66, Z:-7.82 [[ 9.75310705e-01 2.17452181e-01 3.85172511e-02 1.79952985e+02] [-2.17297531e-01 9.76070907e-01 -8.20774150e-03 -2.76644626e+01] [-3.93803595e-02 -3.64605406e-04 9.99224226e-01 -7.82294564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64587156000002 meters 0.01807347812869878 Centerline is valid? [True, True] Translation: X:179.98, Y:-27.66, Z:-7.82 [[ 9.74702114e-01 2.20085440e-01 3.89639431e-02 1.79982547e+02] [-2.19929357e-01 9.75480482e-01 -8.30105409e-03 -2.76607047e+01] [-3.98355071e-02 -4.78259973e-04 9.99206137e-01 -7.82402474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67587156000002 meters 0.01923454780693886 Centerline is valid? [True, True] Translation: X:180.01, Y:-27.66, Z:-7.83 [[ 9.74465547e-01 2.21128623e-01 3.89747279e-02 1.80010136e+02] [-2.20973409e-01 9.75244512e-01 -8.30029497e-03 -2.76624146e+01] [-3.98453223e-02 -5.24027025e-04 9.99205722e-01 -7.82540332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70587156000002 meters 0.02037976239898281 Centerline is valid? [True, True] Translation: X:180.04, Y:-27.66, Z:-7.83 [[ 9.74308619e-01 2.21886304e-01 3.85899357e-02 1.80037830e+02] [-2.21734826e-01 9.75072389e-01 -8.21603491e-03 -2.76648736e+01] [-3.94510064e-02 -5.51779062e-04 9.99221354e-01 -7.82734173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73587156000002 meters 0.020380617046991033 Centerline is valid? [True, True] Translation: X:180.07, Y:-27.67, Z:-7.83 [[ 9.74157807e-01 2.22578152e-01 3.84126730e-02 1.80067016e+02] [-2.22428693e-01 9.74914679e-01 -8.17594084e-03 -2.76673600e+01] [-3.92688646e-02 -5.79424046e-04 9.99228513e-01 -7.82892828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76587156000002 meters 0.030848056305888216 Centerline is valid? [True, True] Translation: X:180.10, Y:-27.67, Z:-7.83 [[ 9.74233948e-01 2.22309930e-01 3.80330022e-02 1.80095263e+02] [-2.22163274e-01 9.74975885e-01 -8.09342898e-03 -2.76709951e+01] [-3.88805096e-02 -5.64643023e-04 9.99243708e-01 -7.82978418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79587156000002 meters 0.03029236154957806 Centerline is valid? [True, True] Translation: X:180.12, Y:-27.68, Z:-7.83 [[ 9.74385714e-01 2.21650212e-01 3.79955797e-02 1.80124105e+02] [-2.21503460e-01 9.75126090e-01 -8.08245808e-03 -2.76760564e+01] [-3.88419597e-02 -5.40720686e-04 9.99245220e-01 -7.83149856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82587156000002 meters 0.019123940999338045 Centerline is valid? [True, True] Translation: X:180.15, Y:-27.68, Z:-7.83 [[ 9.74594402e-01 2.20731612e-01 3.79908767e-02 1.80151745e+02] [-2.20584248e-01 9.75334456e-01 -8.08020092e-03 -2.76812561e+01] [-3.88373668e-02 -5.05270355e-04 9.99245417e-01 -7.83436054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85587156000003 meters 0.015229590588446978 Centerline is valid? [True, True] Translation: X:180.18, Y:-27.69, Z:-7.83 [[ 9.75215615e-01 2.17875471e-01 3.85328825e-02 1.80180145e+02] [-2.17721740e-01 9.75976495e-01 -8.19295412e-03 -2.76892228e+01] [-3.93922313e-02 -3.99549429e-04 9.99223745e-01 -7.83307626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88587156000003 meters 0.014936099768843587 Centerline is valid? [True, True] Translation: X:180.21, Y:-27.69, Z:-7.84 [[ 9.75596913e-01 2.16152229e-01 3.85859633e-02 1.80208004e+02] [-2.15996783e-01 9.76359618e-01 -8.20281250e-03 -2.76941538e+01] [-3.94468326e-02 -3.31805360e-04 9.99221616e-01 -7.83523279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91587156000003 meters 0.011601485419158666 Centerline is valid? [True, True] Translation: X:180.24, Y:-27.71, Z:-7.84 [[ 9.76562864e-01 2.11644179e-01 3.91371150e-02 1.80235369e+02] [-2.11480719e-01 9.77346775e-01 -8.31792248e-03 -2.77057241e+01] [-4.00109730e-02 -1.53771019e-04 9.99199229e-01 -7.83515634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94587156000003 meters 0.023974227058953572 Centerline is valid? [True, True] Translation: X:180.26, Y:-27.72, Z:-7.84 [[ 9.77159679e-01 2.08853806e-01 3.92307193e-02 1.80262194e+02] [-2.08687389e-01 9.77946873e-01 -8.33593829e-03 -2.77150380e+01] [-4.01065517e-02 -4.14135889e-05 9.99195408e-01 -7.83567081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97587156000003 meters 0.010757837169788885 Centerline is valid? [True, True] Translation: X:180.29, Y:-27.72, Z:-7.84 [[ 9.77655629e-01 2.06436966e-01 3.96642042e-02 1.80289850e+02] [-2.06264962e-01 9.78459900e-01 -8.42553642e-03 -2.77248353e+01] [-4.05491755e-02 5.59375376e-05 9.99177542e-01 -7.83705594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00587156000003 meters 0.013339618438819862 Centerline is valid? [True, True] Translation: X:180.32, Y:-27.74, Z:-7.84 [[ 9.78717380e-01 2.01339194e-01 3.96839975e-02 1.80315164e+02] [-2.01162901e-01 9.79521546e-01 -8.42786909e-03 -2.77372388e+01] [-4.05681909e-02 2.65553899e-04 9.99176737e-01 -7.83878051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03587156000003 meters 0.015259691407818639 Centerline is valid? [True, True] Translation: X:180.34, Y:-27.75, Z:-7.84 [[ 9.79144486e-01 1.99243542e-01 3.97251288e-02 1.80341665e+02] [-1.99065236e-01 9.79949942e-01 -8.43468908e-03 -2.77468781e+01] [-4.06091949e-02 3.50887194e-04 9.99175045e-01 -7.84066181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06587156000003 meters 0.02232775278296621 Centerline is valid? [True, True] Translation: X:180.37, Y:-27.76, Z:-7.84 [[ 9.79630763e-01 1.96952963e-01 3.91547926e-02 1.80369512e+02] [-1.96778007e-01 9.80412841e-01 -8.31124682e-03 -2.77564403e+01] [-4.00247862e-02 4.37151024e-04 9.99198592e-01 -7.84174688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09587156000003 meters 0.020464356170541036 Centerline is valid? [True, True] Translation: X:180.40, Y:-27.77, Z:-7.84 [[ 9.80415111e-01 1.93082602e-01 3.87984359e-02 1.80398337e+02] [-1.92907846e-01 9.81182329e-01 -8.23408855e-03 -2.77686046e+01] [-3.96581990e-02 5.88302124e-04 9.99213131e-01 -7.84448147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12587156000004 meters 0.024143162054233662 Centerline is valid? [True, True] Translation: X:180.43, Y:-27.78, Z:-7.85 [[ 9.80789817e-01 1.91222297e-01 3.85404774e-02 1.80427112e+02] [-1.91048425e-01 9.81546534e-01 -8.17927656e-03 -2.77804925e+01] [-3.93933321e-02 6.59053657e-04 9.99223564e-01 -7.84735553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15587156000004 meters 0.022588923879454888 Centerline is valid? [True, True] Translation: X:180.46, Y:-27.79, Z:-7.85 [[ 9.81077118e-01 1.89809504e-01 3.82104795e-02 1.80457088e+02] [-1.89637507e-01 9.81820680e-01 -8.10976662e-03 -2.77852331e+01] [-3.90551498e-02 7.10166390e-04 9.99236804e-01 -7.84742854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18587156000004 meters 0.02582489505513874 Centerline is valid? [True, True] Translation: X:180.49, Y:-27.80, Z:-7.85 [[ 9.81463897e-01 1.87742059e-01 3.84907565e-02 1.80485849e+02] [-1.87565958e-01 9.82218042e-01 -8.16877257e-03 -2.77976692e+01] [-3.93399377e-02 7.97799751e-04 9.99225567e-01 -7.84849542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21587156000004 meters 0.025649729863814547 Centerline is valid? [True, True] Translation: X:180.52, Y:-27.81, Z:-7.85 [[ 9.81561452e-01 1.87214430e-01 3.85729604e-02 1.80516834e+02] [-1.87037054e-01 9.82318726e-01 -8.18908403e-03 -2.78055567e+01] [-3.94240560e-02 8.23516324e-04 9.99222230e-01 -7.84960606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24587156000004 meters 0.026370427180475598 Centerline is valid? [True, True] Translation: X:180.55, Y:-27.81, Z:-7.85 [[ 9.81614153e-01 1.86964501e-01 3.84438506e-02 1.80547304e+02] [-1.86787858e-01 9.82366314e-01 -8.16833750e-03 -2.78144679e+01] [-3.92931329e-02 8.37311193e-04 9.99227376e-01 -7.85104716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27587156000004 meters 0.025874635107912897 Centerline is valid? [True, True] Translation: X:180.58, Y:-27.82, Z:-7.85 [[ 9.81488051e-01 1.87699073e-01 3.80823243e-02 1.80577532e+02] [-1.87526057e-01 9.82226251e-01 -8.09751850e-03 -2.78229272e+01] [-3.89253553e-02 8.06189530e-04 9.99241796e-01 -7.85331436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30587156 meters 0.026169403757155384 Centerline is valid? [True, True] Translation: X:180.61, Y:-27.83, Z:-7.86 [[ 9.81299301e-01 1.88667593e-01 3.81604568e-02 1.80607835e+02] [-1.88494363e-01 9.82040701e-01 -8.12015813e-03 -2.78314647e+01] [-3.90071325e-02 7.75274506e-04 9.99238631e-01 -7.85507117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33587156000002 meters 0.02438318191468212 Centerline is valid? [True, True] Translation: X:180.64, Y:-27.84, Z:-7.86 [[ 9.81106734e-01 1.89608796e-01 3.84458285e-02 1.80638340e+02] [-1.89433396e-01 9.81859430e-01 -8.18824087e-03 -2.78367051e+01] [-3.93009617e-02 7.50614403e-04 9.99227137e-01 -7.85548977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36587156000002 meters 0.025937871591037148 Centerline is valid? [True, True] Translation: X:180.67, Y:-27.85, Z:-7.86 [[ 9.80675813e-01 1.91780689e-01 3.86667533e-02 1.80667735e+02] [-1.91604944e-01 9.81437579e-01 -8.23552793e-03 -2.78474502e+01] [-3.95284200e-02 6.67641935e-04 9.99218224e-01 -7.85806431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39587156000002 meters 0.021734379836753966 Centerline is valid? [True, True] Translation: X:180.70, Y:-27.85, Z:-7.86 [[ 9.80493675e-01 1.92717525e-01 3.86278312e-02 1.80699034e+02] [-1.92542594e-01 9.81254071e-01 -8.23396559e-03 -2.78500530e+01] [-3.94905461e-02 6.35848345e-04 9.99219742e-01 -7.85782775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42587156000002 meters 0.026497238751244642 Centerline is valid? [True, True] Translation: X:180.73, Y:-27.86, Z:-7.86 [[ 9.80412243e-01 1.93162035e-01 3.84741712e-02 1.80729413e+02] [-1.92988799e-01 9.81166677e-01 -8.20213000e-03 -2.78574450e+01] [-3.93339149e-02 6.16384551e-04 9.99225932e-01 -7.85910403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45587156000002 meters 0.02160266994310512 Centerline is valid? [True, True] Translation: X:180.76, Y:-27.87, Z:-7.86 [[ 9.80333540e-01 1.93713974e-01 3.76967629e-02 1.80757741e+02] [-1.93548042e-01 9.81057876e-01 -8.03736124e-03 -2.78669814e+01] [-3.85396553e-02 5.83160150e-04 9.99256901e-01 -7.86322330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48587156000002 meters 0.021449736047484888 Centerline is valid? [True, True] Translation: X:180.79, Y:-27.88, Z:-7.87 [[ 9.80356908e-01 1.93828697e-01 3.64797174e-02 1.80786889e+02] [-1.93673378e-01 9.81035230e-01 -7.77820472e-03 -2.78777875e+01] [-3.72955273e-02 5.60266637e-04 9.99304123e-01 -7.86700916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51587156000002 meters 0.024435758042466574 Centerline is valid? [True, True] Translation: X:180.82, Y:-27.88, Z:-7.87 [[ 9.80351264e-01 1.93891140e-01 3.62991097e-02 1.80817070e+02] [-1.93737367e-01 9.81022893e-01 -7.74053771e-03 -2.78848191e+01] [-3.71110793e-02 5.55951976e-04 9.99310992e-01 -7.86706780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54587156000002 meters 0.02056318123981329 Centerline is valid? [True, True] Translation: X:180.85, Y:-27.90, Z:-7.87 [[ 9.80126891e-01 1.94920408e-01 3.68417080e-02 1.80846395e+02] [-1.94762730e-01 9.80818923e-01 -7.85619625e-03 -2.78975151e+01] [-3.76663774e-02 5.24677557e-04 9.99290232e-01 -7.86856749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57587156000002 meters 0.02562628087628657 Centerline is valid? [True, True] Translation: X:180.88, Y:-27.91, Z:-7.87 [[ 9.79952173e-01 1.95757139e-01 3.70524196e-02 1.80876518e+02] [-1.95597988e-01 9.80652278e-01 -7.90801651e-03 -2.79056905e+01] [-3.78835904e-02 5.02099225e-04 9.99282033e-01 -7.86870724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60587156000003 meters 0.024479364090704763 Centerline is valid? [True, True] Translation: X:180.91, Y:-27.91, Z:-7.87 [[ 9.79656654e-01 1.97159464e-01 3.74297399e-02 1.80905834e+02] [-1.96998052e-01 9.80371328e-01 -7.98917571e-03 -2.79127293e+01] [-3.82701854e-02 4.53063316e-04 9.99267325e-01 -7.86917142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63587156000003 meters 0.015773512154447153 Centerline is valid? [True, True] Translation: X:180.94, Y:-27.92, Z:-7.87 [[ 9.79279706e-01 1.98988918e-01 3.76120663e-02 1.80937315e+02] [-1.98827213e-01 9.80001664e-01 -8.02977990e-03 -2.79181834e+01] [-3.84577248e-02 3.85098195e-04 9.99260154e-01 -7.87018574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66587156000003 meters 0.01355417631800323 Centerline is valid? [True, True] Translation: X:180.97, Y:-27.93, Z:-7.87 [[ 9.78437130e-01 2.03098978e-01 3.75710911e-02 1.80966408e+02] [-2.02940375e-01 9.79158185e-01 -8.02820241e-03 -2.79251699e+01] [-3.84185611e-02 2.30399999e-04 9.99261708e-01 -7.87283956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69587156000003 meters 0.011729968142857605 Centerline is valid? [True, True] Translation: X:181.00, Y:-27.93, Z:-7.87 [[ 9.77962644e-01 2.05388763e-01 3.74769715e-02 1.80997741e+02] [-2.05232525e-01 9.78680456e-01 -8.01093486e-03 -2.79301036e+01] [-3.83233356e-02 1.42901532e-04 9.99265381e-01 -7.87394579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72587156000003 meters 0.021733405904533685 Centerline is valid? [True, True] Translation: X:181.03, Y:-27.94, Z:-7.88 [[ 9.77560183e-01 2.07368183e-01 3.70745785e-02 1.81026748e+02] [-2.07216662e-01 9.78262967e-01 -7.92606093e-03 -2.79352044e+01] [-3.79123000e-02 6.57311527e-05 9.99281068e-01 -7.87553982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75587156000003 meters 0.011239692788513868 Centerline is valid? [True, True] Translation: X:181.06, Y:-27.94, Z:-7.88 [[ 9.76804267e-01 2.11037957e-01 3.62822793e-02 1.81056714e+02] [-2.10895394e-01 9.77477864e-01 -7.75615654e-03 -2.79404263e+01] [-3.71019683e-02 -7.55187761e-05 9.99311482e-01 -7.87794653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78587156000003 meters 0.012081115016868834 Centerline is valid? [True, True] Translation: X:181.09, Y:-27.95, Z:-7.88 [[ 9.76442268e-01 2.12700034e-01 3.63207008e-02 1.81085730e+02] [-2.12558321e-01 9.77117535e-01 -7.76427315e-03 -2.79455891e+01] [-3.71410548e-02 -1.38902684e-04 9.99310023e-01 -7.88031423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81587156000003 meters 0.012803367156751575 Centerline is valid? [True, True] Translation: X:181.11, Y:-27.95, Z:-7.88 [[ 9.76123528e-01 2.14135272e-01 3.64546629e-02 1.81114589e+02] [-2.13993484e-01 9.76803997e-01 -7.79364769e-03 -2.79513270e+01] [-3.72779553e-02 -1.93497460e-04 9.99304917e-01 -7.88138921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84587156000003 meters 0.014094229444339792 Centerline is valid? [True, True] Translation: X:181.14, Y:-27.96, Z:-7.88 [[ 9.75826081e-01 2.15559726e-01 3.60203337e-02 1.81142028e+02] [-2.15422295e-01 9.76490627e-01 -7.70003301e-03 -2.79594469e+01] [-3.68333352e-02 -2.45689919e-04 9.99321392e-01 -7.88403565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87587156000004 meters 0.013577372758155534 Centerline is valid? [True, True] Translation: X:181.17, Y:-27.97, Z:-7.88 [[ 9.75835115e-01 2.15541204e-01 3.58861813e-02 1.81170524e+02] [-2.15404834e-01 9.76494715e-01 -7.66997478e-03 -2.79684227e+01] [-3.66958620e-02 -2.45426179e-04 9.99326450e-01 -7.88488589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90587156000004 meters 0.013585254943121947 Centerline is valid? [True, True] Translation: X:181.20, Y:-27.98, Z:-7.89 [[ 9.75897244e-01 2.15327448e-01 3.54775845e-02 1.81198691e+02] [-2.15194057e-01 9.76541876e-01 -7.58177661e-03 -2.79766815e+01] [-3.62779115e-02 -2.35530425e-04 9.99341712e-01 -7.88677133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93587156000004 meters 0.013909804325292317 Centerline is valid? [True, True] Translation: X:181.23, Y:-27.99, Z:-7.89 [[ 9.75961640e-01 2.14979818e-01 3.58127707e-02 1.81226895e+02] [-2.14843704e-01 9.76618465e-01 -7.65219059e-03 -2.79859088e+01] [-3.66204797e-02 -2.25903812e-04 9.99329220e-01 -7.88868989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96587156000004 meters 0.013299410395792275 Centerline is valid? [True, True] Translation: X:181.26, Y:-27.99, Z:-7.89 [[ 9.75952363e-01 2.14979256e-01 3.60680613e-02 1.81256330e+02] [-2.14841169e-01 9.76618589e-01 -7.70739731e-03 -2.79949342e+01] [-3.68816696e-02 -2.26851848e-04 9.99319614e-01 -7.88867974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99587156000004 meters 0.01328631527169402 Centerline is valid? [True, True] Translation: X:181.29, Y:-28.00, Z:-7.89 [[ 9.75948325e-01 2.15013707e-01 3.59718240e-02 1.81285636e+02] [-2.14876379e-01 9.76611005e-01 -7.68683234e-03 -2.80036848e+01] [-3.67832535e-02 -2.27544155e-04 9.99323241e-01 -7.88982485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02587156000004 meters 0.013842364744583738 Centerline is valid? [True, True] Translation: X:181.31, Y:-28.01, Z:-7.89 [[ 9.75750250e-01 2.15898422e-01 3.60460877e-02 1.81314589e+02] [-2.15761130e-01 9.76415794e-01 -7.70270176e-03 -2.80135683e+01] [-3.68589705e-02 -2.61431437e-04 9.99320443e-01 -7.89040128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05587156 meters 0.01424478423699852 Centerline is valid? [True, True] Translation: X:181.34, Y:-28.02, Z:-7.89 [[ 9.75632620e-01 2.16353183e-01 3.65005590e-02 1.81343174e+02] [-2.16212721e-01 9.76315124e-01 -7.79990984e-03 -2.80204831e+01] [-3.73235831e-02 -2.82038693e-04 9.99303193e-01 -7.89136212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08587156000002 meters 0.014230668814586523 Centerline is valid? [True, True] Translation: X:181.37, Y:-28.03, Z:-7.89 [[ 9.75511105e-01 2.16839971e-01 3.68579817e-02 1.81373704e+02] [-2.16697118e-01 9.76207117e-01 -7.87556870e-03 -2.80277315e+01] [-3.76887622e-02 -3.04313679e-04 9.99289480e-01 -7.89155276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11587156000002 meters 0.015013908028491398 Centerline is valid? [True, True] Translation: X:181.40, Y:-28.03, Z:-7.89 [[ 9.75290813e-01 2.17865086e-01 3.66419783e-02 1.81404034e+02] [-2.17724593e-01 9.75978836e-01 -7.83031351e-03 -2.80349774e+01] [-3.74677472e-02 -3.41026960e-04 9.99297779e-01 -7.89336856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14587156000002 meters 0.016167405370466768 Centerline is valid? [True, True] Translation: X:181.43, Y:-28.04, Z:-7.90 [[ 9.75228102e-01 2.18139017e-01 3.66813160e-02 1.81433469e+02] [-2.17998377e-01 9.75917643e-01 -7.83972048e-03 -2.80409357e+01] [-3.75080923e-02 -3.50951631e-04 9.99296262e-01 -7.89617880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17587156000002 meters 0.016232890274362123 Centerline is valid? [True, True] Translation: X:181.46, Y:-28.05, Z:-7.90 [[ 9.75203618e-01 2.18306025e-01 3.63370674e-02 1.81462217e+02] [-2.18168103e-01 9.75880297e-01 -7.76686493e-03 -2.80483373e+01] [-3.71561816e-02 -3.53314287e-04 9.99309408e-01 -7.89812847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20587156000002 meters 0.015352846761982616 Centerline is valid? [True, True] Translation: X:181.49, Y:-28.06, Z:-7.90 [[ 9.75260878e-01 2.18171160e-01 3.56028775e-02 1.81492345e+02] [-2.18038711e-01 9.75910461e-01 -7.60870847e-03 -2.80591804e+01] [-3.64052213e-02 -3.42329824e-04 9.99337052e-01 -7.89895323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23587156000002 meters 0.015147330919931179 Centerline is valid? [True, True] Translation: X:181.52, Y:-28.07, Z:-7.90 [[ 9.75351019e-01 2.17764325e-01 3.56242783e-02 1.81522544e+02] [-2.17631456e-01 9.76001328e-01 -7.61301768e-03 -2.80680593e+01] [-3.64271865e-02 -3.27598982e-04 9.99336256e-01 -7.90088279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26587156000002 meters 0.014293757529519491 Centerline is valid? [True, True] Translation: X:181.55, Y:-28.08, Z:-7.90 [[ 9.75573100e-01 2.16814870e-01 3.53332595e-02 1.81553045e+02] [-2.16683340e-01 9.76212698e-01 -7.55638283e-03 -2.80786861e+01] [-3.61311127e-02 -2.84324847e-04 9.99347018e-01 -7.90276810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29587156000002 meters 0.01254031584988275 Centerline is valid? [True, True] Translation: X:181.58, Y:-28.09, Z:-7.91 [[ 9.76229468e-01 2.13916084e-01 3.48702652e-02 1.81581984e+02] [-2.13785915e-01 9.76852026e-01 -7.46340048e-03 -2.80935656e+01] [-3.56596306e-02 -1.68780061e-04 9.99363979e-01 -7.90509634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32587156000002 meters 0.011454823502125244 Centerline is valid? [True, True] Translation: X:181.61, Y:-28.11, Z:-7.90 [[ 9.76607586e-01 2.12110356e-01 3.53103257e-02 1.81612076e+02] [-2.11975498e-01 9.77245715e-01 -7.56314968e-03 -2.81050586e+01] [-3.61110868e-02 -9.86945156e-05 9.99347777e-01 -7.90489859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35587156000003 meters 0.011126284197303306 Centerline is valid? [True, True] Translation: X:181.64, Y:-28.12, Z:-7.91 [[ 9.76971165e-01 2.10326367e-01 3.59188363e-02 1.81641403e+02] [-2.10185349e-01 9.77631228e-01 -7.70068269e-03 -2.81159485e+01] [-3.67350326e-02 -2.62681970e-05 9.99325041e-01 -7.90623117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38587156000003 meters 0.011160314076893657 Centerline is valid? [True, True] Translation: X:181.67, Y:-28.13, Z:-7.91 [[ 9.77556429e-01 2.07425192e-01 3.68540006e-02 1.81672228e+02] [-2.07274552e-01 9.78250879e-01 -7.90430568e-03 -2.81320206e+01] [-3.76920106e-02 8.80083589e-05 9.99289400e-01 -7.90562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41587156000003 meters 0.011396898014165442 Centerline is valid? [True, True] Translation: X:181.70, Y:-28.14, Z:-7.91 [[ 9.77664677e-01 2.06868722e-01 3.71094420e-02 1.81702797e+02] [-2.06715297e-01 9.78368703e-01 -7.96666927e-03 -2.81423989e+01] [-3.79547713e-02 1.17641819e-04 9.99279451e-01 -7.90681181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44587156000003 meters 0.011462424109143212 Centerline is valid? [True, True] Translation: X:181.73, Y:-28.15, Z:-7.91 [[ 9.77648938e-01 2.06847197e-01 3.76402896e-02 1.81733479e+02] [-2.06689058e-01 9.78373252e-01 -8.08777271e-03 -2.81515448e+01] [-3.84991857e-02 1.27166389e-04 9.99258623e-01 -7.90771434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47587156000003 meters 0.010608440778437632 Centerline is valid? [True, True] Translation: X:181.76, Y:-28.16, Z:-7.91 [[ 9.77197004e-01 2.08858143e-01 3.82660562e-02 1.81764418e+02] [-2.08695956e-01 9.77945946e-01 -8.22952762e-03 -2.81596436e+01] [-3.91409383e-02 5.58985586e-05 9.99233698e-01 -7.90720838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50587156000003 meters 0.010373206728522846 Centerline is valid? [True, True] Translation: X:181.80, Y:-28.17, Z:-7.91 [[ 9.76815216e-01 2.10611929e-01 3.84011546e-02 1.81795852e+02] [-2.10449687e-01 9.77569750e-01 -8.26520946e-03 -2.81658832e+01] [-3.92805588e-02 -7.92860886e-06 9.99228221e-01 -7.90857023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53587156000003 meters 0.010373206728522846 Centerline is valid? [True, True] Translation: X:181.83, Y:-28.17, Z:-7.91 [[ 9.76776041e-01 2.10793809e-01 3.83996985e-02 1.81827553e+02] [-2.10631442e-01 9.77530547e-01 -8.27196827e-03 -2.81729144e+01] [-3.92805580e-02 -8.32346075e-06 9.99228221e-01 -7.91003467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56587156000003 meters 0.02447303032941355 Centerline is valid? [True, True] Translation: X:181.86, Y:-28.18, Z:-7.91 [[ 9.76287273e-01 2.13080654e-01 3.82072743e-02 1.81859984e+02] [-2.12921373e-01 9.77034609e-01 -8.23785600e-03 -2.81777886e+01] [-3.90851570e-02 -9.26313442e-05 9.99235879e-01 -7.91024455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59587156000003 meters 0.012885351372009614 Centerline is valid? [True, True] Translation: X:181.89, Y:-28.18, Z:-7.91 [[ 9.75266045e-01 2.17861449e-01 3.73166139e-02 1.81891363e+02] [-2.17712712e-01 9.75979670e-01 -8.05351275e-03 -2.81795580e+01] [-3.81748064e-02 -2.69983658e-04 9.99271040e-01 -7.91377993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62587156000004 meters 0.014633821019339834 Centerline is valid? [True, True] Translation: X:181.92, Y:-28.18, Z:-7.92 [[ 9.74763030e-01 2.20113642e-01 3.72427167e-02 1.81922329e+02] [-2.19966883e-01 9.75474173e-01 -8.04417860e-03 -2.81842012e+01] [-3.80999418e-02 -3.50996413e-04 9.99273872e-01 -7.91619933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65587156000004 meters 0.01776684713975722 Centerline is valid? [True, True] Translation: X:181.95, Y:-28.19, Z:-7.92 [[ 9.74271971e-01 2.22294717e-01 3.71373946e-02 1.81954112e+02] [-2.22150258e-01 9.74979421e-01 -8.02438573e-03 -2.81903653e+01] [-3.79919741e-02 -4.32147705e-04 9.99277951e-01 -7.91682585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68587156000004 meters 0.018762234645898095 Centerline is valid? [True, True] Translation: X:181.98, Y:-28.19, Z:-7.92 [[ 9.73611058e-01 2.25315867e-01 3.62528235e-02 1.81984637e+02] [-2.25180042e-01 9.74285625e-01 -7.84026097e-03 -2.81941258e+01] [-3.70871400e-02 -5.30047537e-04 9.99311895e-01 -7.92079623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71587156000004 meters 0.025784641575835227 Centerline is valid? [True, True] Translation: X:182.01, Y:-28.20, Z:-7.92 [[ 9.73324708e-01 2.26597165e-01 3.59546683e-02 1.82014833e+02] [-2.26464345e-01 9.73988397e-01 -7.77834455e-03 -2.81999184e+01] [-3.67819805e-02 -5.71595454e-04 9.99323151e-01 -7.92261578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74587156000004 meters 0.02554515542575743 Centerline is valid? [True, True] Translation: X:182.04, Y:-28.21, Z:-7.93 [[ 9.73138515e-01 2.27472521e-01 3.54638351e-02 1.82044841e+02] [-2.27343677e-01 9.73784321e-01 -7.67784846e-03 -2.82077849e+01] [-3.62806261e-02 -5.90868622e-04 9.99341467e-01 -7.92550222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77587156000004 meters 0.021604421782044848 Centerline is valid? [True, True] Translation: X:182.08, Y:-28.22, Z:-7.93 [[ 9.73099794e-01 2.27694288e-01 3.51013221e-02 1.82075759e+02] [-2.27567996e-01 9.73732492e-01 -7.60531101e-03 -2.82158781e+01] [-3.59109837e-02 -5.87210945e-04 9.99354820e-01 -7.92813073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80587156 meters 0.02233523919522806 Centerline is valid? [True, True] Translation: X:182.11, Y:-28.22, Z:-7.93 [[ 9.73107328e-01 2.27719569e-01 3.47264401e-02 1.82106801e+02] [-2.27595847e-01 9.73726586e-01 -7.52776777e-03 -2.82228762e+01] [-3.55282780e-02 -5.78267554e-04 9.99368504e-01 -7.93113595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83587156000002 meters 0.021364170789057155 Centerline is valid? [True, True] Translation: X:182.14, Y:-28.23, Z:-7.93 [[ 9.73097310e-01 2.27772405e-01 3.46605955e-02 1.82138409e+02] [-2.27648965e-01 9.73714231e-01 -7.51969215e-03 -2.82325470e+01] [-3.54622934e-02 -5.73056474e-04 9.99370851e-01 -7.93216402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86587156000002 meters 0.021746814650823402 Centerline is valid? [True, True] Translation: X:182.17, Y:-28.24, Z:-7.93 [[ 9.73068111e-01 2.28000069e-01 3.39767439e-02 1.82168478e+02] [-2.27881352e-01 9.73660953e-01 -7.37821730e-03 -2.82409086e+01] [-3.47640629e-02 -5.63158378e-04 9.99395389e-01 -7.93443611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89587156000002 meters 0.02206248609446706 Centerline is valid? [True, True] Translation: X:182.20, Y:-28.25, Z:-7.94 [[ 9.72927382e-01 2.28599321e-01 3.39802867e-02 1.82200755e+02] [-2.28480770e-01 9.73520423e-01 -7.38400683e-03 -2.82482230e+01] [-3.47684820e-02 -5.79739620e-04 9.99395225e-01 -7.93586012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92587156000002 meters 0.022919681313839455 Centerline is valid? [True, True] Translation: X:182.23, Y:-28.25, Z:-7.94 [[ 9.72797620e-01 2.29156603e-01 3.39417370e-02 1.82232000e+02] [-2.29038424e-01 9.73389388e-01 -7.38239664e-03 -2.82537194e+01] [-3.47302516e-02 -5.92384081e-04 9.99396547e-01 -7.93762198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95587156000002 meters 0.02450673175893907 Centerline is valid? [True, True] Translation: X:182.26, Y:-28.26, Z:-7.94 [[ 9.72330051e-01 2.31143089e-01 3.38695081e-02 1.82264057e+02] [-2.31026399e-01 9.72919546e-01 -7.37297796e-03 -2.82572339e+01] [-3.46565193e-02 -6.55782430e-04 9.99399067e-01 -7.93865363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98587156000002 meters 0.023891252142201946 Centerline is valid? [True, True] Translation: X:182.30, Y:-28.26, Z:-7.94 [[ 9.72035953e-01 2.32352799e-01 3.40335553e-02 1.82295198e+02] [-2.32235514e-01 9.72631324e-01 -7.41447665e-03 -2.82648240e+01] [-3.48248763e-02 -6.96662319e-04 9.99393187e-01 -7.93837171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01587156000002 meters 0.024913268468277405 Centerline is valid? [True, True] Translation: X:182.33, Y:-28.27, Z:-7.94 [[ 9.71765898e-01 2.33423906e-01 3.44139389e-02 1.82326599e+02] [-2.33304436e-01 9.72374792e-01 -7.50356212e-03 -2.82699292e+01] [-3.52147574e-02 -7.37218818e-04 9.99379496e-01 -7.93960352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04587156000002 meters 0.028060205050530914 Centerline is valid? [True, True] Translation: X:182.36, Y:-28.27, Z:-7.94 [[ 9.71332933e-01 2.35188810e-01 3.46201871e-02 1.82358220e+02] [-2.35068800e-01 9.71949373e-01 -7.55482610e-03 -2.82713255e+01] [-3.54258797e-02 -7.99874457e-04 9.99371986e-01 -7.94178129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07587156000002 meters 0.028082880193461234 Centerline is valid? [True, True] Translation: X:182.39, Y:-28.28, Z:-7.94 [[ 9.71254933e-01 2.35531709e-01 3.44770936e-02 1.82389338e+02] [-2.35412661e-01 9.71866334e-01 -7.53051727e-03 -2.82769190e+01] [-3.52808022e-02 -8.02292296e-04 9.99377117e-01 -7.94289844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10587156000003 meters 0.02834698439129956 Centerline is valid? [True, True] Translation: X:182.42, Y:-28.28, Z:-7.94 [[ 9.71231538e-01 2.35610072e-01 3.46004899e-02 1.82419850e+02] [-2.35490182e-01 9.71847335e-01 -7.55854998e-03 -2.82822810e+01] [-3.54072644e-02 -8.06973545e-04 9.99372640e-01 -7.94426745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13587156000003 meters 0.02750944269866057 Centerline is valid? [True, True] Translation: X:182.45, Y:-28.29, Z:-7.94 [[ 9.71450295e-01 2.34620572e-01 3.51782891e-02 1.82449913e+02] [-2.34495995e-01 9.72086711e-01 -7.68477144e-03 -2.82890661e+01] [-3.59993529e-02 -7.83794429e-04 9.99351506e-01 -7.94423764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16587156000003 meters 0.025234555659429937 Centerline is valid? [True, True] Translation: X:182.48, Y:-28.30, Z:-7.94 [[ 9.71619270e-01 2.33902818e-01 3.52911684e-02 1.82480798e+02] [-2.33777021e-01 9.72259684e-01 -7.70790483e-03 -2.82985757e+01] [-3.61150809e-02 -7.61115356e-04 9.99347348e-01 -7.94439733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19587156000003 meters 0.024805523601610667 Centerline is valid? [True, True] Translation: X:182.51, Y:-28.31, Z:-7.95 [[ 9.71834158e-01 2.33002612e-01 3.53291977e-02 1.82511103e+02] [-2.32875701e-01 9.72475841e-01 -7.72306492e-03 -2.83055146e+01] [-3.61562856e-02 -7.21773394e-04 9.99345887e-01 -7.94568262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22587156000003 meters 0.029296676758732765 Centerline is valid? [True, True] Translation: X:182.54, Y:-28.31, Z:-7.95 [[ 9.72263413e-01 2.31144553e-01 3.57218535e-02 1.82542384e+02] [-2.31013442e-01 9.72919197e-01 -7.81189868e-03 -2.83135294e+01] [-3.65601548e-02 -6.57005045e-04 9.99331238e-01 -7.94624108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25587156000003 meters 0.02249249125781688 Centerline is valid? [True, True] Translation: X:182.57, Y:-28.32, Z:-7.95 [[ 9.72519724e-01 2.30106955e-01 3.54425714e-02 1.82572412e+02] [-2.29976972e-01 9.73165156e-01 -7.75702786e-03 -2.83202144e+01] [-3.62764215e-02 -6.07112656e-04 9.99341610e-01 -7.94919167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28587156000003 meters 0.0202258447586922 Centerline is valid? [True, True] Translation: X:182.60, Y:-28.33, Z:-7.95 [[ 9.72810282e-01 2.28898432e-01 3.52939408e-02 1.82603342e+02] [-2.28768543e-01 9.73450153e-01 -7.73002429e-03 -2.83300286e+01] [-3.61262826e-02 -5.54296302e-04 9.99347079e-01 -7.95026918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31587156000003 meters 0.020657885165067412 Centerline is valid? [True, True] Translation: X:182.63, Y:-28.34, Z:-7.95 [[ 9.73065615e-01 2.27774192e-01 3.55278308e-02 1.82634073e+02] [-2.27641595e-01 9.73713848e-01 -7.78760073e-03 -2.83362439e+01] [-3.63677553e-02 -5.09765575e-04 9.99338344e-01 -7.95254840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34587156000003 meters 0.01735324495265613 Centerline is valid? [True, True] Translation: X:182.66, Y:-28.35, Z:-7.95 [[ 9.73483651e-01 2.25898910e-01 3.60452976e-02 1.82664457e+02] [-2.25760921e-01 9.74150650e-01 -7.90683434e-03 -2.83463783e+01] [-3.68996954e-02 -4.40445631e-04 9.99318877e-01 -7.95165007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37587156000004 meters 0.017111627189602713 Centerline is valid? [True, True] Translation: X:182.69, Y:-28.35, Z:-7.95 [[ 9.73616702e-01 2.25327900e-01 3.60257571e-02 1.82694336e+02] [-2.25189438e-01 9.74282899e-01 -7.90884649e-03 -2.83532218e+01] [-3.68813628e-02 -4.12434935e-04 9.99319566e-01 -7.95349009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40587156000004 meters 0.01573017570346158 Centerline is valid? [True, True] Translation: X:182.73, Y:-28.36, Z:-7.96 [[ 9.73904959e-01 2.24139841e-01 3.56435571e-02 1.82725013e+02] [-2.24003305e-01 9.74556927e-01 -7.83044349e-03 -2.83613085e+01] [-3.64917898e-02 -3.58166844e-04 9.99333889e-01 -7.95532962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43587156000004 meters 0.015730904180463814 Centerline is valid? [True, True] Translation: X:182.76, Y:-28.37, Z:-7.96 [[ 9.73936715e-01 2.24079465e-01 3.51520769e-02 1.82757390e+02] [-2.23946425e-01 9.74570815e-01 -7.72818771e-03 -2.83675556e+01] [-3.59899164e-02 -3.45416189e-04 9.99352093e-01 -7.95735302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46587156000004 meters 0.027872626404086293 Centerline is valid? [True, True] Translation: X:182.79, Y:-28.37, Z:-7.96 [[ 9.73931851e-01 2.24153046e-01 3.48161161e-02 1.82789779e+02] [-2.24022345e-01 9.74553897e-01 -7.66102076e-03 -2.83738133e+01] [-3.56474227e-02 -3.38275837e-04 9.99364371e-01 -7.95839797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49587156000004 meters 0.01606690166843716 Centerline is valid? [True, True] Translation: X:182.82, Y:-28.38, Z:-7.96 [[ 9.73796326e-01 2.24747231e-01 3.47764019e-02 1.82821482e+02] [-2.24616958e-01 9.74417035e-01 -7.65929261e-03 -2.83791896e+01] [-3.56081233e-02 -3.52778597e-04 9.99365767e-01 -7.96121500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52587156000004 meters 0.025874478412207167 Centerline is valid? [True, True] Translation: X:182.85, Y:-28.39, Z:-7.96 [[ 9.73644181e-01 2.25450789e-01 3.44811684e-02 1.82853509e+02] [-2.25322933e-01 9.74254487e-01 -7.60067206e-03 -2.83851826e+01] [-3.53070106e-02 -3.69047892e-04 9.99376445e-01 -7.96175550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55587156 meters 0.024871919406996425 Centerline is valid? [True, True] Translation: X:182.89, Y:-28.39, Z:-7.96 [[ 9.73542803e-01 2.25897806e-01 3.44179112e-02 1.82885729e+02] [-2.25770490e-01 9.74150932e-01 -7.59263562e-03 -2.83906076e+01] [-3.52434000e-02 -3.78792896e-04 9.99378687e-01 -7.96285548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58587156000002 meters 0.01863124953467278 Centerline is valid? [True, True] Translation: X:182.92, Y:-28.39, Z:-7.97 [[ 9.73486612e-01 2.26079075e-01 3.48147678e-02 1.82916218e+02] [-2.25948651e-01 9.74108878e-01 -7.68775554e-03 -2.83917184e+01] [-3.56514150e-02 -3.82422714e-04 9.99364213e-01 -7.96732517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61587156000002 meters 0.016695370144676272 Centerline is valid? [True, True] Translation: X:182.95, Y:-28.40, Z:-7.97 [[ 9.73547600e-01 2.25767339e-01 3.51308730e-02 1.82946859e+02] [-2.25634321e-01 9.74181179e-01 -7.75788761e-03 -2.84008851e+01] [-3.59753130e-02 -3.74057804e-04 9.99352609e-01 -7.96589977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64587156000002 meters 0.019729991063876906 Centerline is valid? [True, True] Translation: X:182.98, Y:-28.41, Z:-7.97 [[ 9.73661934e-01 2.25188248e-01 3.56747950e-02 1.82977799e+02] [-2.25050656e-01 9.74315208e-01 -7.87888191e-03 -2.84080101e+01] [-3.65327269e-02 -3.57268625e-04 9.99332393e-01 -7.96607530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67587156000002 meters 0.014489574362470238 Centerline is valid? [True, True] Translation: X:183.01, Y:-28.42, Z:-7.97 [[ 9.74142958e-01 2.23081205e-01 3.57808960e-02 1.83008456e+02] [-2.22941384e-01 9.74799825e-01 -7.90199742e-03 -2.84153564e+01] [-3.66419983e-02 -2.79367327e-04 9.99328417e-01 -7.96866121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70587156000002 meters 0.013243635625762782 Centerline is valid? [True, True] Translation: X:183.04, Y:-28.43, Z:-7.97 [[ 9.74461556e-01 2.21688676e-01 3.57604053e-02 1.83039720e+02] [-2.21547856e-01 9.75117471e-01 -7.90352283e-03 -2.84250333e+01] [-3.66227175e-02 -2.20961961e-04 9.99329139e-01 -7.96947506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73587156000002 meters 0.012173267926924946 Centerline is valid? [True, True] Translation: X:183.07, Y:-28.43, Z:-7.97 [[ 9.74855458e-01 2.19883020e-01 3.61703439e-02 1.83069206e+02] [-2.19737480e-01 9.75526235e-01 -8.00028019e-03 -2.84349969e+01] [-3.70442451e-02 -1.48863421e-04 9.99313615e-01 -7.97048010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76587156000002 meters 0.011550656300289711 Centerline is valid? [True, True] Translation: X:183.10, Y:-28.45, Z:-7.97 [[ 9.75779923e-01 2.15886768e-01 3.53050239e-02 1.83098759e+02] [-2.15745291e-01 9.76418406e-01 -7.81449048e-03 -2.84470377e+01] [-3.61595203e-02 8.33025940e-06 9.99346031e-01 -7.97350320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79587156000002 meters 0.01232855677922894 Centerline is valid? [True, True] Translation: X:183.13, Y:-28.46, Z:-7.98 [[ 9.76269424e-01 2.13775412e-01 3.46133742e-02 1.83127838e+02] [-2.13637853e-01 9.76882831e-01 -7.66830322e-03 -2.84570399e+01] [-3.54525057e-02 9.16030033e-05 9.99371358e-01 -7.97687011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82587156000002 meters 0.01500807633401912 Centerline is valid? [True, True] Translation: X:183.16, Y:-28.47, Z:-7.98 [[ 9.77146943e-01 2.09794492e-01 3.42070546e-02 1.83157424e+02] [-2.09657635e-01 9.77745476e-01 -7.58026460e-03 -2.84730563e+01] [-3.50360906e-02 2.35262213e-04 9.99386020e-01 -7.97877347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85587156000003 meters 0.016488571543876146 Centerline is valid? [True, True] Translation: X:183.19, Y:-28.48, Z:-7.98 [[ 9.77483591e-01 2.08178108e-01 3.44630952e-02 1.83187214e+02] [-2.08037962e-01 9.78090888e-01 -7.64343064e-03 -2.84833398e+01] [-3.52992343e-02 3.01695934e-04 9.99376742e-01 -7.97957474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88587156000003 meters 0.01787406813596472 Centerline is valid? [True, True] Translation: X:183.22, Y:-28.49, Z:-7.98 [[ 9.77753396e-01 2.06771125e-01 3.52703569e-02 1.83219135e+02] [-2.06623331e-01 9.78389273e-01 -7.82490372e-03 -2.84931397e+01] [-3.61261030e-02 3.63147546e-04 9.99347173e-01 -7.97955001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91587156000003 meters 0.01919774267283867 Centerline is valid? [True, True] Translation: X:183.25, Y:-28.50, Z:-7.98 [[ 9.77992657e-01 2.05530839e-01 3.58808683e-02 1.83249732e+02] [-2.05376790e-01 9.78650548e-01 -7.96734212e-03 -2.85027733e+01] [-3.67523660e-02 4.22904517e-04 9.99324314e-01 -7.98005582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94587156000003 meters 0.01948870399945599 Centerline is valid? [True, True] Translation: X:183.28, Y:-28.51, Z:-7.98 [[ 9.78383660e-01 2.03517164e-01 3.66902828e-02 1.83280659e+02] [-2.03354443e-01 9.79071242e-01 -8.15308156e-03 -2.85129385e+01] [-3.75816928e-02 5.15709765e-04 9.99293426e-01 -7.97822060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97587156000003 meters 0.022586796761674036 Centerline is valid? [True, True] Translation: X:183.31, Y:-28.52, Z:-7.98 [[ 9.78480600e-01 2.03070564e-01 3.65795194e-02 1.83309508e+02] [-2.02908272e-01 9.79163958e-01 -8.13486693e-03 -2.85246394e+01] [-3.74692990e-02 5.37522433e-04 9.99297635e-01 -7.98156177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00587156000003 meters 0.03403348292502186 Centerline is valid? [True, True] Translation: X:183.34, Y:-28.53, Z:-7.98 [[ 9.78451024e-01 2.03320224e-01 3.59788899e-02 1.83342195e+02] [-2.03163191e-01 9.79112155e-01 -8.00663593e-03 -2.85304383e+01] [-3.68552794e-02 5.24515023e-04 9.99320476e-01 -7.98240805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03587156000003 meters 0.02013827325059786 Centerline is valid? [True, True] Translation: X:183.37, Y:-28.54, Z:-7.99 [[ 9.78375728e-01 2.03884670e-01 3.48134467e-02 1.83374293e+02] [-2.03737776e-01 9.78994790e-01 -7.75375449e-03 -2.85384804e+01] [-3.56630546e-02 4.93271008e-04 9.99363749e-01 -7.98633919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06587156000003 meters 0.021471854467037414 Centerline is valid? [True, True] Translation: X:183.40, Y:-28.55, Z:-7.99 [[ 9.78099494e-01 2.05295071e-01 3.42828546e-02 1.83403808e+02] [-2.05153222e-01 9.78700025e-01 -7.64314421e-03 -2.85479049e+01] [-3.51217305e-02 4.42517412e-04 9.99382944e-01 -7.99100387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09587156000003 meters 0.016562105016057406 Centerline is valid? [True, True] Translation: X:183.44, Y:-28.55, Z:-7.99 [[ 9.77479106e-01 2.08301215e-01 3.38408251e-02 1.83436265e+02] [-2.08164715e-01 9.78064667e-01 -7.54708752e-03 -2.85490965e+01] [-3.46705828e-02 3.32654660e-04 9.99398739e-01 -7.99040002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12587156000004 meters 0.015199835045113186 Centerline is valid? [True, True] Translation: X:183.47, Y:-28.55, Z:-7.99 [[ 9.77102678e-01 2.10056507e-01 3.38617839e-02 1.83468557e+02] [-2.09920648e-01 9.77689208e-01 -7.55874671e-03 -2.85542079e+01] [-3.46940646e-02 2.77384039e-04 9.99397941e-01 -7.99117259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15587156000004 meters 0.013780875432892655 Centerline is valid? [True, True] Translation: X:183.50, Y:-28.56, Z:-7.99 [[ 9.76696663e-01 2.11863462e-01 3.43147504e-02 1.83500654e+02] [-2.11725019e-01 9.77299251e-01 -7.66093349e-03 -2.85591161e+01] [-3.51588518e-02 2.17116989e-04 9.99381713e-01 -7.99177949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18587156000004 meters 0.013246766559217771 Centerline is valid? [True, True] Translation: X:183.53, Y:-28.56, Z:-7.99 [[ 9.76263332e-01 2.13852519e-01 3.43075206e-02 1.83531417e+02] [-2.13715145e-01 9.76865946e-01 -7.66547694e-03 -2.85646946e+01] [-3.51531301e-02 1.51487330e-04 9.99381926e-01 -7.99460843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21587156000004 meters 0.012025387543897452 Centerline is valid? [True, True] Translation: X:183.56, Y:-28.57, Z:-8.00 [[ 9.75494202e-01 2.17350840e-01 3.42005143e-02 1.83564001e+02] [-2.17216278e-01 9.76093546e-01 -7.64703554e-03 -2.85677359e+01] [-3.50449909e-02 3.07304109e-05 9.99385735e-01 -7.99613495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24587156000004 meters 0.012036276341116954 Centerline is valid? [True, True] Translation: X:183.60, Y:-28.57, Z:-8.00 [[ 9.75088329e-01 2.19130583e-01 3.44171194e-02 1.83595242e+02] [-2.18995216e-01 9.75695540e-01 -7.70120107e-03 -2.85728138e+01] [-3.52681986e-02 -2.78332044e-05 9.99377883e-01 -7.99783918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27587156000004 meters 0.012394033262909354 Centerline is valid? [True, True] Translation: X:183.63, Y:-28.58, Z:-8.00 [[ 9.74351362e-01 2.22248601e-01 3.52843260e-02 1.83627246e+02] [-2.22108126e-01 9.74990021e-01 -7.90188667e-03 -2.85764226e+01] [-3.61580490e-02 -1.37721498e-04 9.99346074e-01 -7.99762324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30587156 meters 0.014979694300638358 Centerline is valid? [True, True] Translation: X:183.66, Y:-28.58, Z:-8.00 [[ 9.73973474e-01 2.23846701e-01 3.56135804e-02 1.83659696e+02] [-2.23704451e-01 9.74624347e-01 -7.98132903e-03 -2.85829256e+01] [-3.64964567e-02 -1.93313681e-04 9.99333764e-01 -7.99616380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33587156000002 meters 0.013707275874606342 Centerline is valid? [True, True] Translation: X:183.69, Y:-28.59, Z:-8.00 [[ 9.73626164e-01 2.25351813e-01 3.56181504e-02 1.83690788e+02] [-2.25210261e-01 9.74277425e-01 -7.98978225e-03 -2.85877000e+01] [-3.65024718e-02 -2.42511932e-04 9.99333533e-01 -7.99848156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36587156000002 meters 0.014172658530988959 Centerline is valid? [True, True] Translation: X:183.72, Y:-28.59, Z:-8.00 [[ 9.73345797e-01 2.26548816e-01 3.56874277e-02 1.83723215e+02] [-2.26407317e-01 9.73999771e-01 -8.01078183e-03 -2.85938376e+01] [-3.65743795e-02 -2.82633938e-04 9.99330894e-01 -7.99956981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39587156000002 meters 0.01635387520344788 Centerline is valid? [True, True] Translation: X:183.75, Y:-28.60, Z:-8.00 [[ 9.72708767e-01 2.29264340e-01 3.57143914e-02 1.83754676e+02] [-2.29124164e-01 9.73364125e-01 -8.02480425e-03 -2.85971674e+01] [-3.66029087e-02 -3.77232599e-04 9.99329818e-01 -8.00037719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42587156000002 meters 0.01635387520344788 Centerline is valid? [True, True] Translation: X:183.79, Y:-28.60, Z:-8.00 [[ 9.72666064e-01 2.29445523e-01 3.57138650e-02 1.83786317e+02] [-2.29305383e-01 9.73321430e-01 -8.02714648e-03 -2.86044777e+01] [-3.66028629e-02 -3.81648501e-04 9.99329818e-01 -8.00184145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45587156000002 meters 0.016977633179763394 Centerline is valid? [True, True] Translation: X:183.82, Y:-28.61, Z:-8.00 [[ 9.72351722e-01 2.30711200e-01 3.61174691e-02 1.83817756e+02] [-2.30568474e-01 9.73022178e-01 -8.12520601e-03 -2.86100694e+01] [-3.70176745e-02 -4.26991692e-04 9.99314520e-01 -8.00230037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48587156000002 meters 0.01994170653506429 Centerline is valid? [True, True] Translation: X:183.85, Y:-28.61, Z:-8.00 [[ 9.72016932e-01 2.32119171e-01 3.61078141e-02 1.83848535e+02] [-2.31977256e-01 9.72687239e-01 -8.12939268e-03 -2.86149818e+01] [-3.70085979e-02 -4.74284305e-04 9.99314835e-01 -8.00370296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51587156000002 meters 0.03254400720557284 Centerline is valid? [True, True] Translation: X:183.88, Y:-28.62, Z:-8.01 [[ 9.71633687e-01 2.33793897e-01 3.56144939e-02 1.83880015e+02] [-2.33656754e-01 9.72286037e-01 -8.02392668e-03 -2.86188429e+01] [-3.65034202e-02 -5.25249564e-04 9.99333390e-01 -8.00571295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54587156000002 meters 0.018613095341661116 Centerline is valid? [True, True] Translation: X:183.91, Y:-28.63, Z:-8.01 [[ 9.71711713e-01 2.33522409e-01 3.52651490e-02 1.83912066e+02] [-2.33387579e-01 9.72351289e-01 -7.95039348e-03 -2.86271077e+01] [-3.61467081e-02 -5.04957258e-04 9.99346367e-01 -8.00791364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57587156000002 meters 0.018909723540582523 Centerline is valid? [True, True] Translation: X:183.94, Y:-28.63, Z:-8.01 [[ 9.71792750e-01 2.33196605e-01 3.51880009e-02 1.83942264e+02] [-2.33061881e-01 9.72429488e-01 -7.94045287e-03 -2.86332884e+01] [-3.60695363e-02 -4.84507153e-04 9.99349165e-01 -8.01017543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60587156000003 meters 0.018186993504860905 Centerline is valid? [True, True] Translation: X:183.97, Y:-28.64, Z:-8.01 [[ 9.72177042e-01 2.31613301e-01 3.50296633e-02 1.83972686e+02] [-2.31478552e-01 9.72807845e-01 -7.91048446e-03 -2.86407574e+01] [-3.59093047e-02 -4.18224351e-04 9.99354965e-01 -8.01285418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63587156000003 meters 0.016617426149640367 Centerline is valid? [True, True] Translation: X:184.00, Y:-28.65, Z:-8.01 [[ 9.72370026e-01 2.30819432e-01 3.49130676e-02 1.84004071e+02] [-2.30684848e-01 9.72996528e-01 -7.89028357e-03 -2.86500334e+01] [-3.57915243e-02 -3.81640456e-04 9.99359205e-01 -8.01361994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66587156000003 meters 0.015695603472411113 Centerline is valid? [True, True] Translation: X:184.04, Y:-28.66, Z:-8.01 [[ 9.72540895e-01 2.30090253e-01 3.49668821e-02 1.84035038e+02] [-2.29954691e-01 9.73169230e-01 -7.90501409e-03 -2.86584196e+01] [-3.58475604e-02 -3.52849096e-04 9.99357207e-01 -8.01441212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69587156000003 meters 0.014988484810208333 Centerline is valid? [True, True] Translation: X:184.07, Y:-28.67, Z:-8.02 [[ 9.72731412e-01 2.29164604e-01 3.57377095e-02 1.84065408e+02] [-2.29022115e-01 9.73387632e-01 -8.08630802e-03 -2.86659947e+01] [-3.66397400e-02 -3.18920000e-04 9.99328488e-01 -8.01518401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72587156000003 meters 0.015457595984723217 Centerline is valid? [True, True] Translation: X:184.10, Y:-28.67, Z:-8.02 [[ 9.72738963e-01 2.29080986e-01 3.60667745e-02 1.84096450e+02] [-2.28935685e-01 9.73407316e-01 -8.16392000e-03 -2.86720113e+01] [-3.69778610e-02 -3.15608678e-04 9.99316035e-01 -8.01676938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75587156000003 meters 0.014999709464629755 Centerline is valid? [True, True] Translation: X:184.13, Y:-28.68, Z:-8.02 [[ 9.72836498e-01 2.28570436e-01 3.66701985e-02 1.84126514e+02] [-2.28419605e-01 9.73527334e-01 -8.30749982e-03 -2.86789072e+01] [-3.75982894e-02 -2.94353236e-04 9.99292891e-01 -8.01730495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78587156000003 meters 0.014071499850190274 Centerline is valid? [True, True] Translation: X:184.16, Y:-28.69, Z:-8.02 [[ 9.72784024e-01 2.28731172e-01 3.70579725e-02 1.84158331e+02] [-2.28577263e-01 9.73489578e-01 -8.39503482e-03 -2.86874623e+01] [-3.79957562e-02 -3.04054156e-04 9.99277854e-01 -8.01645374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81587156000003 meters 0.024269740067755636 Centerline is valid? [True, True] Translation: X:184.19, Y:-28.69, Z:-8.02 [[ 9.72822211e-01 2.28582079e-01 3.69753785e-02 1.84189687e+02] [-2.28428452e-01 9.73524601e-01 -8.38410193e-03 -2.86940469e+01] [-3.79128961e-02 -2.89987884e-04 9.99281006e-01 -8.01798854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84587156000003 meters 0.033423544176772825 Centerline is valid? [True, True] Translation: X:184.22, Y:-28.70, Z:-8.02 [[ 9.72834422e-01 2.28593612e-01 3.65807142e-02 1.84220780e+02] [-2.28443104e-01 9.73521895e-01 -8.29868801e-03 -2.87008587e+01] [-3.75091532e-02 -2.83362524e-04 9.99296244e-01 -8.02036754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87587156000004 meters 0.024226800040125635 Centerline is valid? [True, True] Translation: X:184.25, Y:-28.71, Z:-8.02 [[ 9.72988166e-01 2.28055966e-01 3.58399969e-02 1.84252486e+02] [-2.27910918e-01 9.73647992e-01 -8.13634998e-03 -2.87090485e+01] [-3.67510842e-02 -2.51754359e-04 9.99324419e-01 -8.02315872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90587156000004 meters 0.013235764700827862 Centerline is valid? [True, True] Translation: X:184.28, Y:-28.72, Z:-8.03 [[ 9.73085672e-01 2.27693800e-01 3.54937926e-02 1.84283170e+02] [-2.27551042e-01 9.73732757e-01 -8.06485825e-03 -2.87159476e+01] [-3.63977867e-02 -2.28851504e-04 9.99337355e-01 -8.02640828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93587156000004 meters 0.012998055416634404 Centerline is valid? [True, True] Translation: X:184.32, Y:-28.72, Z:-8.03 [[ 9.73202420e-01 2.27262540e-01 3.50540737e-02 1.84315504e+02] [-2.27122791e-01 9.73833505e-01 -7.97129561e-03 -2.87238310e+01] [-3.59484084e-02 -2.03894885e-04 9.99353626e-01 -8.02880070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96587156000004 meters 0.012796894127530798 Centerline is valid? [True, True] Translation: X:184.35, Y:-28.73, Z:-8.03 [[ 9.73398408e-01 2.26515915e-01 3.44395191e-02 1.84346205e+02] [-2.26380318e-01 9.74007450e-01 -7.83830325e-03 -2.87319497e+01] [-3.53198486e-02 -1.66637387e-04 9.99376046e-01 -8.03133139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99587156000004 meters 0.01270354756059381 Centerline is valid? [True, True] Translation: X:184.38, Y:-28.74, Z:-8.03 [[ 9.73462360e-01 2.26269952e-01 3.42482551e-02 1.84377343e+02] [-2.26135481e-01 9.74064621e-01 -7.80116122e-03 -2.87393943e+01] [-3.51251820e-02 -1.50608820e-04 9.99382909e-01 -8.03327283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02587156000004 meters 0.016738415059523906 Centerline is valid? [True, True] Translation: X:184.41, Y:-28.75, Z:-8.03 [[ 9.73466022e-01 2.26287580e-01 3.40269869e-02 1.84409683e+02] [-2.26154660e-01 9.74060527e-01 -7.75626119e-03 -2.87477243e+01] [-3.48994904e-02 -1.44904938e-04 9.99390817e-01 -8.03392042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05587156 meters 0.012254795248759302 Centerline is valid? [True, True] Translation: X:184.44, Y:-28.76, Z:-8.04 [[ 9.73523743e-01 2.25997934e-01 3.42995050e-02 1.84440413e+02] [-2.25862447e-01 9.74127773e-01 -7.82546113e-03 -2.87552709e+01] [-3.51806384e-02 -1.28697918e-04 9.99380961e-01 -8.03574219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08587156000002 meters 0.012280754831071007 Centerline is valid? [True, True] Translation: X:184.47, Y:-28.76, Z:-8.04 [[ 9.73472700e-01 2.26156482e-01 3.47008401e-02 1.84470845e+02] [-2.26017642e-01 9.74090976e-01 -7.92442261e-03 -2.87620457e+01] [-3.55939347e-02 -1.28792971e-04 9.99366327e-01 -8.03644656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11587156000002 meters 0.011795091203433904 Centerline is valid? [True, True] Translation: X:184.50, Y:-28.77, Z:-8.04 [[ 9.73392493e-01 2.26437396e-01 3.51163819e-02 1.84502522e+02] [-2.26295302e-01 9.74025712e-01 -8.02182438e-03 -2.87698139e+01] [-3.60206999e-02 -1.38288606e-04 9.99351034e-01 -8.03566401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14587156000002 meters 0.02743002729190167 Centerline is valid? [True, True] Translation: X:184.53, Y:-28.78, Z:-8.04 [[ 9.73204942e-01 2.27141967e-01 3.57584681e-02 1.84534225e+02] [-2.26994823e-01 9.73861644e-01 -8.17611988e-03 -2.87759530e+01] [-3.66809405e-02 -1.59946878e-04 9.99327015e-01 -8.03592436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17587156000002 meters 0.011940718802027274 Centerline is valid? [True, True] Translation: X:184.57, Y:-28.78, Z:-8.04 [[ 9.73140925e-01 2.27378885e-01 3.59942145e-02 1.84566177e+02] [-2.27229702e-01 9.73806354e-01 -8.23690608e-03 -2.87825311e+01] [-3.69242933e-02 -1.63284224e-04 9.99318052e-01 -8.03727253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20587156000002 meters 0.012343874887061361 Centerline is valid? [True, True] Translation: X:184.60, Y:-28.79, Z:-8.04 [[ 9.72899231e-01 2.28368459e-01 3.62620067e-02 1.84597282e+02] [-2.28217454e-01 9.73574758e-01 -8.30570610e-03 -2.87884245e+01] [-3.72005357e-02 -1.95007759e-04 9.99307801e-01 -8.03839065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23587156000002 meters 0.0309766158551102 Centerline is valid? [True, True] Translation: X:184.63, Y:-28.79, Z:-8.04 [[ 9.72609650e-01 2.29665739e-01 3.58345688e-02 1.84628015e+02] [-2.29518881e-01 9.73269538e-01 -8.21522692e-03 -2.87934832e+01] [-3.67634503e-02 -2.34501156e-04 9.99323968e-01 -8.04027661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26587156000002 meters 0.021213880931374527 Centerline is valid? [True, True] Translation: X:184.66, Y:-28.80, Z:-8.04 [[ 9.72526140e-01 2.30033296e-01 3.57433891e-02 1.84659031e+02] [-2.29887330e-01 9.73182728e-01 -8.19711778e-03 -2.88004709e+01] [-3.66704590e-02 -2.45040968e-04 9.99327382e-01 -8.04217799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29587156000002 meters 0.013150441980233268 Centerline is valid? [True, True] Translation: X:184.69, Y:-28.81, Z:-8.04 [[ 9.72623609e-01 2.29669561e-01 3.54289251e-02 1.84689847e+02] [-2.29525691e-01 9.73268639e-01 -8.13106724e-03 -2.88081343e+01] [-3.63493203e-02 -2.23380561e-04 9.99339120e-01 -8.04491659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32587156000002 meters 0.02947499825596655 Centerline is valid? [True, True] Translation: X:184.72, Y:-28.82, Z:-8.05 [[ 9.72848014e-01 2.28763706e-01 3.51270238e-02 1.84720547e+02] [-2.28621474e-01 9.73481964e-01 -8.06771387e-03 -2.88181362e+01] [-3.60411243e-02 -1.82132549e-04 9.99350291e-01 -8.04662262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35587156000003 meters 0.018386084341676916 Centerline is valid? [True, True] Translation: X:184.75, Y:-28.83, Z:-8.05 [[ 9.73086049e-01 2.27734181e-01 3.52233558e-02 1.84751677e+02] [-2.27590251e-01 9.73723330e-01 -8.09652663e-03 -2.88272195e+01] [-3.61416591e-02 -1.37875275e-04 9.99346667e-01 -8.04766592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38587156000003 meters 0.011414137165352018 Centerline is valid? [True, True] Translation: X:184.78, Y:-28.84, Z:-8.05 [[ 9.73300764e-01 2.26768972e-01 3.55169705e-02 1.84782146e+02] [-2.26621766e-01 9.73948573e-01 -8.17014800e-03 -2.88361559e+01] [-3.64444388e-02 -9.69072876e-05 9.99335676e-01 -8.04855733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41587156000003 meters 0.01123702823003923 Centerline is valid? [True, True] Translation: X:184.81, Y:-28.84, Z:-8.05 [[ 9.73523675e-01 2.25701201e-01 3.62025222e-02 1.84812252e+02] [-2.25547247e-01 9.74196574e-01 -8.33509024e-03 -2.88449540e+01] [-3.71496129e-02 -5.09715463e-05 9.99309714e-01 -8.04984368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44587156000003 meters 0.011317619604156785 Centerline is valid? [True, True] Translation: X:184.84, Y:-28.85, Z:-8.05 [[ 9.73474334e-01 2.25942527e-01 3.60235550e-02 1.84843006e+02] [-2.25790147e-01 9.74140632e-01 -8.29688126e-03 -2.88524969e+01] [-3.69666270e-02 -5.69628266e-05 9.99316499e-01 -8.05135547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47587156000003 meters 0.011400349356655445 Centerline is valid? [True, True] Translation: X:184.87, Y:-28.86, Z:-8.05 [[ 9.73354948e-01 2.26443403e-01 3.61044336e-02 1.84874827e+02] [-2.26290436e-01 9.74024322e-01 -8.32215511e-03 -2.88592949e+01] [-3.70510936e-02 -6.96771524e-05 9.99313370e-01 -8.05273890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50587156000003 meters 0.011583889638072782 Centerline is valid? [True, True] Translation: X:184.91, Y:-28.86, Z:-8.05 [[ 9.72839847e-01 2.28597801e-01 3.64098556e-02 1.84908194e+02] [-2.28443523e-01 9.73520941e-01 -8.39842182e-03 -2.88630495e+01] [-3.73656177e-02 -1.47276268e-04 9.99301651e-01 -8.05263736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53587156000003 meters 0.012995514884969344 Centerline is valid? [True, True] Translation: X:184.94, Y:-28.87, Z:-8.06 [[ 9.72487209e-01 2.30099925e-01 3.63683008e-02 1.84940136e+02] [-2.29946770e-01 9.73166987e-01 -8.39627918e-03 -2.88670222e+01] [-3.73244129e-02 -1.97499176e-04 9.99303182e-01 -8.05606844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56587156000003 meters 0.013623202472800853 Centerline is valid? [True, True] Translation: X:184.97, Y:-28.87, Z:-8.06 [[ 9.72184828e-01 2.31405430e-01 3.61688763e-02 1.84970751e+02] [-2.31254548e-01 9.72857374e-01 -8.35845145e-03 -2.88715416e+01] [-3.71213491e-02 -2.38257464e-04 9.99310737e-01 -8.05753361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59587156000003 meters 0.013780643924999482 Centerline is valid? [True, True] Translation: X:185.00, Y:-28.88, Z:-8.06 [[ 9.71891203e-01 2.32707171e-01 3.57052187e-02 1.85002627e+02] [-2.32561066e-01 9.72546806e-01 -8.24983687e-03 -2.88778353e+01] [-3.66447926e-02 -2.85699843e-04 9.99328313e-01 -8.05815112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62587156000004 meters 0.014999160587367015 Centerline is valid? [True, True] Translation: X:185.03, Y:-28.88, Z:-8.06 [[ 9.71516066e-01 2.34303630e-01 3.54731200e-02 1.85033438e+02] [-2.34160248e-01 9.72163410e-01 -8.20263186e-03 -2.88805895e+01] [-3.64075758e-02 -3.37405937e-04 9.99336967e-01 -8.06112679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65587156000004 meters 0.015422261846953545 Centerline is valid? [True, True] Translation: X:185.06, Y:-28.89, Z:-8.06 [[ 9.71438062e-01 2.34627503e-01 3.54686841e-02 1.85063646e+02] [-2.34484111e-01 9.72085293e-01 -8.20878792e-03 -2.88860587e+01] [-3.64045936e-02 -3.42513833e-04 9.99337074e-01 -8.06237748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68587156000004 meters 0.016525740299133198 Centerline is valid? [True, True] Translation: X:185.09, Y:-28.89, Z:-8.06 [[ 9.71411614e-01 2.34667724e-01 3.59240336e-02 1.85093988e+02] [-2.34520636e-01 9.72075583e-01 -8.31463274e-03 -2.88904292e+01] [-3.68720518e-02 -3.47996404e-04 9.99319934e-01 -8.06499959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71587156000004 meters 0.016024877050543045 Centerline is valid? [True, True] Translation: X:185.12, Y:-28.90, Z:-8.06 [[ 9.71437665e-01 2.34341155e-01 3.73240798e-02 1.85122502e+02] [-2.34182100e-01 9.72154361e-01 -8.63955101e-03 -2.88950598e+01] [-3.83093693e-02 -3.47846141e-04 9.99265866e-01 -8.06360191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74587156000004 meters 0.01494871024876773 Centerline is valid? [True, True] Translation: X:185.15, Y:-28.90, Z:-8.06 [[ 9.71492209e-01 2.34080797e-01 3.75375704e-02 1.85151731e+02] [-2.33919803e-01 9.72217087e-01 -8.68689384e-03 -2.89026498e+01] [-3.85281024e-02 -3.41531390e-04 9.99257459e-01 -8.06384876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77587156000004 meters 0.014844019028670377 Centerline is valid? [True, True] Translation: X:185.18, Y:-28.91, Z:-8.07 [[ 9.71593475e-01 2.33737323e-01 3.70537809e-02 1.85182051e+02] [-2.33580203e-01 9.72299727e-01 -8.57493593e-03 -2.89081007e+01] [-3.80316637e-02 -3.23677867e-04 9.99276482e-01 -8.06634758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80587156 meters 0.015268065473132596 Centerline is valid? [True, True] Translation: X:185.21, Y:-28.91, Z:-8.07 [[ 9.71629112e-01 2.33658012e-01 3.66169673e-02 1.85210760e+02] [-2.33504517e-01 9.72318792e-01 -8.47393812e-03 -2.89127309e+01] [-3.75833689e-02 -3.16702287e-04 9.99293445e-01 -8.06918683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83587156000002 meters 0.015593276367731569 Centerline is valid? [True, True] Translation: X:185.24, Y:-28.92, Z:-8.07 [[ 9.71598372e-01 2.33863576e-01 3.61169170e-02 1.85239688e+02] [-2.33714400e-01 9.72269369e-01 -8.35787165e-03 -2.89168366e+01] [-3.70699738e-02 -3.20549094e-04 9.99312621e-01 -8.07169504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86587156000002 meters 0.01579266591491486 Centerline is valid? [True, True] Translation: X:185.27, Y:-28.92, Z:-8.07 [[ 9.71459502e-01 2.34560556e-01 3.53239644e-02 1.85270248e+02] [-2.34418351e-01 9.72101450e-01 -8.17355330e-03 -2.89178725e+01] [-3.62556703e-02 -3.40309471e-04 9.99342489e-01 -8.07436923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89587156000002 meters 0.015385599273785864 Centerline is valid? [True, True] Translation: X:185.30, Y:-28.92, Z:-8.08 [[ 9.71388807e-01 2.34838980e-01 3.54180709e-02 1.85299632e+02] [-2.34696232e-01 9.72034222e-01 -8.19445577e-03 -2.89222917e+01] [-3.63519546e-02 -3.52485180e-04 9.99338987e-01 -8.07510955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92587156000002 meters 0.016335043477702812 Centerline is valid? [True, True] Translation: X:185.33, Y:-28.92, Z:-8.08 [[ 9.71333951e-01 2.35057499e-01 3.54729088e-02 1.85328858e+02] [-2.34914484e-01 9.71981400e-01 -8.20633762e-03 -2.89247537e+01] [-3.64079687e-02 -3.62005728e-04 9.99336945e-01 -8.07711295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95587156000002 meters 0.016276516590401937 Centerline is valid? [True, True] Translation: X:185.36, Y:-28.93, Z:-8.08 [[ 9.71345317e-01 2.34964873e-01 3.57740578e-02 1.85357965e+02] [-2.34819404e-01 9.72003795e-01 -8.27470634e-03 -2.89286620e+01] [-3.67167853e-02 -3.62845676e-04 9.99325646e-01 -8.07815976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98587156000002 meters 0.02781387819131538 Centerline is valid? [True, True] Translation: X:185.39, Y:-28.93, Z:-8.08 [[ 9.71526449e-01 2.34066166e-01 3.67340247e-02 1.85386424e+02] [-2.33912211e-01 9.72220610e-01 -8.49487654e-03 -2.89321182e+01] [-3.77019391e-02 -3.39539722e-04 9.99288971e-01 -8.07661359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01587156000002 meters 0.031019910018539095 Centerline is valid? [True, True] Translation: X:185.41, Y:-28.94, Z:-8.08 [[ 9.71712570e-01 2.33238686e-01 3.70728544e-02 1.85413629e+02] [-2.33081342e-01 9.72419466e-01 -8.57146758e-03 -2.89361683e+01] [-3.80495631e-02 -3.11987861e-04 9.99275804e-01 -8.07844528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04587156000002 meters 0.013435562587252613 Centerline is valid? [True, True] Translation: X:185.44, Y:-28.94, Z:-8.08 [[ 9.72075364e-01 2.31640297e-01 3.75800295e-02 1.85442082e+02] [-2.31477515e-01 9.72801474e-01 -8.68633304e-03 -2.89427072e+01] [-3.85700129e-02 -2.55161489e-04 9.99255868e-01 -8.07878818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07587156000002 meters 0.011267372460887416 Centerline is valid? [True, True] Translation: X:185.47, Y:-28.95, Z:-8.08 [[ 9.72981375e-01 2.27622162e-01 3.86703307e-02 1.85470544e+02] [-2.27446702e-01 9.73749527e-01 -8.93623993e-03 -2.89492039e+01] [-3.96893025e-02 -1.00644181e-04 9.99212064e-01 -8.07849858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10587156000003 meters 0.010652178919358206 Centerline is valid? [True, True] Translation: X:185.50, Y:-28.96, Z:-8.08 [[ 9.73561470e-01 2.25036354e-01 3.92008035e-02 1.85499977e+02] [-2.24853993e-01 9.74350368e-01 -9.05772988e-03 -2.89575006e+01] [-4.02336358e-02 3.79964714e-06 9.99190299e-01 -8.07887861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13587156000003 meters 0.010997196929298663 Centerline is valid? [True, True] Translation: X:185.53, Y:-28.97, Z:-8.08 [[ 9.74196900e-01 2.22189948e-01 3.96488030e-02 1.85529910e+02] [-2.22001039e-01 9.75003391e-01 -9.16113701e-03 -2.89665197e+01] [-4.06932300e-02 1.22675788e-04 9.99171680e-01 -8.07969852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16587156000003 meters 0.014583019125199886 Centerline is valid? [True, True] Translation: X:185.56, Y:-28.98, Z:-8.08 [[ 9.75450639e-01 2.16658117e-01 3.94374445e-02 1.85558613e+02] [-2.16466677e-01 9.76247477e-01 -9.11268582e-03 -2.89793740e+01] [-4.04750430e-02 3.52082625e-04 9.99180488e-01 -8.08188751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19587156000003 meters 0.01688607208463702 Centerline is valid? [True, True] Translation: X:185.59, Y:-28.99, Z:-8.08 [[ 9.75934470e-01 2.14492580e-01 3.93045043e-02 1.85588667e+02] [-2.14300414e-01 9.76725516e-01 -9.08837754e-03 -2.89891962e+01] [-4.03391018e-02 4.46689354e-04 9.99185947e-01 -8.08390744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22587156000003 meters 0.020627194735956565 Centerline is valid? [True, True] Translation: X:185.62, Y:-29.00, Z:-8.08 [[ 9.76713376e-01 2.10822885e-01 3.98081877e-02 1.85619009e+02] [-2.10622449e-01 9.77524085e-01 -9.21129365e-03 -2.89996310e+01] [-4.08554137e-02 6.12295745e-04 9.99164881e-01 -8.08461722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25587156000003 meters 0.022285017551489286 Centerline is valid? [True, True] Translation: X:185.65, Y:-29.01, Z:-8.09 [[ 9.77011207e-01 2.09402071e-01 3.99984368e-02 1.85649818e+02] [-2.09198250e-01 9.77829386e-01 -9.26196602e-03 -2.90081729e+01] [-4.10511218e-02 6.81441619e-04 9.99156815e-01 -8.08555017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28587156000003 meters 0.02319082727560893 Centerline is valid? [True, True] Translation: X:185.68, Y:-29.02, Z:-8.09 [[ 9.77301415e-01 2.07940892e-01 4.05281414e-02 1.85680872e+02] [-2.07730087e-01 9.78141098e-01 -9.39160986e-03 -2.90153968e+01] [-4.15951405e-02 7.59519250e-04 9.99134259e-01 -8.08567490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31587156000003 meters 0.030052529321351565 Centerline is valid? [True, True] Translation: X:185.71, Y:-29.02, Z:-8.09 [[ 9.77630408e-01 2.06326827e-01 4.08414796e-02 1.85711301e+02] [-2.06111040e-01 9.78482770e-01 -9.47139527e-03 -2.90245167e+01] [-4.19168871e-02 8.41644189e-04 9.99120747e-01 -8.08587737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34587156000003 meters 0.030052529321351565 Centerline is valid? [True, True] Translation: X:185.74, Y:-29.03, Z:-8.09 [[ 9.77591578e-01 2.06511011e-01 4.08400550e-02 1.85742902e+02] [-2.06295127e-01 9.78443916e-01 -9.47753423e-03 -2.90320366e+01] [-4.19169185e-02 8.40053303e-04 9.99120747e-01 -8.08734204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37587156000004 meters 0.03183029470240431 Centerline is valid? [True, True] Translation: X:185.77, Y:-29.05, Z:-8.09 [[ 9.78359423e-01 2.02807149e-01 4.10133982e-02 1.85769916e+02] [-2.02585813e-01 9.79218177e-01 -9.52632865e-03 -2.90476816e+01] [-4.20930725e-02 1.01144078e-03 9.99113182e-01 -8.08975481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40587156000004 meters 0.031707635069049805 Centerline is valid? [True, True] Translation: X:185.80, Y:-29.06, Z:-8.09 [[ 9.78833270e-01 2.00586193e-01 4.06276882e-02 1.85801152e+02] [-2.00366986e-01 9.79675442e-01 -9.43925286e-03 -2.90554810e+01] [-4.16953321e-02 1.09900731e-03 9.99129767e-01 -8.09164907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43587156000004 meters 0.03490141058733472 Centerline is valid? [True, True] Translation: X:185.83, Y:-29.07, Z:-8.09 [[ 9.79270481e-01 1.98491421e-01 4.03792038e-02 1.85830602e+02] [-1.98273044e-01 9.80101912e-01 -9.38310705e-03 -2.90676827e+01] [-4.14382010e-02 1.18249213e-03 9.99140369e-01 -8.09374757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46587156000004 meters 0.03810407953712636 Centerline is valid? [True, True] Translation: X:185.86, Y:-29.08, Z:-8.10 [[ 9.80060753e-01 1.94717940e-01 3.95707448e-02 1.85858973e+02] [-1.94504878e-01 9.80858388e-01 -9.20194608e-03 -2.90805303e+01] [-4.06050809e-02 1.32176333e-03 9.99174399e-01 -8.09667769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49587156000004 meters 0.036892369482048736 Centerline is valid? [True, True] Translation: X:185.89, Y:-29.09, Z:-8.10 [[ 9.80317284e-01 1.93522487e-01 3.90777426e-02 1.85890002e+02] [-1.93313740e-01 9.81094905e-01 -9.08767622e-03 -2.90869615e+01] [-4.00976438e-02 1.35454150e-03 9.99194848e-01 -8.09833304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52587156000004 meters 0.040961770658101734 Centerline is valid? [True, True] Translation: X:185.92, Y:-29.10, Z:-8.10 [[ 9.80453441e-01 1.92898384e-01 3.87461439e-02 1.85918941e+02] [-1.92692428e-01 9.81217776e-01 -9.01687049e-03 -2.91000422e+01] [-3.97577449e-02 1.37453314e-03 9.99208403e-01 -8.10110530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55587156 meters 0.0409057434705943 Centerline is valid? [True, True] Translation: X:185.95, Y:-29.11, Z:-8.10 [[ 9.80495171e-01 1.92728106e-01 3.85369466e-02 1.85949485e+02] [-1.92523975e-01 9.81251228e-01 -8.97483818e-03 -2.91084395e+01] [-3.95441297e-02 1.38049938e-03 9.99216871e-01 -8.10277767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58587156000002 meters 0.04043801505614299 Centerline is valid? [True, True] Translation: X:185.98, Y:-29.12, Z:-8.10 [[ 9.80154464e-01 1.94373743e-01 3.89368079e-02 1.85980073e+02] [-1.94166486e-01 9.80926641e-01 -9.07200138e-03 -2.91163143e+01] [-3.99575110e-02 1.33173948e-03 9.99200492e-01 -8.10190383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61587156000002 meters 0.037806749664304265 Centerline is valid? [True, True] Translation: X:186.01, Y:-29.12, Z:-8.10 [[ 9.79775020e-01 1.96123618e-01 3.97043785e-02 1.86009655e+02] [-1.95909496e-01 9.80578335e-01 -9.25189422e-03 -2.91236605e+01] [-4.07477683e-02 1.28631007e-03 9.99168637e-01 -8.10314562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64587156000002 meters 0.03937055702894169 Centerline is valid? [True, True] Translation: X:186.04, Y:-29.13, Z:-8.10 [[ 9.79263998e-01 1.98554533e-01 4.02258689e-02 1.86041155e+02] [-1.98336776e-01 9.80089105e-01 -9.37382077e-03 -2.91288022e+01] [-4.12861504e-02 1.20117605e-03 9.99146641e-01 -8.10219442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67587156000002 meters 0.028200216110506125 Centerline is valid? [True, True] Translation: X:186.07, Y:-29.13, Z:-8.10 [[ 9.77931793e-01 2.04921808e-01 4.06996531e-02 1.86071429e+02] [-2.04704320e-01 9.78777891e-01 -9.48588173e-03 -2.91287225e+01] [-4.17797847e-02 9.45150505e-04 9.99126397e-01 -8.10338970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70587156000002 meters 0.022995681519803 Centerline is valid? [True, True] Translation: X:186.10, Y:-29.13, Z:-8.10 [[ 9.77201511e-01 2.08413929e-01 4.05073070e-02 1.86103354e+02] [-2.08201509e-01 9.78040391e-01 -9.44057425e-03 -2.91294932e+01] [-4.15853296e-02 7.91660987e-04 9.99134642e-01 -8.10496824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73587156000002 meters 0.028220104924541477 Centerline is valid? [True, True] Translation: X:186.13, Y:-29.13, Z:-8.11 [[ 9.76431276e-01 2.12029936e-01 4.03146433e-02 1.86134483e+02] [-2.11822568e-01 9.77262965e-01 -9.39668718e-03 -2.91326252e+01] [-4.13903869e-02 6.35667984e-04 9.99142849e-01 -8.10571030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76587156000002 meters 0.013825779672740686 Centerline is valid? [True, True] Translation: X:186.17, Y:-29.13, Z:-8.11 [[ 9.74733210e-01 2.19772734e-01 3.99388780e-02 1.86165927e+02] [-2.19575658e-01 9.75551051e-01 -9.31011043e-03 -2.91306986e+01] [-4.10085228e-02 3.05268418e-04 9.99158750e-01 -8.10942431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79587156000002 meters 0.011686751621052156 Centerline is valid? [True, True] Translation: X:186.20, Y:-29.13, Z:-8.11 [[ 9.73931890e-01 2.23364047e-01 3.95622970e-02 1.86196563e+02] [-2.23173598e-01 9.74735081e-01 -9.22315216e-03 -2.91320087e+01] [-4.06228794e-02 1.53461868e-04 9.99174538e-01 -8.11139835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82587156000002 meters 0.010677361335976751 Centerline is valid? [True, True] Translation: X:186.23, Y:-29.13, Z:-8.11 [[ 9.73187981e-01 2.26624119e-01 3.93276200e-02 1.86228505e+02] [-2.26438471e-01 9.73982294e-01 -9.17118228e-03 -2.91338555e+01] [-4.03828166e-02 1.99982486e-05 9.99184281e-01 -8.11300431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85587156000003 meters 0.012678983329894592 Centerline is valid? [True, True] Translation: X:186.26, Y:-29.13, Z:-8.12 [[ 9.71843912e-01 2.32419747e-01 3.87359177e-02 1.86258205e+02] [-2.32244187e-01 9.72615553e-01 -9.03455131e-03 -2.91299974e+01] [-3.97749642e-02 -2.16018019e-04 9.99208640e-01 -8.11540205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88587156000003 meters 0.014211208076863024 Centerline is valid? [True, True] Translation: X:186.29, Y:-29.13, Z:-8.12 [[ 9.71232523e-01 2.34942459e-01 3.88513384e-02 1.86287006e+02] [-2.34767946e-01 9.72009227e-01 -9.05949905e-03 -2.91318136e+01] [-3.98923204e-02 -3.22168791e-04 9.99203933e-01 -8.11628418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91587156000003 meters 0.016645860944685016 Centerline is valid? [True, True] Translation: X:186.32, Y:-29.13, Z:-8.12 [[ 9.70691476e-01 2.37210244e-01 3.85922238e-02 1.86315610e+02] [-2.37039916e-01 9.71458249e-01 -8.99720832e-03 -2.91321910e+01] [-3.96249641e-02 -4.14384063e-04 9.99214537e-01 -8.11868719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94587156000003 meters 0.01939779134580021 Centerline is valid? [True, True] Translation: X:186.35, Y:-29.13, Z:-8.12 [[ 9.69868216e-01 2.40652021e-01 3.79769512e-02 1.86345666e+02] [-2.40489812e-01 9.70611304e-01 -8.85134861e-03 -2.91313715e+01] [-3.89909530e-02 -5.48428147e-04 9.99239413e-01 -8.12157777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97587156000003 meters 0.020927659958001447 Centerline is valid? [True, True] Translation: X:186.37, Y:-29.13, Z:-8.12 [[ 9.69623168e-01 2.41726667e-01 3.74049591e-02 1.86373357e+02] [-2.41570175e-01 9.70344206e-01 -8.71627216e-03 -2.91341120e+01] [-3.84026408e-02 -5.84423099e-04 9.99262176e-01 -8.12425140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00587156000003 meters 0.021824270798315445 Centerline is valid? [True, True] Translation: X:186.40, Y:-29.14, Z:-8.13 [[ 9.69537119e-01 2.42152215e-01 3.68792665e-02 1.86400885e+02] [-2.42000486e-01 9.70238090e-01 -8.59151993e-03 -2.91371674e+01] [-3.78621247e-02 -5.95002937e-04 9.99282796e-01 -8.12731346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03587156000003 meters 0.021781288030274477 Centerline is valid? [True, True] Translation: X:186.43, Y:-29.14, Z:-8.13 [[ 9.69515368e-01 2.42306285e-01 3.64364593e-02 1.86429221e+02] [-2.42158374e-01 9.70199623e-01 -8.48605346e-03 -2.91417152e+01] [-3.74068631e-02 -5.96034476e-04 9.99299941e-01 -8.12886412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06587156000003 meters 0.019709959708220145 Centerline is valid? [True, True] Translation: X:186.46, Y:-29.15, Z:-8.13 [[ 9.69959472e-01 2.40432132e-01 3.70271786e-02 1.86457944e+02] [-2.40278094e-01 9.70665805e-01 -8.62167622e-03 -2.91477477e+01] [-3.80139441e-02 -5.34143370e-04 9.99277066e-01 -8.12962351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09587156000003 meters 0.031339394935447934 Centerline is valid? [True, True] Translation: X:186.48, Y:-29.16, Z:-8.13 [[ 9.70452859e-01 2.38392397e-01 3.72869123e-02 1.86484472e+02] [-2.38234729e-01 9.71168809e-01 -8.68094979e-03 -2.91551585e+01] [-3.82813586e-02 -4.58584915e-04 9.99266895e-01 -8.12870425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12587156000004 meters 0.01599089799998052 Centerline is valid? [True, True] Translation: X:186.51, Y:-29.16, Z:-8.13 [[ 9.70975145e-01 2.36176970e-01 3.77850023e-02 1.86512590e+02] [-2.36013492e-01 9.71709985e-01 -8.79409934e-03 -2.91633641e+01] [-3.87930278e-02 -3.78918451e-04 9.99247195e-01 -8.13075946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15587156000004 meters 0.011679828722994088 Centerline is valid? [True, True] Translation: X:186.54, Y:-29.18, Z:-8.13 [[ 9.72480795e-01 2.29844878e-01 3.81108195e-02 1.86539544e+02] [-2.29673756e-01 9.73227268e-01 -8.86850829e-03 -2.91765093e+01] [-3.91288699e-02 -1.28601054e-04 9.99234164e-01 -8.13161538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18587156000004 meters 0.010879186391353391 Centerline is valid? [True, True] Translation: X:186.57, Y:-29.19, Z:-8.13 [[ 9.73377222e-01 2.25962500e-01 3.84412978e-02 1.86566284e+02] [-2.25785420e-01 9.74136001e-01 -8.94404599e-03 -2.91880649e+01] [-3.94680711e-02 2.64460549e-05 9.99220832e-01 -8.13212444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21587156000004 meters 0.01213302213533158 Centerline is valid? [True, True] Translation: X:186.59, Y:-29.20, Z:-8.13 [[ 9.74340040e-01 2.21761995e-01 3.85110810e-02 1.86593567e+02] [-2.21581070e-01 9.75100805e-01 -8.95822501e-03 -2.92003859e+01] [-3.95387800e-02 1.95030764e-04 9.99218018e-01 -8.13330155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24587156000004 meters 0.02174615685252091 Centerline is valid? [True, True] Translation: X:186.62, Y:-29.22, Z:-8.13 [[ 9.76351247e-01 2.12641579e-01 3.90102816e-02 1.86620058e+02] [-2.12448688e-01 9.77130100e-01 -9.07316663e-03 -2.92208436e+01] [-4.00474529e-02 5.70914411e-04 9.99197616e-01 -8.13434251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27587156000004 meters 0.03014107467953242 Centerline is valid? [True, True] Translation: X:186.65, Y:-29.23, Z:-8.13 [[ 9.77363959e-01 2.07952754e-01 3.89274305e-02 1.86649550e+02] [-2.07756944e-01 9.78138575e-01 -9.05431294e-03 -2.92315483e+01] [-3.99592907e-02 7.61915152e-04 9.99201018e-01 -8.13442589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30587156 meters 0.028503944240049102 Centerline is valid? [True, True] Translation: X:186.68, Y:-29.25, Z:-8.14 [[ 9.78305839e-01 2.03508529e-01 3.87551845e-02 1.86677155e+02] [-2.03310919e-01 9.79072722e-01 -9.01530720e-03 -2.92474300e+01] [-3.97788359e-02 9.40375495e-04 9.99208066e-01 -8.13785113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33587156000002 meters 0.03394409003338586 Centerline is valid? [True, True] Translation: X:186.70, Y:-29.26, Z:-8.14 [[ 9.79285035e-01 1.98825975e-01 3.83282250e-02 1.86703978e+02] [-1.98629100e-01 9.80034173e-01 -8.91627589e-03 -2.92625245e+01] [-3.93357576e-02 1.11847470e-03 9.99225424e-01 -8.13984788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36587156000002 meters 0.041166100649390025 Centerline is valid? [True, True] Translation: X:186.73, Y:-29.28, Z:-8.14 [[ 9.81018762e-01 1.90197161e-01 3.77786772e-02 1.86731296e+02] [-1.89999415e-01 9.81744850e-01 -8.79046941e-03 -2.92811232e+01] [-3.87609441e-02 1.44568887e-03 9.99247466e-01 -8.14151724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39587156000002 meters 0.04736547362217242 Centerline is valid? [True, True] Translation: X:186.76, Y:-29.30, Z:-8.14 [[ 9.81692201e-01 1.86687457e-01 3.77917347e-02 1.86757964e+02] [-1.86486971e-01 9.82418079e-01 -8.79366756e-03 -2.92970243e+01] [-3.87689508e-02 1.58500874e-03 9.99246945e-01 -8.14372392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42587156000002 meters 0.051347465392884206 Centerline is valid? [True, True] Translation: X:186.79, Y:-29.31, Z:-8.14 [[ 9.82227187e-01 1.83750404e-01 3.82824140e-02 1.86785427e+02] [-1.83542448e-01 9.82971424e-01 -8.90784254e-03 -2.93109498e+01] [-3.92673387e-02 1.72307714e-03 9.99227255e-01 -8.14428434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45587156000002 meters 0.05575711017531464 Centerline is valid? [True, True] Translation: X:186.81, Y:-29.33, Z:-8.14 [[ 9.82976256e-01 1.79544787e-01 3.90044742e-02 1.86812533e+02] [-1.79325605e-01 9.83747913e-01 -9.07584077e-03 -2.93283676e+01] [-4.00000900e-02 1.92683506e-03 9.99197818e-01 -8.14426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48587156000002 meters 0.05670923041240634 Centerline is valid? [True, True] Translation: X:186.84, Y:-29.34, Z:-8.15 [[ 9.83169026e-01 1.78459425e-01 3.91267071e-02 1.86843253e+02] [-1.78238012e-01 9.83945285e-01 -9.10420077e-03 -2.93389987e+01] [-4.01232695e-02 1.97710172e-03 9.99192781e-01 -8.14516552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51587156000002 meters 0.058850699290454354 Centerline is valid? [True, True] Translation: X:186.87, Y:-29.35, Z:-8.15 [[ 9.83263038e-01 1.77943711e-01 3.91130965e-02 1.86872126e+02] [-1.77721977e-01 9.84038637e-01 -9.10273233e-03 -2.93506525e+01] [-4.01085721e-02 1.99912341e-03 9.99193328e-01 -8.14693208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54587156000002 meters 0.059366389960391175 Centerline is valid? [True, True] Translation: X:186.90, Y:-29.36, Z:-8.15 [[ 9.83246019e-01 1.78077833e-01 3.89300918e-02 1.86902507e+02] [-1.77858158e-01 9.84014398e-01 -9.06308067e-03 -2.93641169e+01] [-3.99217047e-02 1.98720357e-03 9.99200835e-01 -8.14892729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57587156000002 meters 0.056022231131472255 Centerline is valid? [True, True] Translation: X:186.94, Y:-29.37, Z:-8.15 [[ 9.83201681e-01 1.78330825e-01 3.88917857e-02 1.86935816e+02] [-1.78111489e-01 9.83968591e-01 -9.06144583e-03 -2.93681257e+01] [-3.98842307e-02 1.98215493e-03 9.99202341e-01 -8.14851417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60587156000003 meters 0.05850946690798364 Centerline is valid? [True, True] Translation: X:186.96, Y:-29.38, Z:-8.15 [[ 9.83037216e-01 1.79172406e-01 3.91801040e-02 1.86963891e+02] [-1.78950147e-01 9.83815718e-01 -9.13663630e-03 -2.93842841e+01] [-4.01830353e-02 1.97036813e-03 9.99190393e-01 -8.15120533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63587156000003 meters 0.05759782258112465 Centerline is valid? [True, True] Translation: X:186.99, Y:-29.39, Z:-8.15 [[ 9.82717565e-01 1.81011189e-01 3.87445024e-02 1.86994282e+02] [-1.80795001e-01 9.83479238e-01 -9.04187033e-03 -2.93925855e+01] [-3.97410934e-02 1.88079243e-03 9.99208241e-01 -8.15197550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66587156000003 meters 0.05354881546216349 Centerline is valid? [True, True] Translation: X:187.02, Y:-29.40, Z:-8.16 [[ 9.82428533e-01 1.82671644e-01 3.82785600e-02 1.87022833e+02] [-1.82461845e-01 9.83172343e-01 -8.93411885e-03 -2.94023476e+01] [-3.92664317e-02 1.79275659e-03 9.99227168e-01 -8.15513407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69587156000003 meters 0.05346177222346306 Centerline is valid? [True, True] Translation: X:187.05, Y:-29.41, Z:-8.16 [[ 9.82137854e-01 1.84256988e-01 3.81391827e-02 1.87054016e+02] [-1.84049894e-01 9.82876591e-01 -8.90191237e-03 -2.94086761e+01] [-3.91263494e-02 1.72339257e-03 9.99232785e-01 -8.15537989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72587156000003 meters 0.04557622831970626 Centerline is valid? [True, True] Translation: X:187.08, Y:-29.41, Z:-8.16 [[ 9.81245772e-01 1.89128275e-01 3.72455550e-02 1.87082764e+02] [-1.88934213e-01 9.81951252e-01 -8.69497732e-03 -2.94148126e+01] [-3.82177855e-02 1.49495012e-03 9.99268315e-01 -8.15881195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75587156000003 meters 0.04588421772372247 Centerline is valid? [True, True] Translation: X:187.11, Y:-29.42, Z:-8.16 [[ 9.80649796e-01 1.92230492e-01 3.70596213e-02 1.87112872e+02] [-1.92040595e-01 9.81348852e-01 -8.65099047e-03 -2.94206703e+01] [-3.80314010e-02 1.36664031e-03 9.99275610e-01 -8.15982132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78587156000003 meters 0.0410891595105109 Centerline is valid? [True, True] Translation: X:187.14, Y:-29.43, Z:-8.16 [[ 9.79985006e-01 1.95586411e-01 3.70856153e-02 1.87140917e+02] [-1.95398637e-01 9.80685691e-01 -8.65726959e-03 -2.94290982e+01] [-3.80625765e-02 1.23751571e-03 9.99274591e-01 -8.16252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81587156000003 meters 0.03377816927577157 Centerline is valid? [True, True] Translation: X:187.17, Y:-29.43, Z:-8.16 [[ 9.79279036e-01 1.99074100e-01 3.71762275e-02 1.87172084e+02] [-1.98887834e-01 9.79983815e-01 -8.68053604e-03 -2.94302631e+01] [-3.81601711e-02 1.10676760e-03 9.99271022e-01 -8.16269563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84587156000003 meters 0.02587132081263791 Centerline is valid? [True, True] Translation: X:187.20, Y:-29.43, Z:-8.16 [[ 9.77856435e-01 2.05997327e-01 3.69038561e-02 1.87202517e+02] [-2.05818698e-01 9.78552202e-01 -8.61699758e-03 -2.94324058e+01] [-3.78874281e-02 8.30682922e-04 9.99281668e-01 -8.16357706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87587156000004 meters 0.02927300410057205 Centerline is valid? [True, True] Translation: X:187.23, Y:-29.44, Z:-8.17 [[ 9.77086162e-01 2.09625961e-01 3.68725928e-02 1.87231773e+02] [-2.09450231e-01 9.77781408e-01 -8.60923377e-03 -2.94402320e+01] [-3.78580546e-02 6.88990084e-04 9.99282889e-01 -8.16547971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90587156000004 meters 0.020320901462394413 Centerline is valid? [True, True] Translation: X:187.26, Y:-29.44, Z:-8.17 [[ 9.76320223e-01 2.13185496e-01 3.67527666e-02 1.87262652e+02] [-2.13013411e-01 9.77011588e-01 -8.58163956e-03 -2.94444182e+01] [-3.77373599e-02 5.49596089e-04 9.99287541e-01 -8.16765431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93587156000004 meters 0.014346355428299042 Centerline is valid? [True, True] Translation: X:187.29, Y:-29.45, Z:-8.17 [[ 9.74896626e-01 2.19596678e-01 3.67949332e-02 1.87294222e+02] [-2.19428720e-01 9.75590697e-01 -8.59239174e-03 -2.94472382e+01] [-3.77836552e-02 3.02828611e-04 9.99285897e-01 -8.16933806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96587156000004 meters 0.012830217275293203 Centerline is valid? [True, True] Translation: X:187.32, Y:-29.45, Z:-8.17 [[ 9.74283657e-01 2.22249713e-01 3.71001598e-02 1.87324673e+02] [-2.22080861e-01 9.74989756e-01 -8.66409890e-03 -2.94537273e+01] [-3.80978692e-02 2.02054510e-04 9.99273992e-01 -8.17105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99587156000004 meters 0.011020955009725709 Centerline is valid? [True, True] Translation: X:187.36, Y:-29.46, Z:-8.17 [[ 9.73693490e-01 2.24792402e-01 3.72741583e-02 1.87356178e+02] [-2.24623702e-01 9.74406673e-01 -8.70791635e-03 -2.94595305e+01] [-3.82776620e-02 1.06182041e-04 9.99267136e-01 -8.17103914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02587156000004 meters 0.010719406918972975 Centerline is valid? [True, True] Translation: X:187.39, Y:-29.47, Z:-8.17 [[ 9.72755334e-01 2.28817337e-01 3.72784871e-02 1.87387412e+02] [-2.28651294e-01 9.73469375e-01 -8.71559152e-03 -2.94667682e+01] [-3.82837440e-02 -4.56361783e-05 9.99266908e-01 -8.17276214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05587156 meters 0.011274094319383858 Centerline is valid? [True, True] Translation: X:187.42, Y:-29.47, Z:-8.17 [[ 9.72284743e-01 2.30845198e-01 3.70522915e-02 1.87418178e+02] [-2.30682364e-01 9.72990483e-01 -8.66984726e-03 -2.94733717e+01] [-3.80529196e-02 -1.17749989e-04 9.99275718e-01 -8.17499953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08587156000002 meters 0.014396682053200138 Centerline is valid? [True, True] Translation: X:187.45, Y:-29.48, Z:-8.18 [[ 9.71895580e-01 2.32550475e-01 3.65958675e-02 1.87449728e+02] [-2.32392584e-01 9.72584313e-01 -8.56980814e-03 -2.94800573e+01] [-3.75854796e-02 -1.75649544e-04 9.99293401e-01 -8.17698772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11587156000002 meters 0.014783761974459759 Centerline is valid? [True, True] Translation: X:187.48, Y:-29.49, Z:-8.18 [[ 9.70947408e-01 2.36666386e-01 3.53574866e-02 1.87480656e+02] [-2.36521513e-01 9.71590923e-01 -8.28570749e-03 -2.94861113e+01] [-3.63139614e-02 -3.17820018e-04 9.99340380e-01 -8.18071491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14587156000002 meters 0.02571432750274037 Centerline is valid? [True, True] Translation: X:187.51, Y:-29.49, Z:-8.18 [[ 9.70395977e-01 2.38882729e-01 3.55905798e-02 1.87512706e+02] [-2.38737221e-01 9.71048343e-01 -8.34599330e-03 -2.94924101e+01] [-3.65538872e-02 -3.97877798e-04 9.99331604e-01 -8.18092430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17587156000002 meters 0.019367422633386328 Centerline is valid? [True, True] Translation: X:187.54, Y:-29.50, Z:-8.18 [[ 9.69791982e-01 2.41288316e-01 3.58254211e-02 1.87544015e+02] [-2.41142285e-01 9.70453354e-01 -8.40744856e-03 -2.94950550e+01] [-3.67955192e-02 -4.85547726e-04 9.99322698e-01 -8.18359338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20587156000002 meters 0.02273590400733402 Centerline is valid? [True, True] Translation: X:187.58, Y:-29.50, Z:-8.18 [[ 9.68748451e-01 2.45476926e-01 3.56022011e-02 1.87576291e+02] [-2.45335293e-01 9.69402226e-01 -8.36165971e-03 -2.94976825e+01] [-3.65654475e-02 -6.34131548e-04 9.99331059e-01 -8.18469288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23587156000002 meters 0.02273590400733402 Centerline is valid? [True, True] Translation: X:187.61, Y:-29.51, Z:-8.19 [[ 9.68708359e-01 2.45635115e-01 3.56020373e-02 1.87607062e+02] [-2.45493563e-01 9.69362152e-01 -8.36235710e-03 -2.95050607e+01] [-3.65653561e-02 -6.39385779e-04 9.99331059e-01 -8.18611952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26587156000002 meters 0.023904234839105407 Centerline is valid? [True, True] Translation: X:187.64, Y:-29.51, Z:-8.19 [[ 9.68215875e-01 2.47569910e-01 3.55971730e-02 1.87638717e+02] [-2.47429479e-01 9.68869775e-01 -8.36733334e-03 -2.95114983e+01] [-3.65605249e-02 -7.06405003e-04 9.99331191e-01 -8.18721017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29587156000002 meters 0.02594804243928445 Centerline is valid? [True, True] Translation: X:187.67, Y:-29.52, Z:-8.19 [[ 9.67829884e-01 2.49021821e-01 3.59645354e-02 1.87669107e+02] [-2.48879194e-01 9.68497575e-01 -8.46132745e-03 -2.95164010e+01] [-3.69386205e-02 -7.61699038e-04 9.99317246e-01 -8.18877658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32587156000002 meters 0.027344824605335133 Centerline is valid? [True, True] Translation: X:187.70, Y:-29.52, Z:-8.19 [[ 9.67509886e-01 2.50317085e-01 3.55805778e-02 1.87699721e+02] [-2.50178351e-01 9.68163578e-01 -8.37132841e-03 -2.95233979e+01] [-3.65433061e-02 -8.02147299e-04 9.99331748e-01 -8.19098469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35587156000003 meters 0.027514300797575608 Centerline is valid? [True, True] Translation: X:187.73, Y:-29.53, Z:-8.19 [[ 9.67514329e-01 2.50346598e-01 3.52505732e-02 1.87729820e+02] [-2.50210415e-01 9.68155953e-01 -8.29454123e-03 -2.95308258e+01] [-3.62045624e-02 -7.94973051e-04 9.99344084e-01 -8.19332507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38587156000003 meters 0.02789401747938919 Centerline is valid? [True, True] Translation: X:187.76, Y:-29.54, Z:-8.20 [[ 9.67615294e-01 2.49969455e-01 3.51555799e-02 1.87758972e+02] [-2.49833738e-01 9.68253410e-01 -8.27270124e-03 -2.95373035e+01] [-3.61074327e-02 -7.78257699e-04 9.99347611e-01 -8.19537627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41587156000003 meters 0.027179613804233938 Centerline is valid? [True, True] Translation: X:187.79, Y:-29.55, Z:-8.20 [[ 9.67783013e-01 2.49313930e-01 3.51938160e-02 1.87789486e+02] [-2.49177390e-01 9.68422428e-01 -8.28429380e-03 -2.95453993e+01] [-3.61478705e-02 -7.52104389e-04 9.99346169e-01 -8.19708523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44587156000003 meters 0.025093788191802427 Centerline is valid? [True, True] Translation: X:187.82, Y:-29.56, Z:-8.20 [[ 9.68274955e-01 2.47406712e-01 3.51216640e-02 1.87819049e+02] [-2.47269447e-01 9.68911481e-01 -8.26814962e-03 -2.95551623e+01] [-3.60753792e-02 -6.78672230e-04 9.99348841e-01 -8.19848713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47587156000003 meters 0.024661693067829234 Centerline is valid? [True, True] Translation: X:187.85, Y:-29.57, Z:-8.20 [[ 9.68550037e-01 2.46278171e-01 3.54667301e-02 1.87849487e+02] [-2.46137410e-01 9.69198974e-01 -8.35014470e-03 -2.95650149e+01] [-3.64307768e-02 -6.42156155e-04 9.99335973e-01 -8.19870738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50587156000003 meters 0.02028912032402746 Centerline is valid? [True, True] Translation: X:187.88, Y:-29.58, Z:-8.20 [[ 9.69069999e-01 2.44205866e-01 3.55925959e-02 1.87879480e+02] [-2.44062701e-01 9.69723246e-01 -8.37994631e-03 -2.95772031e+01] [-3.65613997e-02 -5.66070519e-04 9.99331248e-01 -8.19976581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53587156000003 meters 0.019577843639395246 Centerline is valid? [True, True] Translation: X:187.91, Y:-29.59, Z:-8.20 [[ 9.69284627e-01 2.43360238e-01 3.55402072e-02 1.87909830e+02] [-2.43216697e-01 9.69935831e-01 -8.37388505e-03 -2.95857156e+01] [-3.65095910e-02 -5.27293749e-04 9.99333164e-01 -8.20126360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56587156000003 meters 0.02023811449747487 Centerline is valid? [True, True] Translation: X:187.94, Y:-29.59, Z:-8.20 [[ 9.69479619e-01 2.42576290e-01 3.55810469e-02 1.87940535e+02] [-2.42431680e-01 9.70132208e-01 -8.38925585e-03 -2.95916496e+01] [-3.65533542e-02 -4.92760431e-04 9.99331581e-01 -8.20408104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59587156000003 meters 0.01884377646173538 Centerline is valid? [True, True] Translation: X:187.97, Y:-29.60, Z:-8.21 [[ 9.69792150e-01 2.41325683e-01 3.55682462e-02 1.87971328e+02] [-2.41180129e-01 9.70444085e-01 -8.39189642e-03 -2.95995022e+01] [-3.65421743e-02 -4.39958948e-04 9.99332015e-01 -8.20618517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62587156000004 meters 0.017227725031618304 Centerline is valid? [True, True] Translation: X:188.00, Y:-29.61, Z:-8.21 [[ 9.69868886e-01 2.41016886e-01 3.55697131e-02 1.88002027e+02] [-2.40870903e-01 9.70520830e-01 -8.39796991e-03 -2.96088550e+01] [-3.65452000e-02 -4.22779191e-04 9.99331912e-01 -8.20646193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65587156000004 meters 0.016781891770445923 Centerline is valid? [True, True] Translation: X:188.03, Y:-29.62, Z:-8.21 [[ 9.69979457e-01 2.40556159e-01 3.56733322e-02 1.88031737e+02] [-2.40408784e-01 9.70635139e-01 -8.42869650e-03 -2.96167016e+01] [-3.66533647e-02 -4.00519957e-04 9.99327959e-01 -8.20771845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68587156000004 meters 0.017290192470106117 Centerline is valid? [True, True] Translation: X:188.06, Y:-29.63, Z:-8.21 [[ 9.70299947e-01 2.39179565e-01 3.62097788e-02 1.88062914e+02] [-2.39026518e-01 9.70975291e-01 -8.56204369e-03 -2.96269630e+01] [-3.72066664e-02 -3.47346790e-04 9.99307532e-01 -8.20692571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71587156000004 meters 0.014631648508821994 Centerline is valid? [True, True] Translation: X:188.09, Y:-29.64, Z:-8.21 [[ 9.70471660e-01 2.38402037e-01 3.67318043e-02 1.88092879e+02] [-2.38243927e-01 9.71166498e-01 -8.68708512e-03 -2.96356046e+01] [-3.77437165e-02 -3.20559365e-04 9.99287401e-01 -8.20822108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74587156000004 meters 0.013252274107965003 Centerline is valid? [True, True] Translation: X:188.12, Y:-29.65, Z:-8.21 [[ 9.70646643e-01 2.37681024e-01 3.67807733e-02 1.88123867e+02] [-2.37521759e-01 9.71343218e-01 -8.70435690e-03 -2.96455377e+01] [-3.77956152e-02 -2.87379173e-04 9.99285449e-01 -8.20799387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77587156000004 meters 0.01314554215372907 Centerline is valid? [True, True] Translation: X:188.15, Y:-29.65, Z:-8.21 [[ 9.70769321e-01 2.37140225e-01 3.70329370e-02 1.88154492e+02] [-2.36978114e-01 9.71475396e-01 -8.77085025e-03 -2.96529398e+01] [-3.80565086e-02 -2.61523247e-04 9.99275554e-01 -8.20945060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80587156000004 meters 0.01278093600889356 Centerline is valid? [True, True] Translation: X:188.19, Y:-29.66, Z:-8.21 [[ 9.70896995e-01 2.36540991e-01 3.75151371e-02 1.88185273e+02] [-2.36373937e-01 9.71621482e-01 -8.89142438e-03 -2.96599613e+01] [-3.85536994e-02 -2.34943452e-04 9.99256502e-01 -8.21055638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83587156000002 meters 0.012229092183946778 Centerline is valid? [True, True] Translation: X:188.22, Y:-29.67, Z:-8.21 [[ 9.71000354e-01 2.36153370e-01 3.72813317e-02 1.88216799e+02] [-2.35987889e-01 9.71715772e-01 -8.84171167e-03 -2.96684385e+01] [-3.83148580e-02 -2.12637580e-04 9.99265694e-01 -8.21195377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86587156000002 meters 0.0319784657965101 Centerline is valid? [True, True] Translation: X:188.25, Y:-29.68, Z:-8.21 [[ 9.71138722e-01 2.35616622e-01 3.70727671e-02 1.88248171e+02] [-2.35452320e-01 9.71846065e-01 -8.79951252e-03 -2.96776041e+01] [-3.81023343e-02 -1.83321675e-04 9.99273826e-01 -8.21246402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89587156000002 meters 0.010851977754416996 Centerline is valid? [True, True] Translation: X:188.28, Y:-29.69, Z:-8.21 [[ 9.71619374e-01 2.33496000e-01 3.78867977e-02 1.88277448e+02] [-2.33322452e-01 9.72357758e-01 -9.00135776e-03 -2.96878639e+01] [-3.89413027e-02 -9.39469274e-05 9.99241495e-01 -8.21439738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92587156000002 meters 0.010467732997659742 Centerline is valid? [True, True] Translation: X:188.31, Y:-29.70, Z:-8.22 [[ 9.71939700e-01 2.32140568e-01 3.79996926e-02 1.88308497e+02] [-2.31964818e-01 9.72682248e-01 -9.03149529e-03 -2.96979294e+01] [-3.90582029e-02 -3.65229637e-05 9.99236937e-01 -8.21548584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95587156000002 meters 0.01064573775946122 Centerline is valid? [True, True] Translation: X:188.34, Y:-29.71, Z:-8.22 [[ 9.72233899e-01 2.30912321e-01 3.79571495e-02 1.88338861e+02] [-2.30735725e-01 9.72974563e-01 -9.02915585e-03 -2.97074454e+01] [-3.90162843e-02 2.03810068e-05 9.99238575e-01 -8.21812489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98587156000002 meters 0.010841223349525933 Centerline is valid? [True, True] Translation: X:188.37, Y:-29.72, Z:-8.22 [[ 9.72573775e-01 2.29539136e-01 3.75770954e-02 1.88370623e+02] [-2.29364767e-01 9.73299429e-01 -8.94567868e-03 -2.97171033e+01] [-3.86271488e-02 8.14707534e-05 9.99253690e-01 -8.21902967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01587156000002 meters 0.012120328809496829 Centerline is valid? [True, True] Translation: X:188.40, Y:-29.73, Z:-8.22 [[ 9.73237611e-01 2.26718209e-01 3.75154241e-02 1.88400470e+02] [-2.26542013e-01 9.73960376e-01 -8.93884585e-03 -2.97289000e+01] [-3.85651357e-02 2.00801297e-04 9.99256068e-01 -8.22132926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04587156000002 meters 0.013546797434209218 Centerline is valid? [True, True] Translation: X:188.43, Y:-29.74, Z:-8.22 [[ 9.73533730e-01 2.25487708e-01 3.72474142e-02 1.88429436e+02] [-2.25312864e-01 9.74245980e-01 -8.88169121e-03 -2.97395542e+01] [-3.82908558e-02 2.54304409e-04 9.99266604e-01 -8.22386695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07587156000002 meters 0.01431678824367719 Centerline is valid? [True, True] Translation: X:188.46, Y:-29.75, Z:-8.23 [[ 9.73755516e-01 2.24552334e-01 3.71004479e-02 1.88460228e+02] [-2.24377957e-01 9.74461986e-01 -8.85273088e-03 -2.97495533e+01] [-3.81408775e-02 2.95872831e-04 9.99272328e-01 -8.22512548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10587156000003 meters 0.015348407527275796 Centerline is valid? [True, True] Translation: X:188.49, Y:-29.76, Z:-8.23 [[ 9.74079462e-01 2.23124695e-01 3.72098484e-02 1.88490523e+02] [-2.22948000e-01 9.74789845e-01 -8.88527756e-03 -2.97606631e+01] [-3.82543072e-02 3.59105121e-04 9.99267972e-01 -8.22571588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13587156000003 meters 0.015736559619536208 Centerline is valid? [True, True] Translation: X:188.52, Y:-29.77, Z:-8.23 [[ 9.74099308e-01 2.23027694e-01 3.72717885e-02 1.88521630e+02] [-2.22850090e-01 9.74812039e-01 -8.90655208e-03 -2.97700503e+01] [-3.83193959e-02 3.69844800e-04 9.99265474e-01 -8.22723161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16587156000003 meters 0.01593941921772791 Centerline is valid? [True, True] Translation: X:188.55, Y:-29.78, Z:-8.23 [[ 9.74132952e-01 2.22885076e-01 3.72456052e-02 1.88553704e+02] [-2.22707353e-01 9.74844653e-01 -8.90718387e-03 -2.97785402e+01] [-3.82939574e-02 3.81911190e-04 9.99266444e-01 -8.22818512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19587156000003 meters 0.01562001131760519 Centerline is valid? [True, True] Translation: X:188.58, Y:-29.79, Z:-8.23 [[ 9.74010467e-01 2.23286172e-01 3.80380713e-02 1.88584708e+02] [-2.23100796e-01 9.74752861e-01 -9.10466850e-03 -2.97859789e+01] [-3.91106654e-02 3.81718411e-04 9.99234812e-01 -8.22845380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22587156000003 meters 0.015674476212331027 Centerline is valid? [True, True] Translation: X:188.62, Y:-29.79, Z:-8.23 [[ 9.73899787e-01 2.23720630e-01 3.83182158e-02 1.88615340e+02] [-2.23532584e-01 9.74653241e-01 -9.17843426e-03 -2.97945784e+01] [-3.94003783e-02 3.73505382e-04 9.99223434e-01 -8.22978316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25587156000003 meters 0.015119887172904183 Centerline is valid? [True, True] Translation: X:188.65, Y:-29.80, Z:-8.23 [[ 9.73762364e-01 2.24336958e-01 3.82071803e-02 1.88647602e+02] [-2.24150198e-01 9.74511572e-01 -9.15888006e-03 -2.98028947e+01] [-3.92880146e-02 3.54425666e-04 9.99227865e-01 -8.23156494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28587156000003 meters 0.020232581048331734 Centerline is valid? [True, True] Translation: X:188.68, Y:-29.81, Z:-8.23 [[ 9.73568069e-01 2.25352131e-01 3.71703022e-02 1.88678935e+02] [-2.25175821e-01 9.74277332e-01 -8.91797262e-03 -2.98107116e+01] [-3.82238670e-02 3.12400086e-04 9.99269152e-01 -8.23453788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31587156000003 meters 0.028570930886425473 Centerline is valid? [True, True] Translation: X:188.71, Y:-29.82, Z:-8.24 [[ 9.73458300e-01 2.25902355e-01 3.67023668e-02 1.88711175e+02] [-2.25730700e-01 9.74149907e-01 -8.80965563e-03 -2.98189115e+01] [-3.77437291e-02 2.90981462e-04 9.99287409e-01 -8.23707960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34587156000003 meters 0.01811492151225066 Centerline is valid? [True, True] Translation: X:188.74, Y:-29.83, Z:-8.24 [[ 9.73296994e-01 2.26648806e-01 3.63769187e-02 1.88742837e+02] [-2.26480436e-01 9.73976513e-01 -8.73867650e-03 -2.98269036e+01] [-3.74108751e-02 2.66667131e-04 9.99299933e-01 -8.23989083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37587156000004 meters 0.013463551024647188 Centerline is valid? [True, True] Translation: X:188.77, Y:-29.83, Z:-8.24 [[ 9.73052469e-01 2.27743985e-01 3.60772854e-02 1.88774398e+02] [-2.27578868e-01 9.73721020e-01 -8.67376512e-03 -2.98349932e+01] [-3.71046090e-02 2.29600765e-04 9.99311361e-01 -8.24246611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40587156000004 meters 0.02079738812801204 Centerline is valid? [True, True] Translation: X:188.81, Y:-29.84, Z:-8.24 [[ 9.72876284e-01 2.28494386e-01 3.60839473e-02 1.88805236e+02] [-2.28329455e-01 9.73545208e-01 -8.68260372e-03 -2.98425812e+01] [-3.71132801e-02 2.08071214e-04 9.99311043e-01 -8.24302011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43587156000004 meters 0.01254706675851008 Centerline is valid? [True, True] Translation: X:188.84, Y:-29.85, Z:-8.24 [[ 9.72700707e-01 2.29144664e-01 3.66886658e-02 1.88837094e+02] [-2.28974326e-01 9.73392359e-01 -8.83588188e-03 -2.98497030e+01] [-3.77371622e-02 1.93906011e-04 9.99287681e-01 -8.24414623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46587156000004 meters 0.01107395279508932 Centerline is valid? [True, True] Translation: X:188.87, Y:-29.86, Z:-8.24 [[ 9.72183830e-01 2.31063018e-01 3.83207895e-02 1.88869106e+02] [-2.30878597e-01 9.72938778e-01 -9.23079422e-03 -2.98554119e+01] [-3.94166773e-02 1.26578753e-04 9.99222853e-01 -8.24196603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49587156000004 meters 0.010468722112579534 Centerline is valid? [True, True] Translation: X:188.90, Y:-29.86, Z:-8.24 [[ 9.71771394e-01 2.32714369e-01 3.87863495e-02 1.88901028e+02] [-2.32526474e-01 9.72545124e-01 -9.34989990e-03 -2.98613592e+01] [-3.98973312e-02 6.71121487e-05 9.99203782e-01 -8.24242564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52587156000004 meters 0.010177803462824805 Centerline is valid? [True, True] Translation: X:188.93, Y:-29.87, Z:-8.24 [[ 9.71288015e-01 2.34621098e-01 3.94021904e-02 1.88931481e+02] [-2.34428454e-01 9.72086900e-01 -9.50576157e-03 -2.98658972e+01] [-4.05326053e-02 -4.16227782e-06 9.99178216e-01 -8.24342108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55587156000004 meters 0.011778694977205238 Centerline is valid? [True, True] Translation: X:188.96, Y:-29.87, Z:-8.25 [[ 9.70189727e-01 2.39168996e-01 3.91163002e-02 1.88963732e+02] [-2.38982674e-01 9.70977938e-01 -9.44063693e-03 -2.98660284e+01] [-4.02389722e-02 -1.88909061e-04 9.99190067e-01 -8.24648094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58587156000002 meters 0.012613761475290997 Centerline is valid? [True, True] Translation: X:189.00, Y:-29.87, Z:-8.25 [[ 9.69630703e-01 2.41481811e-01 3.87664027e-02 1.88995593e+02] [-2.41300528e-01 9.70405305e-01 -9.35938741e-03 -2.98709101e+01] [-3.98792447e-02 -2.79204055e-04 9.99204468e-01 -8.24778110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61587156000002 meters 0.015165796125466648 Centerline is valid? [True, True] Translation: X:189.03, Y:-29.87, Z:-8.25 [[ 9.69040400e-01 2.43913911e-01 3.82976119e-02 1.89026838e+02] [-2.43738616e-01 9.69796818e-01 -9.25301155e-03 -2.98733402e+01] [-3.93978404e-02 -3.68064907e-04 9.99223536e-01 -8.25125154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64587156000002 meters 0.017068223831096966 Centerline is valid? [True, True] Translation: X:189.06, Y:-29.88, Z:-8.25 [[ 9.68514867e-01 2.46032667e-01 3.80378681e-02 1.89058422e+02] [-2.45861129e-01 9.69261435e-01 -9.19654094e-03 -2.98771461e+01] [-3.91312881e-02 -4.45046573e-04 9.99233979e-01 -8.25354425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67587156000002 meters 0.01753283529260328 Centerline is valid? [True, True] Translation: X:189.09, Y:-29.88, Z:-8.26 [[ 9.68111221e-01 2.47684838e-01 3.75883709e-02 1.89089588e+02] [-2.47518355e-01 9.68840529e-01 -9.09358493e-03 -2.98833946e+01] [-3.86694803e-02 -5.00210125e-04 9.99251931e-01 -8.25510986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70587156000002 meters 0.020265105353410882 Centerline is valid? [True, True] Translation: X:189.12, Y:-29.89, Z:-8.26 [[ 9.67545232e-01 2.49983342e-01 3.69398663e-02 1.89120206e+02] [-2.49823947e-01 9.68249967e-01 -8.94410252e-03 -2.98865212e+01] [-3.80029009e-02 -5.74639439e-04 9.99277464e-01 -8.25803895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73587156000002 meters 0.020070414152848517 Centerline is valid? [True, True] Translation: X:189.15, Y:-29.89, Z:-8.26 [[ 9.67382520e-01 2.50541084e-01 3.74195757e-02 1.89151858e+02] [-2.50377925e-01 9.68105780e-01 -9.06056745e-03 -2.98939631e+01] [-3.84961519e-02 -6.04001148e-04 9.99258566e-01 -8.25832112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76587156000002 meters 0.02061745847595363 Centerline is valid? [True, True] Translation: X:189.18, Y:-29.90, Z:-8.26 [[ 9.67236799e-01 2.50899040e-01 3.87639937e-02 1.89183927e+02] [-2.50724040e-01 9.68013051e-01 -9.39086300e-03 -2.98994597e+01] [-3.98802103e-02 -6.35876833e-04 9.99204266e-01 -8.25707219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79587156000002 meters 0.020656248759971726 Centerline is valid? [True, True] Translation: X:189.22, Y:-29.91, Z:-8.26 [[ 9.67094099e-01 2.51361619e-01 3.93235378e-02 1.89216110e+02] [-2.51181609e-01 9.67893023e-01 -9.53385306e-03 -2.99066523e+01] [-4.04574226e-02 -6.57216480e-04 9.99181047e-01 -8.25707976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82587156000002 meters 0.021543963047193224 Centerline is valid? [True, True] Translation: X:189.25, Y:-29.91, Z:-8.26 [[ 9.66933187e-01 2.51907846e-01 3.97825222e-02 1.89247650e+02] [-2.51723739e-01 9.67750988e-01 -9.65322085e-03 -2.99117867e+01] [-4.09312972e-02 -6.80185628e-04 9.99161732e-01 -8.25778903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85587156000003 meters 0.021592449093427443 Centerline is valid? [True, True] Translation: X:189.28, Y:-29.92, Z:-8.26 [[ 9.66755392e-01 2.52530323e-01 4.01552871e-02 1.89280184e+02] [-2.52342976e-01 9.67588723e-01 -9.75114655e-03 -2.99177034e+01] [-4.13162632e-02 -7.05931155e-04 9.99145869e-01 -8.25832265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88587156000003 meters 0.02323796156138827 Centerline is valid? [True, True] Translation: X:189.31, Y:-29.92, Z:-8.26 [[ 9.66256793e-01 2.54431239e-01 4.01566377e-02 1.89312637e+02] [-2.54245186e-01 9.67090553e-01 -9.75953009e-03 -2.99189083e+01] [-4.13182343e-02 -7.79419577e-04 9.99145733e-01 -8.26047194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91587156000003 meters 0.02488937914241263 Centerline is valid? [True, True] Translation: X:189.34, Y:-29.92, Z:-8.26 [[ 9.66089509e-01 2.55130102e-01 3.97453389e-02 1.89342885e+02] [-2.54948125e-01 9.66906408e-01 -9.66707587e-03 -2.99213022e+01] [-4.08963849e-02 -7.93739066e-04 9.99163078e-01 -8.26302715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94587156000003 meters 0.0246766165724978 Centerline is valid? [True, True] Translation: X:189.37, Y:-29.93, Z:-8.27 [[ 9.65864903e-01 2.56008855e-01 3.95531913e-02 1.89373324e+02] [-2.55829352e-01 9.66674083e-01 -9.62077482e-03 -2.99267750e+01] [-4.06980484e-02 -8.26498552e-04 9.99171149e-01 -8.26500245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97587156000003 meters 0.026033096513249962 Centerline is valid? [True, True] Translation: X:189.40, Y:-29.93, Z:-8.27 [[ 9.65662506e-01 2.56935852e-01 3.84693660e-02 1.89403647e+02] [-2.56766758e-01 9.66428094e-01 -9.35793256e-03 -2.99284549e+01] [-3.95822644e-02 -8.41049787e-04 9.99215961e-01 -8.26851167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00587156000003 meters 0.03354898645396793 Centerline is valid? [True, True] Translation: X:189.43, Y:-29.93, Z:-8.27 [[ 9.65676880e-01 2.56971851e-01 3.78633335e-02 1.89431895e+02] [-2.56807975e-01 9.66418535e-01 -9.21301632e-03 -2.99320996e+01] [-3.89593132e-02 -8.26809158e-04 9.99240456e-01 -8.26939305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03587156000003 meters 0.02631491644596398 Centerline is valid? [True, True] Translation: X:189.46, Y:-29.94, Z:-8.27 [[ 9.65782110e-01 2.56548414e-01 3.80503153e-02 1.89461328e+02] [-2.56382645e-01 9.66531038e-01 -9.25703251e-03 -2.99372475e+01] [-3.91516877e-02 -8.15164063e-04 9.99232946e-01 -8.27197729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06587156000003 meters 0.025367864529308802 Centerline is valid? [True, True] Translation: X:189.49, Y:-29.94, Z:-8.27 [[ 9.66037812e-01 2.55471929e-01 3.87948435e-02 1.89489770e+02] [-2.55298776e-01 9.66816153e-01 -9.43725687e-03 -2.99404855e+01] [-3.99184355e-02 -7.87529073e-04 9.99202631e-01 -8.27271356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09587156000003 meters 0.02444318381917259 Centerline is valid? [True, True] Translation: X:189.52, Y:-29.95, Z:-8.27 [[ 9.66254813e-01 2.54632841e-01 3.89069695e-02 1.89519072e+02] [-2.54458064e-01 9.67037509e-01 -9.46304891e-03 -2.99467283e+01] [-4.00341019e-02 -7.56475598e-04 9.99198028e-01 -8.27352745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12587156000004 meters 0.023730870641351584 Centerline is valid? [True, True] Translation: X:189.55, Y:-29.95, Z:-8.27 [[ 9.66479125e-01 2.53746433e-01 3.91260581e-02 1.89547269e+02] [-2.53568991e-01 9.67270501e-01 -9.51548926e-03 -2.99523245e+01] [-4.02600033e-02 -7.24633317e-04 9.99188975e-01 -8.27487664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15587156000004 meters 0.023730870641351584 Centerline is valid? [True, True] Translation: X:189.57, Y:-29.96, Z:-8.28 [[ 9.66490811e-01 2.53701852e-01 3.91264960e-02 1.89574797e+02] [-2.53524446e-01 9.67282195e-01 -9.51368827e-03 -2.99589262e+01] [-4.02600033e-02 -7.24630933e-04 9.99188975e-01 -8.27615267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18587156000004 meters 0.022890259340367963 Centerline is valid? [True, True] Translation: X:189.60, Y:-29.96, Z:-8.28 [[ 9.66753253e-01 2.52676569e-01 3.92772021e-02 1.89602577e+02] [-2.52497022e-01 9.67550557e-01 -9.54848337e-03 -2.99619701e+01] [-4.04153568e-02 -6.86349217e-04 9.99182730e-01 -8.27712143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21587156000004 meters 0.022714446094766357 Centerline is valid? [True, True] Translation: X:189.63, Y:-29.97, Z:-8.28 [[ 9.66870691e-01 2.52162957e-01 3.96851359e-02 1.89630385e+02] [-2.51979336e-01 9.67684550e-01 -9.64499141e-03 -2.99657370e+01] [-4.08348024e-02 -6.74374664e-04 9.99165684e-01 -8.27797488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24587156000004 meters 0.02246565433380711 Centerline is valid? [True, True] Translation: X:189.66, Y:-29.97, Z:-8.28 [[ 9.66941814e-01 2.51859050e-01 3.98816704e-02 1.89659154e+02] [-2.51673449e-01 9.67763697e-01 -9.69029172e-03 -2.99694338e+01] [-4.10366205e-02 -6.67209276e-04 9.99157420e-01 -8.27864842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27587156000004 meters 0.022454107534761358 Centerline is valid? [True, True] Translation: X:189.69, Y:-29.97, Z:-8.28 [[ 9.67021963e-01 2.51601522e-01 3.95625855e-02 1.89687404e+02] [-2.51418738e-01 9.67830692e-01 -9.61093378e-03 -2.99726523e+01] [-4.07080101e-02 -6.52791272e-04 9.99170872e-01 -8.28044811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30587156000004 meters 0.0218155124533269 Centerline is valid? [True, True] Translation: X:189.72, Y:-29.97, Z:-8.28 [[ 9.67250875e-01 2.50739408e-01 3.94397521e-02 1.89717185e+02] [-2.50557138e-01 9.68054425e-01 -9.57870463e-03 -2.99734711e+01] [-4.05815852e-02 -6.16900979e-04 9.99176038e-01 -8.28293411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33587156000002 meters 0.02154228020929237 Centerline is valid? [True, True] Translation: X:189.74, Y:-29.98, Z:-8.29 [[ 9.67409944e-01 2.50198140e-01 3.89729608e-02 1.89744856e+02] [-2.50019793e-01 9.68194476e-01 -9.46357583e-03 -2.99775017e+01] [-4.01011744e-02 -5.88854236e-04 9.99195451e-01 -8.28516716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36587156000002 meters 0.020887430727194768 Centerline is valid? [True, True] Translation: X:189.77, Y:-29.98, Z:-8.29 [[ 9.67603341e-01 2.49480805e-01 3.87698713e-02 1.89773233e+02] [-2.49303830e-01 9.68379583e-01 -9.41192920e-03 -2.99819786e+01] [-3.98920474e-02 -5.58463246e-04 9.99203839e-01 -8.28721905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39587156000002 meters 0.017594833270920197 Centerline is valid? [True, True] Translation: X:189.80, Y:-29.99, Z:-8.29 [[ 9.68122605e-01 2.47479813e-01 3.86311374e-02 1.89801589e+02] [-2.47302581e-01 9.68892933e-01 -9.37645659e-03 -2.99876153e+01] [-3.97499197e-02 -4.76020382e-04 9.99209546e-01 -8.28858137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42587156000002 meters 0.017586485140998236 Centerline is valid? [True, True] Translation: X:189.83, Y:-29.99, Z:-8.29 [[ 9.68474613e-01 2.46109352e-01 3.85630640e-02 1.89829479e+02] [-2.45931731e-01 9.69241977e-01 -9.35809427e-03 -2.99915200e+01] [-3.96800549e-02 -4.20804355e-04 9.99212348e-01 -8.29078071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45587156000002 meters 0.014998980256979183 Centerline is valid? [True, True] Translation: X:189.86, Y:-30.00, Z:-8.29 [[ 9.68899221e-01 2.44464229e-01 3.83606717e-02 1.89857056e+02] [-2.44287274e-01 9.69658247e-01 -9.30656497e-03 -2.99992729e+01] [-3.94718639e-02 -3.53900357e-04 9.99220620e-01 -8.29144833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48587156000002 meters 0.019500484079258446 Centerline is valid? [True, True] Translation: X:189.89, Y:-30.01, Z:-8.29 [[ 9.69360883e-01 2.42730862e-01 3.76989062e-02 1.89885337e+02] [-2.42558722e-01 9.70093630e-01 -9.14419454e-03 -3.00060761e+01] [-3.87910470e-02 -2.80174006e-04 9.99247305e-01 -8.29235902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51587156000002 meters 0.011927179272781648 Centerline is valid? [True, True] Translation: X:189.91, Y:-30.01, Z:-8.30 [[ 9.70138268e-01 2.39658432e-01 3.73574067e-02 1.89912479e+02] [-2.39487187e-01 9.70857256e-01 -9.05958966e-03 -3.00118078e+01] [-3.84399164e-02 -1.57565629e-04 9.99260901e-01 -8.29584336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54587156000002 meters 0.011202524099493712 Centerline is valid? [True, True] Translation: X:189.94, Y:-30.02, Z:-8.30 [[ 9.70432761e-01 2.38398506e-01 3.77678156e-02 1.89940805e+02] [-2.38222618e-01 9.71167411e-01 -9.15666436e-03 -3.00179281e+01] [-3.88618068e-02 -1.11220834e-04 9.99244588e-01 -8.29613813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57587156000002 meters 0.010949297874683898 Centerline is valid? [True, True] Translation: X:189.97, Y:-30.02, Z:-8.30 [[ 9.70703894e-01 2.37271399e-01 3.78976848e-02 1.89969295e+02] [-2.37093518e-01 9.71443400e-01 -9.18612446e-03 -3.00230358e+01] [-3.89950604e-02 -6.82886490e-05 9.99239401e-01 -8.29724551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60587156000003 meters 0.010675790984795819 Centerline is valid? [True, True] Translation: X:190.00, Y:-30.03, Z:-8.30 [[ 9.71305791e-01 2.34743510e-01 3.82170848e-02 1.89996430e+02] [-2.34560713e-01 9.72057346e-01 -9.26220460e-03 -3.00276682e+01] [-3.93234404e-02 3.22063069e-05 9.99226534e-01 -8.29840316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63587156000003 meters 0.010993885126331352 Centerline is valid? [True, True] Translation: X:190.02, Y:-30.03, Z:-8.30 [[ 9.71684679e-01 2.33112532e-01 3.85672311e-02 1.90024019e+02] [-2.32925183e-01 9.72449761e-01 -9.34455323e-03 -3.00343600e+01] [-3.96830271e-02 9.66798315e-05 9.99212314e-01 -8.29963141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66587156000003 meters 0.011615939255005443 Centerline is valid? [True, True] Translation: X:190.05, Y:-30.04, Z:-8.30 [[ 9.72119637e-01 2.31357650e-01 3.81713255e-02 1.90053220e+02] [-2.31172855e-01 9.72868753e-01 -9.24662976e-03 -3.00415996e+01] [-3.92749684e-02 1.64656067e-04 9.99228427e-01 -8.30087934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69587156000003 meters 0.014044089871135075 Centerline is valid? [True, True] Translation: X:190.08, Y:-30.05, Z:-8.30 [[ 9.72999181e-01 2.27716513e-01 3.76534749e-02 1.90080245e+02] [-2.27534006e-01 9.73727424e-01 -9.12032747e-03 -3.00501235e+01] [-3.87410702e-02 3.06625161e-04 9.99249236e-01 -8.30405033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72587156000003 meters 0.02767334474727719 Centerline is valid? [True, True] Translation: X:190.11, Y:-30.06, Z:-8.30 [[ 9.73381492e-01 2.26120427e-01 3.73901635e-02 1.90108793e+02] [-2.25939344e-01 9.74099286e-01 -9.05507790e-03 -3.00580971e+01] [-3.84692697e-02 3.66136219e-04 9.99259717e-01 -8.30378729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75587156000003 meters 0.026140820380957695 Centerline is valid? [True, True] Translation: X:190.14, Y:-30.07, Z:-8.31 [[ 9.73762611e-01 2.24436507e-01 3.76115914e-02 1.90135935e+02] [-2.24252055e-01 9.74488618e-01 -9.10767994e-03 -3.00695148e+01] [-3.86961636e-02 4.34241533e-04 9.99250929e-01 -8.30675401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78587156000003 meters 0.020390254280820752 Centerline is valid? [True, True] Translation: X:190.17, Y:-30.08, Z:-8.31 [[ 9.74539112e-01 2.20896768e-01 3.84465480e-02 1.90165497e+02] [-2.20701300e-01 9.75297018e-01 -9.30931118e-03 -3.00780243e+01] [-3.95532003e-02 5.87084751e-04 9.99217294e-01 -8.30681597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81587156000003 meters 0.02627103031309169 Centerline is valid? [True, True] Translation: X:190.20, Y:-30.09, Z:-8.31 [[ 9.74918616e-01 2.19186992e-01 3.86103076e-02 1.90195503e+02] [-2.18988518e-01 9.75682647e-01 -9.34883793e-03 -3.00875074e+01] [-3.97205508e-02 6.59142099e-04 9.99210610e-01 -8.30616200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84587156000003 meters 0.02415422059093662 Centerline is valid? [True, True] Translation: X:190.23, Y:-30.10, Z:-8.31 [[ 9.75284458e-01 2.17406582e-01 3.94284710e-02 1.90225286e+02] [-2.17198109e-01 9.76080846e-01 -9.54792411e-03 -3.00973667e+01] [-4.05611569e-02 7.48152633e-04 9.99176778e-01 -8.30753673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87587156000004 meters 0.02592725685826579 Centerline is valid? [True, True] Translation: X:190.26, Y:-30.11, Z:-8.31 [[ 9.75549740e-01 2.16118279e-01 3.99448869e-02 1.90255058e+02] [-2.15903199e-01 9.76366851e-01 -9.67368937e-03 -3.01077680e+01] [-4.10915246e-02 8.12936304e-04 9.99155056e-01 -8.30795796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90587156000004 meters 0.0286828408931836 Centerline is valid? [True, True] Translation: X:190.29, Y:-30.12, Z:-8.31 [[ 9.76118320e-01 2.13486565e-01 4.02058664e-02 1.90285405e+02] [-2.13266267e-01 9.76945554e-01 -9.74089118e-03 -3.01198782e+01] [-4.13584918e-02 9.33707305e-04 9.99143935e-01 -8.30921946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93587156000004 meters 0.029677259090771842 Centerline is valid? [True, True] Translation: X:190.32, Y:-30.13, Z:-8.31 [[ 9.76250011e-01 2.12922243e-01 4.00004349e-02 1.90315678e+02] [-2.12703655e-01 9.77068681e-01 -9.69263759e-03 -3.01294240e+01] [-4.11469503e-02 9.54198862e-04 9.99152650e-01 -8.31071485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96587156000004 meters 0.0305319156568164 Centerline is valid? [True, True] Translation: X:190.35, Y:-30.14, Z:-8.31 [[ 9.76318941e-01 2.12590755e-01 4.00811201e-02 1.90346343e+02] [-2.12370749e-01 9.77140838e-01 -9.71838458e-03 -3.01394210e+01] [-4.12309380e-02 9.76185433e-04 9.99149166e-01 -8.31250442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99587156000004 meters 0.031036934624004985 Centerline is valid? [True, True] Translation: X:190.38, Y:-30.15, Z:-8.31 [[ 9.76278303e-01 2.12890460e-01 3.94756580e-02 1.90377022e+02] [-2.12677038e-01 9.77075606e-01 -9.57798801e-03 -3.01503308e+01] [-4.06097647e-02 9.55215860e-04 9.99174627e-01 -8.31471778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02587156000004 meters 0.02853305290591375 Centerline is valid? [True, True] Translation: X:190.41, Y:-30.16, Z:-8.32 [[ 9.76039683e-01 2.14076830e-01 3.89569955e-02 1.90408834e+02] [-2.13869651e-01 9.76816410e-01 -9.45900512e-03 -3.01559515e+01] [-4.00787863e-02 9.00645328e-04 9.99196117e-01 -8.31691083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05587156000004 meters 0.028351413905667092 Centerline is valid? [True, True] Translation: X:190.44, Y:-30.16, Z:-8.32 [[ 9.75695509e-01 2.15699349e-01 3.86272423e-02 1.90439235e+02] [-2.15496659e-01 9.76459470e-01 -9.38585204e-03 -3.01637526e+01] [-3.97424587e-02 8.33692032e-04 9.99209609e-01 -8.31912475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08587156000002 meters 0.02364727427078471 Centerline is valid? [True, True] Translation: X:190.47, Y:-30.17, Z:-8.32 [[ 9.75162649e-01 2.18092658e-01 3.86445355e-02 1.90471566e+02] [-2.17891528e-01 9.75927787e-01 -9.39343690e-03 -3.01660992e+01] [-3.97629156e-02 7.39811932e-04 9.99208869e-01 -8.31953412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11587156000002 meters 0.025296322850962703 Centerline is valid? [True, True] Translation: X:190.50, Y:-30.17, Z:-8.32 [[ 9.74463082e-01 2.21194757e-01 3.86598213e-02 1.90502084e+02] [-2.20995635e-01 9.75229458e-01 -9.40393938e-03 -3.01736499e+01] [-3.97822986e-02 6.20139993e-04 9.99208179e-01 -8.32071598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14587156000002 meters 0.015426379912340409 Centerline is valid? [True, True] Translation: X:190.53, Y:-30.17, Z:-8.32 [[ 9.72902471e-01 2.28018127e-01 3.83212210e-02 1.90532132e+02] [-2.27827479e-01 9.73656826e-01 -9.32872174e-03 -3.01706424e+01] [-3.94388361e-02 3.45309248e-04 9.99221927e-01 -8.32322129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17587156000002 meters 0.01205920448140132 Centerline is valid? [True, True] Translation: X:190.56, Y:-30.17, Z:-8.32 [[ 9.72072228e-01 2.31513882e-01 3.84305397e-02 1.90562520e+02] [-2.31324929e-01 9.72831579e-01 -9.35391881e-03 -3.01709310e+01] [-3.95520047e-02 2.02742802e-04 9.99217493e-01 -8.32413342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20587156000002 meters 0.01760831049355996 Centerline is valid? [True, True] Translation: X:190.59, Y:-30.17, Z:-8.32 [[ 9.71223496e-01 2.35027962e-01 3.85587638e-02 1.90592584e+02] [-2.34840549e-01 9.71988608e-01 -9.38416275e-03 -3.01732720e+01] [-3.96842198e-02 5.89580819e-05 9.99212269e-01 -8.32376301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23587156000002 meters 0.012535346646003274 Centerline is valid? [True, True] Translation: X:190.62, Y:-30.17, Z:-8.33 [[ 9.69644865e-01 2.41393965e-01 3.89588152e-02 1.90621995e+02] [-2.41207803e-01 9.70427180e-01 -9.48069819e-03 -3.01701380e+01] [-4.00952765e-02 -2.04259897e-04 9.99195840e-01 -8.32715296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26587156000002 meters 0.014036966529444838 Centerline is valid? [True, True] Translation: X:190.65, Y:-30.17, Z:-8.33 [[ 9.68877926e-01 2.44386633e-01 3.93794174e-02 1.90650788e+02] [-2.44199003e-01 9.69677814e-01 -9.58045351e-03 -3.01737142e+01] [-4.05266821e-02 -3.34124523e-04 9.99178401e-01 -8.32648084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29587156000002 meters 0.016451528951155193 Centerline is valid? [True, True] Translation: X:190.68, Y:-30.18, Z:-8.33 [[ 9.68131618e-01 2.47314386e-01 3.94558467e-02 1.90679988e+02] [-2.47128536e-01 9.68935180e-01 -9.59704564e-03 -3.01761555e+01] [-4.06036454e-02 -4.59462314e-04 9.99175226e-01 -8.32783081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32587156000002 meters 0.023457471492999715 Centerline is valid? [True, True] Translation: X:190.71, Y:-30.17, Z:-8.33 [[ 9.66829313e-01 2.52468351e-01 3.87403156e-02 1.90710530e+02] [-2.52293391e-01 9.67604924e-01 -9.42101930e-03 -3.01723870e+01] [-3.98638293e-02 -6.65407979e-04 9.99204900e-01 -8.33105852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35587156000003 meters 0.024588492955246087 Centerline is valid? [True, True] Translation: X:190.74, Y:-30.18, Z:-8.33 [[ 9.66247109e-01 2.54656826e-01 3.89413062e-02 1.90738877e+02] [-2.54481876e-01 9.67031190e-01 -9.46853667e-03 -3.01761672e+01] [-4.00686852e-02 -7.60910456e-04 9.99196638e-01 -8.33183150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38587156000003 meters 0.026506532781762505 Centerline is valid? [True, True] Translation: X:190.77, Y:-30.18, Z:-8.33 [[ 9.65684437e-01 2.56771099e-01 3.90150067e-02 1.90767886e+02] [-2.56597308e-01 9.66471870e-01 -9.48398772e-03 -3.01788677e+01] [-4.01421205e-02 -8.52606352e-04 9.99193616e-01 -8.33218797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41587156000003 meters 0.02941501636911124 Centerline is valid? [True, True] Translation: X:190.80, Y:-30.18, Z:-8.33 [[ 9.65166434e-01 2.58703513e-01 3.90672151e-02 1.90795699e+02] [-2.58530905e-01 9.65956322e-01 -9.49499654e-03 -3.01802198e+01] [-4.01936124e-02 -9.35830508e-04 9.99191472e-01 -8.33374241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44587156000003 meters 0.03330732487349459 Centerline is valid? [True, True] Translation: X:190.83, Y:-30.18, Z:-8.34 [[ 9.64294211e-01 2.62052030e-01 3.82806409e-02 1.90826307e+02] [-2.61889112e-01 9.65053167e-01 -9.29939554e-03 -3.01790854e+01] [-3.93797792e-02 -1.05792975e-03 9.99223756e-01 -8.33664792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47587156000003 meters 0.03518849450542368 Centerline is valid? [True, True] Translation: X:190.86, Y:-30.18, Z:-8.34 [[ 9.63885590e-01 2.63591340e-01 3.80022900e-02 1.90855407e+02] [-2.63432008e-01 9.64633799e-01 -9.23099614e-03 -3.01810821e+01] [-3.90915040e-02 -1.11339539e-03 9.99235015e-01 -8.33804699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50587156000003 meters 0.04043952629880422 Centerline is valid? [True, True] Translation: X:190.88, Y:-30.18, Z:-8.34 [[ 9.63574924e-01 2.64770170e-01 3.76845180e-02 1.90883961e+02] [-2.64614463e-01 9.64310856e-01 -9.15199262e-03 -3.01846072e+01] [-3.87627645e-02 -1.15323789e-03 9.99247776e-01 -8.33789368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53587156000003 meters 0.04027108417879112 Centerline is valid? [True, True] Translation: X:190.91, Y:-30.18, Z:-8.34 [[ 9.63128308e-01 2.66354065e-01 3.79390783e-02 1.90913762e+02] [-2.66197544e-01 9.63874477e-01 -9.21199501e-03 -3.01796234e+01] [-3.90221615e-02 -1.22695630e-03 9.99237592e-01 -8.34146425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56587156000003 meters 0.038383762671452396 Centerline is valid? [True, True] Translation: X:190.94, Y:-30.19, Z:-8.34 [[ 9.63066933e-01 2.66580143e-01 3.79092198e-02 1.90942119e+02] [-2.66424137e-01 9.63811961e-01 -9.20234692e-03 -3.01861591e+01] [-3.89905224e-02 -1.23745514e-03 9.99238814e-01 -8.34259172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59587156000003 meters 0.03809106858526873 Centerline is valid? [True, True] Translation: X:190.97, Y:-30.19, Z:-8.34 [[ 9.63216465e-01 2.66038633e-01 3.79141973e-02 1.90970401e+02] [-2.65882240e-01 9.63961599e-01 -9.20169400e-03 -3.01905690e+01] [-3.89958364e-02 -1.21748854e-03 9.99238631e-01 -8.34462168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62587156000004 meters 0.03721021985165787 Centerline is valid? [True, True] Translation: X:191.00, Y:-30.19, Z:-8.35 [[ 9.64071261e-01 2.63038391e-01 3.71134687e-02 1.90999700e+02] [-2.62886390e-01 9.64784769e-01 -9.00534760e-03 -3.01932160e+01] [-3.81752615e-02 -1.07482899e-03 9.99270481e-01 -8.34880440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65587156000004 meters 0.0349970421819464 Centerline is valid? [True, True] Translation: X:191.03, Y:-30.20, Z:-8.35 [[ 9.64715819e-01 2.60672067e-01 3.70602647e-02 1.91027227e+02] [-2.60518764e-01 9.65426907e-01 -8.99222379e-03 -3.02001310e+01] [-3.81229983e-02 -9.79953825e-04 9.99272574e-01 -8.35066804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68587156000004 meters 0.03158916123205806 Centerline is valid? [True, True] Translation: X:191.05, Y:-30.21, Z:-8.35 [[ 9.65460402e-01 2.57892688e-01 3.71156746e-02 1.91054742e+02] [-2.57736941e-01 9.66173172e-01 -9.00391383e-03 -3.02083577e+01] [-3.81822126e-02 -8.73158166e-04 9.99270412e-01 -8.35194179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71587156000004 meters 0.027741569118776465 Centerline is valid? [True, True] Translation: X:191.08, Y:-30.22, Z:-8.35 [[ 9.66317154e-01 2.54649792e-01 3.72107753e-02 1.91082394e+02] [-2.54490908e-01 9.67033052e-01 -9.02523748e-03 -3.02171403e+01] [-3.82823245e-02 -7.48562193e-04 9.99266683e-01 -8.35313174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74587156000004 meters 0.019830187770475054 Centerline is valid? [True, True] Translation: X:191.11, Y:-30.23, Z:-8.35 [[ 9.68099263e-01 2.47770723e-01 3.73294302e-02 1.91109113e+02] [-2.47605776e-01 9.68818579e-01 -9.05211191e-03 -3.02307338e+01] [-3.84082938e-02 -4.79639692e-04 9.99262014e-01 -8.35426484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77587156000004 meters 0.015918158222646053 Centerline is valid? [True, True] Translation: X:191.14, Y:-30.24, Z:-8.36 [[ 9.69029665e-01 2.44104944e-01 3.73401088e-02 1.91136348e+02] [-2.43937209e-01 9.69748763e-01 -9.05397386e-03 -3.02421024e+01] [-3.84206441e-02 -3.35072652e-04 9.99261598e-01 -8.35563262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80587156000004 meters 0.011162741983118979 Centerline is valid? [True, True] Translation: X:191.16, Y:-30.26, Z:-8.36 [[ 9.70688751e-01 2.37345306e-01 3.78226702e-02 1.91161670e+02] [-2.37168134e-01 9.71425345e-01 -9.16925292e-03 -3.02562896e+01] [-3.89181796e-02 -6.98414677e-05 9.99242398e-01 -8.35574269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83587156000002 meters 0.010967735415817128 Centerline is valid? [True, True] Translation: X:191.19, Y:-30.27, Z:-8.36 [[ 9.71432789e-01 2.34284250e-01 3.78051219e-02 1.91188201e+02] [-2.34105007e-01 9.72168138e-01 -9.16287588e-03 -3.02657012e+01] [-3.88996524e-02 5.07497617e-05 9.99243121e-01 -8.35678336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86587156000002 meters 0.011832240133770502 Centerline is valid? [True, True] Translation: X:191.22, Y:-30.28, Z:-8.36 [[ 9.72037978e-01 2.31699125e-01 3.81796307e-02 1.91215951e+02] [-2.31514427e-01 9.72787486e-01 -9.25084841e-03 -3.02751046e+01] [-3.92840805e-02 1.53040670e-04 9.99228071e-01 -8.35749033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89587156000002 meters 0.013443052670013864 Centerline is valid? [True, True] Translation: X:191.24, Y:-30.28, Z:-8.36 [[ 9.72572812e-01 2.29395561e-01 3.84681952e-02 1.91243354e+02] [-2.29206328e-01 9.73333250e-01 -9.31898730e-03 -3.02841639e+01] [-3.95801078e-02 2.46239916e-04 9.99216370e-01 -8.35806605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92587156000002 meters 0.014549849152177299 Centerline is valid? [True, True] Translation: X:191.27, Y:-30.29, Z:-8.36 [[ 9.73394033e-01 2.25838817e-01 3.87412506e-02 1.91271899e+02] [-2.25644138e-01 9.74164604e-01 -9.38339166e-03 -3.02904104e+01] [-3.98594891e-02 3.92001379e-04 9.99205218e-01 -8.35689137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95587156000002 meters 0.016763903406453815 Centerline is valid? [True, True] Translation: X:191.30, Y:-30.30, Z:-8.36 [[ 9.73771341e-01 2.24253792e-01 3.84657141e-02 1.91298199e+02] [-2.24060712e-01 9.74530673e-01 -9.31476380e-03 -3.02989409e+01] [-3.95748894e-02 4.51794745e-04 9.99216505e-01 -8.35929058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98587156000002 meters 0.02910954596653508 Centerline is valid? [True, True] Translation: X:191.33, Y:-30.31, Z:-8.36 [[ 9.74149724e-01 2.22653463e-01 3.81805101e-02 1.91325840e+02] [-2.22462106e-01 9.74897520e-01 -9.24320205e-03 -3.03057218e+01] [-3.92801155e-02 5.10546045e-04 9.99228108e-01 -8.35941431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01587156000002 meters 0.01934453948572719 Centerline is valid? [True, True] Translation: X:191.35, Y:-30.31, Z:-8.36 [[ 9.74441986e-01 2.21384797e-01 3.80997134e-02 1.91352789e+02] [-2.21193351e-01 9.75186372e-01 -9.22183525e-03 -3.03135358e+01] [-3.91958954e-02 5.58740179e-04 9.99231389e-01 -8.36271612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04587156000002 meters 0.01934453948572719 Centerline is valid? [True, True] Translation: X:191.38, Y:-30.32, Z:-8.36 [[ 9.74452222e-01 2.21339626e-01 3.81003491e-02 1.91380319e+02] [-2.21148248e-01 9.75196626e-01 -9.21920836e-03 -3.03201078e+01] [-3.91959080e-02 5.57852634e-04 9.99231389e-01 -8.36399210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07587156000002 meters 0.01829845896154279 Centerline is valid? [True, True] Translation: X:191.41, Y:-30.32, Z:-8.36 [[ 9.74449319e-01 2.21434501e-01 3.76202875e-02 1.91408743e+02] [-2.21248058e-01 9.75175094e-01 -9.10124164e-03 -3.03243349e+01] [-3.87016963e-02 5.45283187e-04 9.99250660e-01 -8.36462295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10587156000003 meters 0.01884971053458309 Centerline is valid? [True, True] Translation: X:191.44, Y:-30.33, Z:-8.37 [[ 9.74395614e-01 2.21738215e-01 3.72203033e-02 1.91435979e+02] [-2.21556005e-01 9.75106090e-01 -9.00272255e-03 -3.03304684e+01] [-3.82899920e-02 5.25831675e-04 9.99266531e-01 -8.36698457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13587156000003 meters 0.017221821356451884 Centerline is valid? [True, True] Translation: X:191.47, Y:-30.33, Z:-8.37 [[ 9.74006165e-01 2.23462495e-01 3.71012527e-02 1.91465543e+02] [-2.23282799e-01 9.74712423e-01 -8.97130849e-03 -3.03317693e+01] [-3.81678029e-02 4.54038229e-04 9.99271241e-01 -8.36811443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16587156000003 meters 0.01641686743688416 Centerline is valid? [True, True] Translation: X:191.49, Y:-30.34, Z:-8.37 [[ 9.73744960e-01 2.24603365e-01 3.70685940e-02 1.91492718e+02] [-2.24424878e-01 9.74450185e-01 -8.96166832e-03 -3.03355907e+01] [-3.81343191e-02 4.07264675e-04 9.99272539e-01 -8.36980587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19587156000003 meters 0.017458594680867176 Centerline is valid? [True, True] Translation: X:191.52, Y:-30.34, Z:-8.37 [[ 9.73436632e-01 2.25974312e-01 3.68338543e-02 1.91519584e+02] [-2.25799149e-01 9.74133198e-01 -8.90258976e-03 -3.03419486e+01] [-3.78928369e-02 3.49054037e-04 9.99281748e-01 -8.37387894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22587156000003 meters 0.015886317981920743 Centerline is valid? [True, True] Translation: X:191.55, Y:-30.34, Z:-8.38 [[ 9.73105263e-01 2.27456439e-01 3.64652733e-02 1.91548690e+02] [-2.27285871e-01 9.73788214e-01 -8.81172892e-03 -3.03445116e+01] [-3.75137378e-02 2.86698373e-04 9.99296071e-01 -8.37543319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25587156000003 meters 0.01655557926610998 Centerline is valid? [True, True] Translation: X:191.58, Y:-30.34, Z:-8.37 [[ 9.72388942e-01 2.30521744e-01 3.63245381e-02 1.91579691e+02] [-2.30354685e-01 9.73067160e-01 -8.77617160e-03 -3.03411774e+01] [-3.73693135e-02 1.66324695e-04 9.99301509e-01 -8.37338865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28587156000003 meters 0.011606619660390257 Centerline is valid? [True, True] Translation: X:191.61, Y:-30.34, Z:-8.38 [[ 9.72088823e-01 2.31827729e-01 3.60447457e-02 1.91606760e+02] [-2.31664174e-01 9.72756851e-01 -8.70743482e-03 -3.03438674e+01] [-3.70813982e-02 1.14123824e-04 9.99312242e-01 -8.37590868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31587156000003 meters 0.01132595951728453 Centerline is valid? [True, True] Translation: X:191.63, Y:-30.35, Z:-8.38 [[ 9.71810613e-01 2.33029686e-01 3.57952142e-02 1.91634334e+02] [-2.32869394e-01 9.72469620e-01 -8.64200240e-03 -3.03471415e+01] [-3.68236015e-02 6.27798119e-05 9.99321779e-01 -8.37682885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34587156000003 meters 0.01794864325251927 Centerline is valid? [True, True] Translation: X:191.66, Y:-30.35, Z:-8.38 [[ 9.71594698e-01 2.33940210e-01 3.57172407e-02 1.91660939e+02] [-2.33781323e-01 9.72250985e-01 -8.62062442e-03 -3.03512215e+01] [-3.67428331e-02 2.57291867e-05 9.99324754e-01 -8.37970059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37587156000004 meters 0.022783196372338256 Centerline is valid? [True, True] Translation: X:191.69, Y:-30.35, Z:-8.38 [[ 9.71412247e-01 2.34743280e-01 3.54095975e-02 1.91690089e+02] [-2.34587775e-01 9.72057402e-01 -8.54303620e-03 -3.03546455e+01] [-3.64255817e-02 -7.84872192e-06 9.99336368e-01 -8.37826954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40587156000004 meters 0.01116251821696199 Centerline is valid? [True, True] Translation: X:191.72, Y:-30.36, Z:-8.38 [[ 9.71330996e-01 2.35044596e-01 3.56389303e-02 1.91717910e+02] [-2.34887329e-01 9.71984587e-01 -8.59679804e-03 -3.03594771e+01] [-3.66611218e-02 -2.07967530e-05 9.99327755e-01 -8.37964135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43587156000004 meters 0.011411576802097572 Centerline is valid? [True, True] Translation: X:191.74, Y:-30.36, Z:-8.38 [[ 9.71191411e-01 2.35601034e-01 3.57686293e-02 1.91744984e+02] [-2.35443095e-01 9.71849860e-01 -8.62546332e-03 -3.03615278e+01] [-3.67939054e-02 -4.45008672e-05 9.99322874e-01 -8.38031261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46587156000004 meters 0.011577477908077116 Centerline is valid? [True, True] Translation: X:191.77, Y:-30.37, Z:-8.38 [[ 9.71106956e-01 2.35892840e-01 3.61365194e-02 1.91772064e+02] [-2.35731956e-01 9.71779072e-01 -8.71094121e-03 -3.03661099e+01] [-3.71715619e-02 -5.92768055e-05 9.99308897e-01 -8.38125901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49587156000004 meters 0.021283641211921615 Centerline is valid? [True, True] Translation: X:191.80, Y:-30.37, Z:-8.38 [[ 9.71122556e-01 2.35814003e-01 3.62317163e-02 1.91798949e+02] [-2.35652333e-01 9.71798206e-01 -8.73071138e-03 -3.03720847e+01] [-3.72687409e-02 -5.94977254e-05 9.99305277e-01 -8.38095796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52587156000004 meters 0.01620890127429369 Centerline is valid? [True, True] Translation: X:191.82, Y:-30.38, Z:-8.38 [[ 9.71227216e-01 2.35368977e-01 3.63199626e-02 1.91824891e+02] [-2.35206305e-01 9.71906087e-01 -8.74937453e-03 -3.03779195e+01] [-3.73589241e-02 -4.50535377e-05 9.99301911e-01 -8.38314795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55587156000004 meters 0.01132427901182205 Centerline is valid? [True, True] Translation: X:191.85, Y:-30.38, Z:-8.39 [[ 9.71447082e-01 2.34530716e-01 3.58595830e-02 1.91852705e+02] [-2.34371695e-01 9.72108709e-01 -8.63513925e-03 -3.03845153e+01] [-3.68846184e-02 -1.58904226e-05 9.99319531e-01 -8.38506150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58587156000002 meters 0.01179765643021251 Centerline is valid? [True, True] Translation: X:191.88, Y:-30.39, Z:-8.39 [[ 9.72032069e-01 2.32188110e-01 3.52468084e-02 1.91880690e+02] [-2.32033000e-01 9.72670898e-01 -8.48590671e-03 -3.03928892e+01] [-3.62538714e-02 7.01507910e-05 9.99342610e-01 -8.38715290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61587156000002 meters 0.012310444412158034 Centerline is valid? [True, True] Translation: X:191.91, Y:-30.40, Z:-8.39 [[ 9.72421171e-01 2.30587986e-01 3.50178011e-02 1.91907949e+02] [-2.30433908e-01 9.73051471e-01 -8.42909711e-03 -3.04017505e+01] [-3.60177714e-02 1.27343714e-04 9.99351141e-01 -8.38913678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64587156000002 meters 0.013198739497688582 Centerline is valid? [True, True] Translation: X:191.94, Y:-30.41, Z:-8.39 [[ 9.72807406e-01 2.29020191e-01 3.45760380e-02 1.91935290e+02] [-2.28869045e-01 9.73421655e-01 -8.32111271e-03 -3.04113518e+01] [-3.55627670e-02 1.81455257e-04 9.99367428e-01 -8.39105760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67587156000002 meters 0.02839201752415597 Centerline is valid? [True, True] Translation: X:191.96, Y:-30.42, Z:-8.39 [[ 9.73367327e-01 2.26713514e-01 3.40151200e-02 1.91962654e+02] [-2.26565881e-01 9.73961455e-01 -8.18452837e-03 -3.04221119e+01] [-3.49849589e-02 2.59886880e-04 9.99387805e-01 -8.39157930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70587156000002 meters 0.015260466565392124 Centerline is valid? [True, True] Translation: X:191.99, Y:-30.43, Z:-8.39 [[ 9.73571583e-01 2.25857499e-01 3.38638860e-02 1.91990622e+02] [-2.25710716e-01 9.74160309e-01 -8.14651188e-03 -3.04293779e+01] [-3.48288044e-02 2.87770532e-04 9.99393252e-01 -8.39310009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73587156000002 meters 0.014508070710460548 Centerline is valid? [True, True] Translation: X:192.02, Y:-30.43, Z:-8.39 [[ 9.73605164e-01 2.25733381e-01 3.37257295e-02 1.92018806e+02] [-2.25587774e-01 9.74189077e-01 -8.11167644e-03 -3.04346656e+01] [-3.46863135e-02 2.89457813e-04 9.99398207e-01 -8.39234302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76587156000002 meters 0.016078484286006004 Centerline is valid? [True, True] Translation: X:192.05, Y:-30.44, Z:-8.39 [[ 9.73370945e-01 2.26707166e-01 3.39538682e-02 1.92046657e+02] [-2.26560220e-01 9.73962933e-01 -8.16522321e-03 -3.04389219e+01] [-3.49209237e-02 2.55195173e-04 9.99390046e-01 -8.39210519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79587156000002 meters 0.014250949995674344 Centerline is valid? [True, True] Translation: X:192.07, Y:-30.44, Z:-8.40 [[ 9.73110158e-01 2.27779127e-01 3.42533281e-02 1.92073874e+02] [-2.27630367e-01 9.73712803e-01 -8.23364622e-03 -3.04448346e+01] [-3.52283568e-02 2.15147135e-04 9.99379266e-01 -8.39530504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82587156000002 meters 0.012626119211828485 Centerline is valid? [True, True] Translation: X:192.10, Y:-30.45, Z:-8.39 [[ 9.72790334e-01 2.29081893e-01 3.46475449e-02 1.92103366e+02] [-2.28930598e-01 9.73407139e-01 -8.32606593e-03 -3.04477228e+01] [-3.56335185e-02 1.67633298e-04 9.99364910e-01 -8.39347109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85587156000003 meters 0.011686096156032768 Centerline is valid? [True, True] Translation: X:192.13, Y:-30.45, Z:-8.39 [[ 9.72123397e-01 2.31776439e-01 3.54370221e-02 1.92131558e+02] [-2.31620020e-01 9.72769077e-01 -8.51404641e-03 -3.04491008e+01] [-3.64453947e-02 6.87799694e-05 9.99335644e-01 -8.39330630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88587156000003 meters 0.011494130280625079 Centerline is valid? [True, True] Translation: X:192.16, Y:-30.45, Z:-8.39 [[ 9.71919873e-01 2.32651601e-01 3.52844524e-02 1.92159075e+02] [-2.32497179e-01 9.72560143e-01 -8.47528540e-03 -3.04532615e+01] [-3.62880408e-02 3.37626490e-05 9.99341372e-01 -8.39404001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91587156000003 meters 0.011676592016346158 Centerline is valid? [True, True] Translation: X:192.19, Y:-30.46, Z:-8.40 [[ 9.71697578e-01 2.33536220e-01 3.55619243e-02 1.92186003e+02] [-2.33380046e-01 9.72348103e-01 -8.53933629e-03 -3.04576132e+01] [-3.65728140e-02 -1.79114050e-06 9.99330991e-01 -8.39627330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94587156000003 meters 0.021686998758009664 Centerline is valid? [True, True] Translation: X:192.21, Y:-30.46, Z:-8.40 [[ 9.71463885e-01 2.34624137e-01 3.47769287e-02 1.92214453e+02] [-2.34475598e-01 9.72086165e-01 -8.34756381e-03 -3.04611913e+01] [-3.57647112e-02 -4.49843750e-05 9.99360237e-01 -8.39777387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97587156000003 meters 0.012145229852873703 Centerline is valid? [True, True] Translation: X:192.24, Y:-30.47, Z:-8.40 [[ 9.71336415e-01 2.35265708e-01 3.39943484e-02 1.92242904e+02] [-2.35124230e-01 9.71931089e-01 -8.15810373e-03 -3.04667774e+01] [-3.49594861e-02 -6.86317590e-05 9.99388728e-01 -8.40064227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00587156000003 meters 0.01833490905786448 Centerline is valid? [True, True] Translation: X:192.27, Y:-30.47, Z:-8.40 [[ 9.71438126e-01 2.34903201e-01 3.35924610e-02 1.92269634e+02] [-2.34764859e-01 9.72018767e-01 -8.06088988e-03 -3.04728645e+01] [-3.45460314e-02 -5.56736184e-05 9.99403106e-01 -8.40208931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03587156000003 meters 0.012395429202214476 Centerline is valid? [True, True] Translation: X:192.30, Y:-30.48, Z:-8.40 [[ 9.71449281e-01 2.34919170e-01 3.31553463e-02 1.92297243e+02] [-2.34784593e-01 9.72014907e-01 -7.95078168e-03 -3.04786129e+01] [-3.40952818e-02 -6.05833429e-05 9.99418585e-01 -8.40437347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06587156000003 meters 0.012469168578846428 Centerline is valid? [True, True] Translation: X:192.32, Y:-30.49, Z:-8.41 [[ 9.71824235e-01 2.33532184e-01 3.19433140e-02 1.92324568e+02] [-2.33406585e-01 9.72349073e-01 -7.65815082e-03 -3.04857786e+01] [-3.28484764e-02 -1.34032598e-05 9.99460343e-01 -8.40663557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09587156000003 meters 0.0126086730263997 Centerline is valid? [True, True] Translation: X:192.35, Y:-30.49, Z:-8.41 [[ 9.72141304e-01 2.32238216e-01 3.17284744e-02 1.92351529e+02] [-2.32113659e-01 9.72658938e-01 -7.60521592e-03 -3.04939010e+01] [-3.26272060e-02 2.87322321e-05 9.99467591e-01 -8.40894462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12587156000004 meters 0.017542801928641757 Centerline is valid? [True, True] Translation: X:192.38, Y:-30.51, Z:-8.41 [[ 9.72801252e-01 2.29485410e-01 3.15304581e-02 1.92377641e+02] [-2.29361021e-01 9.73312094e-01 -7.55577260e-03 -3.05053361e+01] [-3.24229158e-02 1.18406989e-04 9.99474232e-01 -8.41107380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15587156000004 meters 0.013766128443264976 Centerline is valid? [True, True] Translation: X:192.40, Y:-30.51, Z:-8.41 [[ 9.73070408e-01 2.28297721e-01 3.18454438e-02 1.92404240e+02] [-2.28170258e-01 9.73591354e-01 -7.62939704e-03 -3.05133938e+01] [-3.27462228e-02 1.57757343e-04 9.99463686e-01 -8.41136196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18587156000004 meters 0.028180187803997073 Centerline is valid? [True, True] Translation: X:192.43, Y:-30.52, Z:-8.41 [[ 9.73335808e-01 2.27093175e-01 3.23434016e-02 1.92430974e+02] [-2.26961109e-01 9.73873015e-01 -7.74628122e-03 -3.05214402e+01] [-3.32574937e-02 1.99038596e-04 9.99446797e-01 -8.41027874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21587156000004 meters 0.01424138566757087 Centerline is valid? [True, True] Translation: X:192.46, Y:-30.53, Z:-8.41 [[ 9.73444772e-01 2.26474438e-01 3.33856964e-02 1.92459262e+02] [-2.26333452e-01 9.74017083e-01 -7.99311393e-03 -3.05287091e+01] [-3.43284747e-02 2.24555047e-04 9.99410579e-01 -8.41082382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24587156000004 meters 0.014437149557075042 Centerline is valid? [True, True] Translation: X:192.49, Y:-30.54, Z:-8.41 [[ 9.73562372e-01 2.25860513e-01 3.41077261e-02 1.92486862e+02] [-2.25713045e-01 9.74159620e-01 -8.16426155e-03 -3.05357351e+01] [-3.50703538e-02 2.49859118e-04 9.99384815e-01 -8.41028855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27587156000004 meters 0.014387354812846838 Centerline is valid? [True, True] Translation: X:192.51, Y:-30.54, Z:-8.41 [[ 9.73532315e-01 2.26017953e-01 3.39222280e-02 1.92513501e+02] [-2.25872225e-01 9.74123107e-01 -8.11856512e-03 -3.05415816e+01] [-3.48793675e-02 2.41596378e-04 9.99391501e-01 -8.41206169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30587156000004 meters 0.026154437564733606 Centerline is valid? [True, True] Translation: X:192.54, Y:-30.55, Z:-8.41 [[ 9.73545888e-01 2.26023954e-01 3.34899487e-02 1.92540558e+02] [-2.25882028e-01 9.74121716e-01 -8.01204573e-03 -3.05481840e+01] [-3.44342006e-02 2.35316651e-04 9.99406939e-01 -8.41470419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33587156000002 meters 0.014444089657697518 Centerline is valid? [True, True] Translation: X:192.57, Y:-30.55, Z:-8.42 [[ 9.73492560e-01 2.26348410e-01 3.28425579e-02 1.92568762e+02] [-2.26212174e-01 9.74046380e-01 -7.85510797e-03 -3.05528547e+01] [-3.37681659e-02 2.17502742e-04 9.99429669e-01 -8.41669861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36587156000002 meters 0.014635658917792602 Centerline is valid? [True, True] Translation: X:192.60, Y:-30.56, Z:-8.42 [[ 9.73463339e-01 2.26658835e-01 3.15420255e-02 1.92596504e+02] [-2.26533387e-01 9.73974196e-01 -7.54260182e-03 -3.05588865e+01] [-3.24307163e-02 1.97124468e-04 9.99473967e-01 -8.42016135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39587156000002 meters 0.014704624169216206 Centerline is valid? [True, True] Translation: X:192.62, Y:-30.57, Z:-8.42 [[ 9.73465981e-01 2.26698220e-01 3.11753154e-02 1.92624601e+02] [-2.26575741e-01 9.73965030e-01 -7.45341676e-03 -3.05655323e+01] [-3.20533433e-02 1.92077478e-04 9.99486141e-01 -8.42213341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42587156000002 meters 0.01480942484771826 Centerline is valid? [True, True] Translation: X:192.65, Y:-30.57, Z:-8.42 [[ 9.73498893e-01 2.26532873e-01 3.13490639e-02 1.92650792e+02] [-2.26408954e-01 9.74003500e-01 -7.49446837e-03 -3.05716729e+01] [-3.22318414e-02 1.98147882e-04 9.99480400e-01 -8.42326244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45587156000002 meters 0.028503461342713983 Centerline is valid? [True, True] Translation: X:192.68, Y:-30.58, Z:-8.42 [[ 9.73443722e-01 2.26667415e-01 3.20811919e-02 1.92679496e+02] [-2.26537889e-01 9.73972200e-01 -7.66413916e-03 -3.05762622e+01] [-3.29833996e-02 1.93002655e-04 9.99455881e-01 -8.42063586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48587156000002 meters 0.01334393612763134 Centerline is valid? [True, True] Translation: X:192.71, Y:-30.58, Z:-8.42 [[ 9.73335361e-01 2.27081417e-01 3.24392395e-02 1.92708309e+02] [-2.26949265e-01 9.73875761e-01 -7.74811725e-03 -3.05813325e+01] [-3.33512425e-02 1.79454966e-04 9.99443676e-01 -8.42034845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51587156000002 meters 0.01351741962072473 Centerline is valid? [True, True] Translation: X:192.73, Y:-30.59, Z:-8.42 [[ 9.73245613e-01 2.27458521e-01 3.24899541e-02 1.92734133e+02] [-2.27326207e-01 9.73787756e-01 -7.75898692e-03 -3.05873837e+01] [-3.34031672e-02 1.65581969e-04 9.99441945e-01 -8.42277288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54587156000002 meters 0.013766887718226161 Centerline is valid? [True, True] Translation: X:192.76, Y:-30.59, Z:-8.43 [[ 9.73150328e-01 2.27816723e-01 3.28325863e-02 1.92761416e+02] [-2.27681919e-01 9.73704019e-01 -7.83749549e-03 -3.05938659e+01] [-3.37547338e-02 1.51675065e-04 9.99430135e-01 -8.42525337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57587156000002 meters 0.025315713102745475 Centerline is valid? [True, True] Translation: X:192.79, Y:-30.60, Z:-8.43 [[ 9.72961356e-01 2.28611966e-01 3.29054407e-02 1.92789643e+02] [-2.28477091e-01 9.73517619e-01 -7.85268958e-03 -3.05992113e+01] [-3.38292451e-02 1.22224125e-04 9.99427620e-01 -8.42548775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60587156000003 meters 0.012499900978283365 Centerline is valid? [True, True] Translation: X:192.82, Y:-30.60, Z:-8.42 [[ 9.72839439e-01 2.29076632e-01 3.32764700e-02 1.92818042e+02] [-2.28939023e-01 9.73408386e-01 -7.93967475e-03 -3.06040105e+01] [-3.42103889e-02 1.05746201e-04 9.99414648e-01 -8.42470507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63587156000003 meters 0.012325845540742569 Centerline is valid? [True, True] Translation: X:192.85, Y:-30.61, Z:-8.43 [[ 9.72706620e-01 2.29624583e-01 3.33823543e-02 1.92846499e+02] [-2.29486478e-01 9.73279273e-01 -7.96321887e-03 -3.06090762e+01] [-3.43189043e-02 8.50768162e-05 9.99410929e-01 -8.42561209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66587156000003 meters 0.01236733936616076 Centerline is valid? [True, True] Translation: X:192.87, Y:-30.61, Z:-8.43 [[ 9.72595348e-01 2.30125421e-01 3.31749770e-02 1.92872873e+02] [-2.29989361e-01 9.73160977e-01 -7.91247817e-03 -3.06131443e+01] [-3.41054554e-02 6.57476870e-05 9.99418238e-01 -8.42808528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69587156000003 meters 0.012811488233763832 Centerline is valid? [True, True] Translation: X:192.90, Y:-30.62, Z:-8.43 [[ 9.72567535e-01 2.30287727e-01 3.28626471e-02 1.92900332e+02] [-2.30154417e-01 9.73122582e-01 -7.83481529e-03 -3.06192597e+01] [-3.37836458e-02 5.64035960e-05 9.99429168e-01 -8.43207484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72587156000003 meters 0.012510003081444997 Centerline is valid? [True, True] Translation: X:192.93, Y:-30.62, Z:-8.43 [[ 9.72570566e-01 2.30338116e-01 3.24167496e-02 1.92927836e+02] [-2.30208446e-01 9.73110656e-01 -7.72799074e-03 -3.06248824e+01] [-3.33251353e-02 5.34067691e-05 9.99444562e-01 -8.43137911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75587156000003 meters 0.013008423297359871 Centerline is valid? [True, True] Translation: X:192.95, Y:-30.63, Z:-8.44 [[ 9.72408766e-01 2.31016073e-01 3.24463548e-02 1.92954510e+02] [-2.30886786e-01 9.72949934e-01 -7.72778479e-03 -3.06293001e+01] [-3.33539213e-02 2.31310895e-05 9.99443603e-01 -8.43503072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78587156000003 meters 0.01285718191073721 Centerline is valid? [True, True] Translation: X:192.98, Y:-30.63, Z:-8.44 [[ 9.72293454e-01 2.31460795e-01 3.27313271e-02 1.92982868e+02] [-2.31329592e-01 9.72844232e-01 -7.79228405e-03 -3.06349322e+01] [-3.36460910e-02 4.66225673e-06 9.99433810e-01 -8.43540241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81587156000003 meters 0.012217332911481603 Centerline is valid? [True, True] Translation: X:193.01, Y:-30.64, Z:-8.43 [[ 9.72202942e-01 2.31788306e-01 3.31001499e-02 1.93011112e+02] [-2.31654370e-01 9.72766252e-01 -7.87857565e-03 -3.06410394e+01] [-3.40248704e-02 -8.21993462e-06 9.99420986e-01 -8.43350677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84587156000003 meters 0.02952441983660521 Centerline is valid? [True, True] Translation: X:193.04, Y:-30.65, Z:-8.43 [[ 9.72164317e-01 2.31773041e-01 3.43190669e-02 1.93039969e+02] [-2.31629071e-01 9.72769889e-01 -8.16799022e-03 -3.06469429e+01] [-3.52776749e-02 -8.66497202e-06 9.99377549e-01 -8.43142652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87587156000004 meters 0.011825361321662354 Centerline is valid? [True, True] Translation: X:193.07, Y:-30.65, Z:-8.43 [[ 9.72227518e-01 2.31469455e-01 3.45766457e-02 1.93066430e+02] [-2.31323352e-01 9.72842172e-01 -8.22286394e-03 -3.06525502e+01] [-3.55409609e-02 -3.89099489e-06 9.99368220e-01 -8.43293019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90587156000004 meters 0.011975771710549006 Centerline is valid? [True, True] Translation: X:193.09, Y:-30.66, Z:-8.43 [[ 9.72322732e-01 2.31073555e-01 3.45473305e-02 1.93092765e+02] [-2.30927558e-01 9.72936284e-01 -8.21285282e-03 -3.06597388e+01] [-3.55101245e-02 7.61282373e-06 9.99369317e-01 -8.43492837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93587156000004 meters 0.011969965100657521 Centerline is valid? [True, True] Translation: X:193.12, Y:-30.67, Z:-8.44 [[ 9.72567185e-01 2.30011882e-01 3.47506039e-02 1.93118049e+02] [-2.29863593e-01 9.73187820e-01 -8.25812819e-03 -3.06687698e+01] [-3.57183320e-02 4.36858298e-05 9.99361896e-01 -8.43631634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96587156000004 meters 0.011969965100657521 Centerline is valid? [True, True] Translation: X:193.14, Y:-30.67, Z:-8.44 [[ 9.72583090e-01 2.29944516e-01 3.47513031e-02 1.93144799e+02] [-2.29796289e-01 9.73203739e-01 -8.25518445e-03 -3.06749880e+01] [-3.57183325e-02 4.31323046e-05 9.99361896e-01 -8.43755464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99587156000004 meters 0.011921445527465336 Centerline is valid? [True, True] Translation: X:193.17, Y:-30.68, Z:-8.44 [[ 9.72705461e-01 2.29391300e-01 3.49816821e-02 1.93171747e+02] [-2.29240835e-01 9.73334284e-01 -8.30734060e-03 -3.06822099e+01] [-3.59545021e-02 6.13655466e-05 9.99353426e-01 -8.43816317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02587156000004 meters 0.012170862440548966 Centerline is valid? [True, True] Translation: X:193.20, Y:-30.69, Z:-8.44 [[ 9.72891969e-01 2.28629055e-01 3.47846538e-02 1.93199074e+02] [-2.28479889e-01 9.73513609e-01 -8.25788206e-03 -3.06894173e+01] [-3.57513256e-02 8.64333132e-05 9.99360713e-01 -8.43993739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05587156000004 meters 0.012993936741314983 Centerline is valid? [True, True] Translation: X:193.23, Y:-30.70, Z:-8.44 [[ 9.73301123e-01 2.27018668e-01 3.38740083e-02 1.93226547e+02] [-2.26876311e-01 9.73890397e-01 -8.03955703e-03 -3.06982156e+01] [-3.48147009e-02 1.39699821e-04 9.99393775e-01 -8.44316871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08587156000002 meters 0.024221819803670032 Centerline is valid? [True, True] Translation: X:193.25, Y:-30.71, Z:-8.44 [[ 9.73566767e-01 2.25953473e-01 3.33583469e-02 1.93253833e+02] [-2.25814848e-01 9.74138080e-01 -7.91558677e-03 -3.07068860e+01] [-3.42841903e-02 1.73542183e-04 9.99412109e-01 -8.44410605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11587156000002 meters 0.021702200436996614 Centerline is valid? [True, True] Translation: X:193.28, Y:-30.72, Z:-8.45 [[ 9.73845708e-01 2.24777470e-01 3.31606024e-02 1.93281359e+02] [-2.24639857e-01 9.74410101e-01 -7.86706169e-03 -3.07157686e+01] [-3.40803641e-02 2.12111303e-04 9.99419073e-01 -8.44551058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14587156000002 meters 0.014984634397655655 Centerline is valid? [True, True] Translation: X:193.31, Y:-30.73, Z:-8.45 [[ 9.74097846e-01 2.23661163e-01 3.33027276e-02 1.93307789e+02] [-2.23521768e-01 9.74666928e-01 -7.89924186e-03 -3.07250496e+01] [-3.42258209e-02 2.50749929e-04 9.99414094e-01 -8.44848669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17587156000002 meters 0.015525555151653122 Centerline is valid? [True, True] Translation: X:193.33, Y:-30.74, Z:-8.45 [[ 9.74357212e-01 2.22372148e-01 3.43314793e-02 1.93334147e+02] [-2.22223279e-01 9.74961812e-01 -8.14116293e-03 -3.07355235e+01] [-3.52822492e-02 3.03146911e-04 9.99377342e-01 -8.44762362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20587156000002 meters 0.019108266299982073 Centerline is valid? [True, True] Translation: X:193.36, Y:-30.74, Z:-8.45 [[ 9.74408601e-01 2.22147730e-01 3.43258654e-02 1.93361480e+02] [-2.21998858e-01 9.75012969e-01 -8.13733636e-03 -3.07423696e+01] [-3.52758547e-02 3.08787607e-04 9.99377566e-01 -8.44658832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23587156000002 meters 0.014971137137837232 Centerline is valid? [True, True] Translation: X:193.39, Y:-30.75, Z:-8.45 [[ 9.74429920e-01 2.22017862e-01 3.45600958e-02 1.93388707e+02] [-2.21866961e-01 9.75042548e-01 -8.19027873e-03 -3.07476104e+01] [-3.55159521e-02 3.13109215e-04 9.99369061e-01 -8.44708160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26587156000002 meters 0.020025319307049722 Centerline is valid? [True, True] Translation: X:193.42, Y:-30.75, Z:-8.45 [[ 9.74225148e-01 2.22889843e-01 3.47200082e-02 1.93416896e+02] [-2.22738198e-01 9.74843598e-01 -8.22528372e-03 -3.07541554e+01] [-3.56799099e-02 2.79806192e-04 9.99363230e-01 -8.44749339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29587156000002 meters 0.017837697978188082 Centerline is valid? [True, True] Translation: X:193.44, Y:-30.76, Z:-8.45 [[ 9.74061308e-01 2.23607061e-01 3.47052034e-02 1.93444685e+02] [-2.23456063e-01 9.74679342e-01 -8.22004250e-03 -3.07604832e+01] [-3.56645043e-02 2.51737232e-04 9.99363787e-01 -8.44856858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32587156000002 meters 0.013457041834882092 Centerline is valid? [True, True] Translation: X:193.47, Y:-30.77, Z:-8.45 [[ 9.73860292e-01 2.24530923e-01 3.43801583e-02 1.93472182e+02] [-2.24383374e-01 9.74466941e-01 -8.14143516e-03 -3.07663984e+01] [-3.53303316e-02 2.14284512e-04 9.99375666e-01 -8.45156390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35587156000003 meters 0.012634398666705399 Centerline is valid? [True, True] Translation: X:193.50, Y:-30.77, Z:-8.45 [[ 9.73338087e-01 2.26919403e-01 3.34746629e-02 1.93500007e+02] [-2.26781004e-01 9.73913533e-01 -7.92508647e-03 -3.07690689e+01] [-3.43997831e-02 1.22370847e-04 9.99408145e-01 -8.45446340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38587156000003 meters 0.028632872426625808 Centerline is valid? [True, True] Translation: X:193.53, Y:-30.77, Z:-8.46 [[ 9.73068646e-01 2.28121446e-01 3.31363185e-02 1.93526937e+02] [-2.27986608e-01 9.73632682e-01 -7.84262500e-03 -3.07734526e+01] [-3.40516737e-02 7.67756443e-05 9.99420071e-01 -8.45631906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41587156000003 meters 0.01249359587008755 Centerline is valid? [True, True] Translation: X:193.55, Y:-30.78, Z:-8.46 [[ 9.72928871e-01 2.28695172e-01 3.32855985e-02 1.93553256e+02] [-2.28559553e-01 9.73498082e-01 -7.87496312e-03 -3.07785428e+01] [-3.42044323e-02 5.40374554e-05 9.99414856e-01 -8.45940376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44587156000003 meters 0.012644999083340528 Centerline is valid? [True, True] Translation: X:193.58, Y:-30.79, Z:-8.46 [[ 9.72930231e-01 2.28754445e-01 3.28355046e-02 1.93581570e+02] [-2.28622612e-01 9.73484156e-01 -7.76527736e-03 -3.07853301e+01] [-3.37411852e-02 4.81342554e-05 9.99430603e-01 -8.46172333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47587156000003 meters 0.01268720022233089 Centerline is valid? [True, True] Translation: X:193.61, Y:-30.79, Z:-8.46 [[ 9.73002889e-01 2.28437523e-01 3.28888433e-02 1.93608750e+02] [-2.28305126e-01 9.73558573e-01 -7.77653815e-03 -3.07918618e+01] [-3.37956684e-02 5.79025788e-05 9.99428762e-01 -8.46256302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50587156000003 meters 0.024870792125007764 Centerline is valid? [True, True] Translation: X:193.64, Y:-30.80, Z:-8.46 [[ 9.73042906e-01 2.28246581e-01 3.30303140e-02 1.93635942e+02] [-2.28113015e-01 9.73603356e-01 -7.80756291e-03 -3.07989494e+01] [-3.39404741e-02 6.24491798e-05 9.99423854e-01 -8.46218856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53587156000003 meters 0.012389076073560388 Centerline is valid? [True, True] Translation: X:193.66, Y:-30.81, Z:-8.46 [[ 9.73115051e-01 2.27749500e-01 3.43112528e-02 1.93662287e+02] [-2.27605149e-01 9.73719754e-01 -8.10787106e-03 -3.08065671e+01] [-3.52561082e-02 8.04735729e-05 9.99378307e-01 -8.46245165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56587156000003 meters 0.028327764793812535 Centerline is valid? [True, True] Translation: X:193.69, Y:-30.81, Z:-8.46 [[ 9.73080306e-01 2.27885189e-01 3.43956337e-02 1.93689060e+02] [-2.27740328e-01 9.73688007e-01 -8.12450026e-03 -3.08129503e+01] [-3.53420693e-02 7.25183108e-05 9.99375271e-01 -8.46274609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59587156000003 meters 0.011906656006429496 Centerline is valid? [True, True] Translation: X:193.72, Y:-30.82, Z:-8.46 [[ 9.72997447e-01 2.28128421e-01 3.51196632e-02 1.93717536e+02] [-2.27977656e-01 9.73631049e-01 -8.29270894e-03 -3.08187307e+01] [-3.60853971e-02 6.22861459e-05 9.99348708e-01 -8.46320798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62587156000004 meters 0.011842336153260828 Centerline is valid? [True, True] Translation: X:193.75, Y:-30.82, Z:-8.46 [[ 9.72835250e-01 2.28762549e-01 3.54862421e-02 1.93745208e+02] [-2.28609103e-01 9.73482252e-01 -8.37754813e-03 -3.08234253e+01] [-3.64616961e-02 3.74961644e-05 9.99335051e-01 -8.46429886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65587156000004 meters 0.023137764175935625 Centerline is valid? [True, True] Translation: X:193.77, Y:-30.83, Z:-8.46 [[ 9.72740708e-01 2.29104592e-01 3.58692134e-02 1.93773556e+02] [-2.28948139e-01 9.73401811e-01 -8.46546113e-03 -3.08297174e+01] [-3.68546333e-02 2.25089923e-05 9.99320637e-01 -8.46486787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68587156000004 meters 0.011948055321943997 Centerline is valid? [True, True] Translation: X:193.80, Y:-30.84, Z:-8.47 [[ 9.72711563e-01 2.29212164e-01 3.59721961e-02 1.93799627e+02] [-2.29054919e-01 9.73376486e-01 -8.48882360e-03 -3.08354593e+01] [-3.69602315e-02 1.75683880e-05 9.99316737e-01 -8.46757959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71587156000004 meters 0.01186223569026887 Centerline is valid? [True, True] Translation: X:193.83, Y:-30.84, Z:-8.47 [[ 9.72666026e-01 2.29381765e-01 3.61221291e-02 1.93826897e+02] [-2.29223413e-01 9.73336533e-01 -8.52178685e-03 -3.08417488e+01] [-3.71137304e-02 8.81483287e-06 9.99311048e-01 -8.46858745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74587156000004 meters 0.011784734414580665 Centerline is valid? [True, True] Translation: X:193.86, Y:-30.85, Z:-8.47 [[ 9.72676405e-01 2.29387612e-01 3.58041177e-02 1.93855046e+02] [-2.29232309e-01 9.73335155e-01 -8.43948098e-03 -3.08480698e+01] [-3.67853189e-02 1.42344112e-06 9.99323191e-01 -8.46925766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77587156000004 meters 0.012018514193329369 Centerline is valid? [True, True] Translation: X:193.88, Y:-30.85, Z:-8.47 [[ 9.72678689e-01 2.29400680e-01 3.56580362e-02 1.93881206e+02] [-2.29246704e-01 9.73332075e-01 -8.40360807e-03 -3.08539202e+01] [-3.66349038e-02 -4.76792887e-07 9.99328717e-01 -8.47140135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80587156000004 meters 0.011874795754277972 Centerline is valid? [True, True] Translation: X:193.91, Y:-30.86, Z:-8.47 [[ 9.72748366e-01 2.29072146e-01 3.58687742e-02 1.93908455e+02] [-2.28916237e-01 9.73409447e-01 -8.45012493e-03 -3.08611729e+01] [-3.68506919e-02 8.90037833e-06 9.99320783e-01 -8.47148680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83587156000002 meters 0.011663023263536059 Centerline is valid? [True, True] Translation: X:193.94, Y:-30.87, Z:-8.47 [[ 9.72794403e-01 2.28803856e-01 3.63296832e-02 1.93936534e+02] [-2.28643833e-01 9.73472545e-01 -8.55583217e-03 -3.08689628e+01] [-3.73235565e-02 1.65076261e-05 9.99303233e-01 -8.47192648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86587156000002 meters 0.011734909656345724 Centerline is valid? [True, True] Translation: X:193.96, Y:-30.88, Z:-8.47 [[ 9.72929000e-01 2.28221411e-01 3.63888416e-02 1.93963701e+02] [-2.28060523e-01 9.73609257e-01 -8.56807099e-03 -3.08775517e+01] [-3.73839303e-02 3.72664937e-05 9.99300976e-01 -8.47317073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89587156000002 meters 0.011502959177759373 Centerline is valid? [True, True] Translation: X:193.99, Y:-30.88, Z:-8.47 [[ 9.72989893e-01 2.27888152e-01 3.68464089e-02 1.93991875e+02] [-2.27723041e-01 9.73687315e-01 -8.67344777e-03 -3.08847238e+01] [-3.78534570e-02 4.84007417e-05 9.99283300e-01 -8.47410438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92587156000002 meters 0.011580276207293917 Centerline is valid? [True, True] Translation: X:194.02, Y:-30.89, Z:-8.48 [[ 9.73116584e-01 2.27300010e-01 3.71324517e-02 1.94018615e+02] [-2.27131961e-01 9.73824779e-01 -8.73910630e-03 -3.08923877e+01] [-3.81469006e-02 7.02027153e-05 9.99272140e-01 -8.47516486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95587156000002 meters 0.012199009659475514 Centerline is valid? [True, True] Translation: X:194.04, Y:-30.90, Z:-8.48 [[ 9.73534592e-01 2.25525074e-01 3.69978187e-02 1.94044373e+02] [-2.25357067e-01 9.74237354e-01 -8.70459701e-03 -3.09030021e+01] [-3.80077619e-02 1.36506375e-04 9.99277435e-01 -8.47694057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98587156000002 meters 0.012760036004507943 Centerline is valid? [True, True] Translation: X:194.07, Y:-30.91, Z:-8.48 [[ 9.73820315e-01 2.24325147e-01 3.67725856e-02 1.94071286e+02] [-2.24158413e-01 9.74514339e-01 -8.64926564e-03 -3.09125040e+01] [-3.77756597e-02 1.79946156e-04 9.99286229e-01 -8.47914571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01587156000002 meters 0.013741543292456608 Centerline is valid? [True, True] Translation: X:194.10, Y:-30.92, Z:-8.48 [[ 9.74159538e-01 2.22934373e-01 3.62416830e-02 1.94098459e+02] [-2.22771523e-01 9.74833428e-01 -8.52264929e-03 -3.09222715e+01] [-3.72295956e-02 2.28805172e-04 9.99306712e-01 -8.48190243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04587156000002 meters 0.027797142958536917 Centerline is valid? [True, True] Translation: X:194.12, Y:-30.94, Z:-8.48 [[ 9.74924670e-01 2.19701698e-01 3.53984638e-02 1.94124252e+02] [-2.19544270e-01 9.75567038e-01 -8.32268261e-03 -3.09368445e+01] [-3.63620820e-02 3.42458704e-04 9.99338622e-01 -8.48390924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07587156000002 meters 0.017271316304921024 Centerline is valid? [True, True] Translation: X:194.15, Y:-30.95, Z:-8.49 [[ 9.75258057e-01 2.18244421e-01 3.52291810e-02 1.94151363e+02] [-2.18087606e-01 9.75894061e-01 -8.28118579e-03 -3.09474245e+01] [-3.61872711e-02 3.93245407e-04 9.99344949e-01 -8.48581421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10587156000003 meters 0.018922973052866356 Centerline is valid? [True, True] Translation: X:194.18, Y:-30.96, Z:-8.49 [[ 9.75551130e-01 2.16895068e-01 3.54474616e-02 1.94177642e+02] [-2.16735473e-01 9.76194823e-01 -8.33085430e-03 -3.09584393e+01] [-3.64105497e-02 4.44451990e-04 9.99336817e-01 -8.48713804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13587156000003 meters 0.019715655587180296 Centerline is valid? [True, True] Translation: X:194.21, Y:-30.97, Z:-8.49 [[ 9.75748615e-01 2.15983832e-01 3.55756262e-02 1.94205405e+02] [-2.15822557e-01 9.76396823e-01 -8.35870434e-03 -3.09683282e+01] [-3.65412734e-02 4.77971568e-04 9.99332030e-01 -8.48771710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16587156000003 meters 0.020651696679321926 Centerline is valid? [True, True] Translation: X:194.23, Y:-30.98, Z:-8.49 [[ 9.75961511e-01 2.15016192e-01 3.55972826e-02 1.94231275e+02] [-2.14854136e-01 9.76610349e-01 -8.36218358e-03 -3.09805212e+01] [-3.65626794e-02 5.12945934e-04 9.99331230e-01 -8.48898210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19587156000003 meters 0.021138562745230426 Centerline is valid? [True, True] Translation: X:194.26, Y:-30.99, Z:-8.49 [[ 9.75962897e-01 2.14936270e-01 3.60391865e-02 1.94258070e+02] [-2.14770195e-01 9.76627938e-01 -8.46370900e-03 -3.09900522e+01] [-3.70160344e-02 5.20122865e-04 9.99314536e-01 -8.48990132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22587156000003 meters 0.02080932816043199 Centerline is valid? [True, True] Translation: X:194.29, Y:-31.00, Z:-8.49 [[ 9.75890456e-01 2.15141905e-01 3.67665393e-02 1.94285708e+02] [-2.14969269e-01 9.76582659e-01 -8.63274344e-03 -3.09981152e+01] [-3.77628296e-02 5.20935868e-04 9.99286594e-01 -8.48973736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25587156000003 meters 0.017625633477504888 Centerline is valid? [True, True] Translation: X:194.31, Y:-31.00, Z:-8.49 [[ 9.75739821e-01 2.15755433e-01 3.71671072e-02 1.94314134e+02] [-2.15579524e-01 9.76447306e-01 -8.72505341e-03 -3.10020333e+01] [-3.81741993e-02 5.00914769e-04 9.99270974e-01 -8.48841305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28587156000003 meters 0.020701920793128253 Centerline is valid? [True, True] Translation: X:194.34, Y:-31.01, Z:-8.49 [[ 9.75481237e-01 2.16921313e-01 3.71685511e-02 1.94339612e+02] [-2.16746306e-01 9.76188987e-01 -8.72355897e-03 -3.10148032e+01] [-3.81758561e-02 4.53521940e-04 9.99270933e-01 -8.49161721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31587156000003 meters 0.017892147812812724 Centerline is valid? [True, True] Translation: X:194.37, Y:-31.02, Z:-8.49 [[ 9.75255663e-01 2.17920958e-01 3.72404142e-02 1.94367875e+02] [-2.17746097e-01 9.75966334e-01 -8.73793012e-03 -3.10218301e+01] [-3.82495686e-02 4.12760984e-04 9.99268132e-01 -8.49278359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34587156000003 meters 0.01483472003020158 Centerline is valid? [True, True] Translation: X:194.40, Y:-31.03, Z:-8.49 [[ 9.74945414e-01 2.19267702e-01 3.74581821e-02 1.94397046e+02] [-2.19091849e-01 9.75664668e-01 -8.78730396e-03 -3.10251627e+01] [-3.84733967e-02 3.60359317e-04 9.99259560e-01 -8.49177298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37587156000004 meters 0.013065467798795194 Centerline is valid? [True, True] Translation: X:194.42, Y:-31.03, Z:-8.49 [[ 9.74130000e-01 2.22858721e-01 3.74797822e-02 1.94423706e+02] [-2.22685391e-01 9.74850729e-01 -8.79051559e-03 -3.10311671e+01] [-3.84962360e-02 2.16904991e-04 9.99258722e-01 -8.49442847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40587156000004 meters 0.012837271726482087 Centerline is valid? [True, True] Translation: X:194.45, Y:-31.04, Z:-8.50 [[ 9.73767160e-01 2.24520028e-01 3.69902035e-02 1.94450182e+02] [-2.24352486e-01 9.74469464e-01 -8.67332518e-03 -3.10378378e+01] [-3.79931590e-02 1.46955108e-04 9.99277988e-01 -8.49780908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43587156000004 meters 0.011843080073204667 Centerline is valid? [True, True] Translation: X:194.48, Y:-31.04, Z:-8.50 [[ 9.73450757e-01 2.25898208e-01 3.69272805e-02 1.94478472e+02] [-2.25732315e-01 9.74150908e-01 -8.65625066e-03 -3.10433010e+01] [-3.79281754e-02 9.07532287e-05 9.99280464e-01 -8.49737192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46587156000004 meters 0.018502769338955744 Centerline is valid? [True, True] Translation: X:194.51, Y:-31.05, Z:-8.50 [[ 9.72951848e-01 2.28117266e-01 3.64309516e-02 1.94505056e+02] [-2.27957419e-01 9.73633665e-01 -8.53828634e-03 -3.10501729e+01] [-3.74181315e-02 2.63578505e-06 9.99299697e-01 -8.49892360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49587156000004 meters 0.011639768366401777 Centerline is valid? [True, True] Translation: X:194.53, Y:-31.06, Z:-8.50 [[ 9.72849281e-01 2.28541922e-01 3.65084476e-02 1.94531656e+02] [-2.28381792e-01 9.73534072e-01 -8.55378880e-03 -3.10573046e+01] [-3.74971170e-02 -1.63174037e-05 9.99296736e-01 -8.50138065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52587156000004 meters 0.011739829344572066 Centerline is valid? [True, True] Translation: X:194.56, Y:-31.07, Z:-8.50 [[ 9.72873002e-01 2.28477466e-01 3.62790432e-02 1.94558705e+02] [-2.28319399e-01 9.73549201e-01 -8.49735126e-03 -3.10656952e+01] [-3.72608868e-02 -1.63656978e-05 9.99305572e-01 -8.50287136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55587156000004 meters 0.011712854469762795 Centerline is valid? [True, True] Translation: X:194.59, Y:-31.08, Z:-8.50 [[ 9.72919886e-01 2.28273906e-01 3.63031523e-02 1.94585663e+02] [-2.28115594e-01 9.73596951e-01 -8.50010389e-03 -3.10759774e+01] [-3.72849903e-02 -1.13950507e-05 9.99304673e-01 -8.50386906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58587156000002 meters 0.014144801312315247 Centerline is valid? [True, True] Translation: X:194.61, Y:-31.08, Z:-8.50 [[ 9.72786851e-01 2.28793828e-01 3.65940813e-02 1.94613210e+02] [-2.28633399e-01 9.73474901e-01 -8.56653029e-03 -3.10828025e+01] [-3.75833889e-02 -3.32211674e-05 9.99293494e-01 -8.50422202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61587156000002 meters 0.011943192346521319 Centerline is valid? [True, True] Translation: X:194.64, Y:-31.09, Z:-8.50 [[ 9.72197515e-01 2.31013370e-01 3.82729005e-02 1.94641675e+02] [-2.30839722e-01 9.72950567e-01 -8.95634452e-03 -3.10884222e+01] [-3.93066756e-02 -1.27569830e-04 9.99227186e-01 -8.50313650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64587156000002 meters 0.012727211462107263 Centerline is valid? [True, True] Translation: X:194.67, Y:-31.09, Z:-8.50 [[ 9.71805410e-01 2.32621431e-01 3.84904585e-02 1.94668640e+02] [-2.32447135e-01 9.72567340e-01 -9.00543780e-03 -3.10931245e+01] [-3.95294207e-02 -1.95463621e-04 9.99218388e-01 -8.50411999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67587156000002 meters 0.013640572280459954 Centerline is valid? [True, True] Translation: X:194.70, Y:-31.10, Z:-8.50 [[ 9.71390874e-01 2.34275873e-01 3.89176640e-02 1.94696950e+02] [-2.34099135e-01 9.72170120e-01 -9.10229440e-03 -3.10980549e+01] [-3.99670380e-02 -2.68705756e-04 9.99200963e-01 -8.50495892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70587156000002 meters 0.014647789713639375 Centerline is valid? [True, True] Translation: X:194.73, Y:-31.10, Z:-8.51 [[ 9.70971934e-01 2.35976752e-01 3.90957347e-02 1.94725428e+02] [-2.35799849e-01 9.71758640e-01 -9.14198586e-03 -3.11032326e+01] [-4.01489141e-02 -3.42156645e-04 9.99193649e-01 -8.50534552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73587156000002 meters 0.01742900793765801 Centerline is valid? [True, True] Translation: X:194.75, Y:-31.11, Z:-8.51 [[ 9.70271963e-01 2.38839554e-01 3.90894643e-02 1.94753732e+02] [-2.38665105e-01 9.71058934e-01 -9.13859031e-03 -3.11054762e+01] [-4.01408304e-02 -4.62373146e-04 9.99193925e-01 -8.50700651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76587156000002 meters 0.01871603243912877 Centerline is valid? [True, True] Translation: X:194.78, Y:-31.11, Z:-8.51 [[ 9.70080754e-01 2.39630985e-01 3.89913181e-02 1.94781647e+02] [-2.39458149e-01 9.70863917e-01 -9.11317905e-03 -3.11096778e+01] [-4.00390638e-02 -4.96269250e-04 9.99197992e-01 -8.50893648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79587156000002 meters 0.029050925500446034 Centerline is valid? [True, True] Translation: X:194.81, Y:-31.12, Z:-8.51 [[ 9.69878545e-01 2.40466066e-01 3.88803252e-02 1.94809802e+02] [-2.40294983e-01 9.70657400e-01 -9.08475488e-03 -3.11151273e+01] [-3.99240506e-02 -5.31638249e-04 9.99202576e-01 -8.50948854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82587156000002 meters 0.023866459052738962 Centerline is valid? [True, True] Translation: X:194.84, Y:-31.12, Z:-8.51 [[ 9.69862586e-01 2.40517287e-01 3.89614985e-02 1.94836943e+02] [-2.40345601e-01 9.70644707e-01 -9.10193320e-03 -3.11215790e+01] [-4.00069446e-02 -5.36600300e-04 9.99199258e-01 -8.51064007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85587156000003 meters 0.023866459052738962 Centerline is valid? [True, True] Translation: X:194.86, Y:-31.13, Z:-8.51 [[ 9.69879677e-01 2.40448256e-01 3.89621485e-02 1.94863721e+02] [-2.40276626e-01 9.70661809e-01 -9.09914989e-03 -3.11276959e+01] [-4.00069443e-02 -5.36613032e-04 9.99199258e-01 -8.51187840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88587156000003 meters 0.01935729190232184 Centerline is valid? [True, True] Translation: X:194.89, Y:-31.13, Z:-8.52 [[ 9.70033288e-01 2.39947164e-01 3.82201362e-02 1.94889478e+02] [-2.39781730e-01 9.70785816e-01 -8.92312594e-03 -3.11338051e+01] [-3.92446448e-02 -5.08761186e-04 9.99229503e-01 -8.51607188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91587156000003 meters 0.018950705878723904 Centerline is valid? [True, True] Translation: X:194.92, Y:-31.14, Z:-8.52 [[ 9.70174936e-01 2.39421054e-01 3.79229924e-02 1.94917354e+02] [-2.39257918e-01 9.70915713e-01 -8.85025482e-03 -3.11411424e+01] [-3.89389665e-02 -4.87080795e-04 9.99241472e-01 -8.51853811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94587156000003 meters 0.01821809542495852 Centerline is valid? [True, True] Translation: X:194.94, Y:-31.15, Z:-8.52 [[ 9.70321152e-01 2.38868795e-01 3.76637888e-02 1.94944751e+02] [-2.38707536e-01 9.71051741e-01 -8.78794231e-03 -3.11487271e+01] [-3.86726529e-02 -4.63503929e-04 9.99251826e-01 -8.52042451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97587156000003 meters 0.01736983921451369 Centerline is valid? [True, True] Translation: X:194.97, Y:-31.16, Z:-8.52 [[ 9.70573797e-01 2.37833716e-01 3.77044901e-02 1.94972353e+02] [-2.37671401e-01 9.71305793e-01 -8.79556936e-03 -3.11567901e+01] [-3.87144726e-02 -4.24529836e-04 9.99250224e-01 -8.52170134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00587156000003 meters 0.016480107757390436 Centerline is valid? [True, True] Translation: X:195.00, Y:-31.17, Z:-8.52 [[ 9.70766764e-01 2.36992385e-01 3.80328837e-02 1.94999944e+02] [-2.36826657e-01 9.71511427e-01 -8.87028263e-03 -3.11650273e+01] [-3.90515705e-02 -3.96225135e-04 9.99237118e-01 -8.52314268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03587156000003 meters 0.015189827433604834 Centerline is valid? [True, True] Translation: X:195.03, Y:-31.17, Z:-8.52 [[ 9.71042945e-01 2.35796028e-01 3.84165711e-02 1.95027672e+02] [-2.35626079e-01 9.71802505e-01 -8.95784387e-03 -3.11744332e+01] [-3.94455440e-02 -3.53494913e-04 9.99221659e-01 -8.52338506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06587156000003 meters 0.014799841350872542 Centerline is valid? [True, True] Translation: X:195.05, Y:-31.18, Z:-8.53 [[ 9.71440887e-01 2.34143174e-01 3.84652802e-02 1.95054467e+02] [-2.33971572e-01 9.72202083e-01 -8.96731292e-03 -3.11824357e+01] [-3.94956607e-02 -2.88567652e-04 9.99219700e-01 -8.52553671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09587156000003 meters 0.012191247335532531 Centerline is valid? [True, True] Translation: X:195.08, Y:-31.20, Z:-8.53 [[ 9.72397270e-01 2.30126763e-01 3.85385828e-02 1.95080162e+02] [-2.29951450e-01 9.73160653e-01 -8.98187571e-03 -3.11965559e+01] [-3.95712024e-02 -1.28051557e-04 9.99216745e-01 -8.52670139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12587156000004 meters 0.011338606673505185 Centerline is valid? [True, True] Translation: X:195.11, Y:-31.21, Z:-8.53 [[ 9.72937963e-01 2.27790371e-01 3.87719843e-02 1.95107454e+02] [-2.27611145e-01 9.73710196e-01 -9.03444470e-03 -3.12078157e+01] [-3.98106359e-02 -3.49815006e-05 9.99207242e-01 -8.52706061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15587156000004 meters 0.021434188885963632 Centerline is valid? [True, True] Translation: X:195.13, Y:-31.22, Z:-8.53 [[ 9.73457542e-01 2.25575669e-01 3.86785704e-02 1.95134217e+02] [-2.25395632e-01 9.74225649e-01 -9.01078332e-03 -3.12181924e+01] [-3.97142688e-02 5.36341404e-05 9.99211076e-01 -8.52671872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18587156000004 meters 0.020455401105810973 Centerline is valid? [True, True] Translation: X:195.16, Y:-31.23, Z:-8.53 [[ 9.74155270e-01 2.22359061e-01 3.97235116e-02 1.95162155e+02] [-2.22166574e-01 9.74964826e-01 -9.25206999e-03 -3.12299033e+01] [-4.07863082e-02 1.87716269e-04 9.99167875e-01 -8.52617841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21587156000004 meters 0.023779244136562423 Centerline is valid? [True, True] Translation: X:195.19, Y:-31.24, Z:-8.53 [[ 9.74363062e-01 2.21432008e-01 3.98056428e-02 1.95189902e+02] [-2.21237989e-01 9.75175787e-01 -9.27023453e-03 -3.12384811e+01] [-4.08702257e-02 2.26053726e-04 9.99164438e-01 -8.52827638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24587156000004 meters 0.013397360557126385 Centerline is valid? [True, True] Translation: X:195.22, Y:-31.25, Z:-8.53 [[ 9.74551815e-01 2.20601809e-01 3.97945061e-02 1.95217965e+02] [-2.20407271e-01 9.75363919e-01 -9.26607990e-03 -3.12474967e+01] [-4.08582394e-02 2.59276506e-04 9.99164920e-01 -8.53105302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27587156000004 meters 0.014212233164851677 Centerline is valid? [True, True] Translation: X:195.25, Y:-31.26, Z:-8.53 [[ 9.74871689e-01 2.19188351e-01 3.97700540e-02 1.95246847e+02] [-2.18992919e-01 9.75682513e-01 -9.25932163e-03 -3.12594846e+01] [-4.08324817e-02 3.17290273e-04 9.99165956e-01 -8.53235733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30587156000004 meters 0.01462850736194349 Centerline is valid? [True, True] Translation: X:195.28, Y:-31.27, Z:-8.53 [[ 9.74961860e-01 2.18862560e-01 3.93516473e-02 1.95275899e+02] [-2.18670956e-01 9.75755642e-01 -9.16190758e-03 -3.12684116e+01] [-4.04027905e-02 3.27448112e-04 9.99183420e-01 -8.53437868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33587156000002 meters 0.014982163544252948 Centerline is valid? [True, True] Translation: X:195.30, Y:-31.28, Z:-8.54 [[ 9.75072129e-01 2.18508179e-01 3.85813347e-02 1.95304209e+02] [-2.18323725e-01 9.75835059e-01 -8.98262717e-03 -3.12768785e+01] [-3.96117966e-02 3.35488670e-04 9.99215088e-01 -8.53687390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36587156000002 meters 0.030124264811795098 Centerline is valid? [True, True] Translation: X:195.33, Y:-31.28, Z:-8.54 [[ 9.75105410e-01 2.18453024e-01 3.80488686e-02 1.95333923e+02] [-2.18273607e-01 9.75847409e-01 -8.85812505e-03 -3.12847173e+01] [-3.90649740e-02 3.32541848e-04 9.99236617e-01 -8.53792837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39587156000002 meters 0.023459471649876877 Centerline is valid? [True, True] Translation: X:195.36, Y:-31.29, Z:-8.54 [[ 9.74919507e-01 2.19334048e-01 3.77429543e-02 1.95363638e+02] [-2.19158167e-01 9.75649777e-01 -8.78690541e-03 -3.12923116e+01] [-3.87511725e-02 2.94848808e-04 9.99248848e-01 -8.53990348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42587156000002 meters 0.013803032139735667 Centerline is valid? [True, True] Translation: X:195.39, Y:-31.30, Z:-8.54 [[ 9.74688663e-01 2.20367773e-01 3.76836292e-02 1.95392977e+02] [-2.20193210e-01 9.75416824e-01 -8.77324509e-03 -3.12987259e+01] [-3.86905864e-02 2.53503258e-04 9.99251207e-01 -8.54269079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45587156000002 meters 0.013120654894752767 Centerline is valid? [True, True] Translation: X:195.42, Y:-31.30, Z:-8.54 [[ 9.74460220e-01 2.21373062e-01 3.76994416e-02 1.95421927e+02] [-2.21199140e-01 9.75189172e-01 -8.77600553e-03 -3.13048380e+01] [-3.87068585e-02 2.12784213e-04 9.99250586e-01 -8.54407597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48587156000002 meters 0.011873306659758515 Centerline is valid? [True, True] Translation: X:195.45, Y:-31.31, Z:-8.55 [[ 9.73845505e-01 2.23998730e-01 3.80723086e-02 1.95449383e+02] [-2.23823388e-01 9.74589430e-01 -8.86192250e-03 -3.13112074e+01] [-3.90899290e-02 1.08670269e-04 9.99235691e-01 -8.54516305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51587156000002 meters 0.01155391227939544 Centerline is valid? [True, True] Translation: X:195.48, Y:-31.32, Z:-8.55 [[ 9.73527775e-01 2.25377871e-01 3.80589952e-02 1.95478240e+02] [-2.25203764e-01 9.74271426e-01 -8.85733954e-03 -3.13169113e+01] [-3.90760399e-02 5.18370901e-05 9.99236239e-01 -8.54635411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54587156000002 meters 0.01142587635074083 Centerline is valid? [True, True] Translation: X:195.51, Y:-31.32, Z:-8.55 [[ 9.73086049e-01 2.27249885e-01 3.82234255e-02 1.95507439e+02] [-2.27075749e-01 9.73836480e-01 -8.89466648e-03 -3.13216161e+01] [-3.92446780e-02 -2.43370796e-05 9.99229631e-01 -8.54704703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57587156000002 meters 0.012947475734960226 Centerline is valid? [True, True] Translation: X:195.54, Y:-31.32, Z:-8.55 [[ 9.72150590e-01 2.31173025e-01 3.85001784e-02 1.95536195e+02] [-2.30999459e-01 9.72912637e-01 -8.95832767e-03 -3.13217614e+01] [-3.95282338e-02 -1.84676844e-04 9.99218437e-01 -8.54874735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60587156000003 meters 0.013926189197236925 Centerline is valid? [True, True] Translation: X:195.56, Y:-31.33, Z:-8.55 [[ 9.71673576e-01 2.33134058e-01 3.87165623e-02 1.95564723e+02] [-2.32960198e-01 9.72444569e-01 -9.00593702e-03 -3.13258795e+01] [-3.97493013e-02 -2.68586988e-04 9.99209648e-01 -8.54934268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63587156000003 meters 0.03019758314730093 Centerline is valid? [True, True] Translation: X:195.59, Y:-31.33, Z:-8.55 [[ 9.71190273e-01 2.35249498e-01 3.80411259e-02 1.95593684e+02] [-2.35083347e-01 9.71934952e-01 -8.84698478e-03 -3.13294141e+01] [-3.90547486e-02 -3.50729630e-04 9.99237011e-01 -8.54979642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66587156000003 meters 0.01957783440755105 Centerline is valid? [True, True] Translation: X:195.62, Y:-31.33, Z:-8.55 [[ 9.70149470e-01 2.39418992e-01 3.85817635e-02 1.95621754e+02] [-2.39251448e-01 9.70916200e-01 -8.97088631e-03 -3.13289157e+01] [-3.96074598e-02 -5.27642194e-04 9.99215177e-01 -8.55223344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69587156000003 meters 0.021670226327923606 Centerline is valid? [True, True] Translation: X:195.65, Y:-31.33, Z:-8.55 [[ 9.69698482e-01 2.41275615e-01 3.83527201e-02 1.95650545e+02] [-2.41111615e-01 9.70456446e-01 -8.91485369e-03 -3.13328064e+01] [-3.93705813e-02 -6.02566202e-04 9.99224496e-01 -8.55390138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72587156000003 meters 0.02394277828501644 Centerline is valid? [True, True] Translation: X:195.68, Y:-31.34, Z:-8.56 [[ 9.69320593e-01 2.42775756e-01 3.84385212e-02 1.95678684e+02] [-2.42612271e-01 9.70082207e-01 -8.93298236e-03 -3.13360173e+01] [-3.94572370e-02 -6.66733158e-04 9.99221038e-01 -8.55523534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75587156000003 meters 0.0262911372952321 Centerline is valid? [True, True] Translation: X:195.71, Y:-31.34, Z:-8.56 [[ 9.68660539e-01 2.45375252e-01 3.85713126e-02 1.95707214e+02] [-2.45212780e-01 9.69427863e-01 -8.96163579e-03 -3.13386862e+01] [-3.95910688e-02 -7.77395842e-04 9.99215664e-01 -8.55588573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78587156000003 meters 0.028121044463114035 Centerline is valid? [True, True] Translation: X:195.74, Y:-31.35, Z:-8.56 [[ 9.68423053e-01 2.46343604e-01 3.83616910e-02 1.95735359e+02] [-2.46183793e-01 9.69182214e-01 -8.90938827e-03 -3.13450806e+01] [-3.93742395e-02 -8.15969605e-04 9.99224201e-01 -8.55614509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81587156000003 meters 0.028029151510105026 Centerline is valid? [True, True] Translation: X:195.76, Y:-31.35, Z:-8.56 [[ 9.68196516e-01 2.47159561e-01 3.88285750e-02 1.95763646e+02] [-2.46996567e-01 9.68974411e-01 -9.01590235e-03 -3.13467600e+01] [-3.98522621e-02 -8.61359468e-04 9.99205212e-01 -8.55769191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84587156000003 meters 0.029035946428145352 Centerline is valid? [True, True] Translation: X:195.79, Y:-31.35, Z:-8.56 [[ 9.67874318e-01 2.48278654e-01 3.97116351e-02 1.95792555e+02] [-2.48109206e-01 9.68688208e-01 -9.21834495e-03 -3.13488778e+01] [-4.07569109e-02 -9.30622919e-04 9.99168659e-01 -8.55775847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87587156000004 meters 0.029148379140653522 Centerline is valid? [True, True] Translation: X:195.82, Y:-31.35, Z:-8.56 [[ 9.67720665e-01 2.48870754e-01 3.97499934e-02 1.95821360e+02] [-2.48701557e-01 9.68536230e-01 -9.22530826e-03 -3.13538665e+01] [-4.07952182e-02 -9.58363805e-04 9.99167069e-01 -8.55912886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90587156000004 meters 0.03006383178218454 Centerline is valid? [True, True] Translation: X:195.85, Y:-31.36, Z:-8.56 [[ 9.67605838e-01 2.49362225e-01 3.94641928e-02 1.95850331e+02] [-2.49195940e-01 9.68409796e-01 -9.15704436e-03 -3.13574978e+01] [-4.05009318e-02 -9.73907037e-04 9.99179026e-01 -8.56120286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93587156000004 meters 0.0300921618701996 Centerline is valid? [True, True] Translation: X:195.88, Y:-31.36, Z:-8.56 [[ 9.67544884e-01 2.49687039e-01 3.89009037e-02 1.95878542e+02] [-2.49525805e-01 9.68326098e-01 -9.02446334e-03 -3.13620585e+01] [-3.99220518e-02 -9.75205986e-04 9.99202321e-01 -8.56323803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96587156000004 meters 0.03047607937264826 Centerline is valid? [True, True] Translation: X:195.91, Y:-31.37, Z:-8.57 [[ 9.67540884e-01 2.49789052e-01 3.83414603e-02 1.95907501e+02] [-2.49632577e-01 9.68299796e-01 -8.89281246e-03 -3.13664728e+01] [-3.93473554e-02 -9.67117916e-04 9.99225125e-01 -8.56595674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99587156000004 meters 0.02960171881132577 Centerline is valid? [True, True] Translation: X:195.94, Y:-31.37, Z:-8.57 [[ 9.67827456e-01 2.48828782e-01 3.73396809e-02 1.95935910e+02] [-2.48679734e-01 9.68547065e-01 -8.65867915e-03 -3.13705330e+01] [-3.83197669e-02 -9.05514481e-04 9.99265118e-01 -8.56931798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02587156000004 meters 0.028381125289640905 Centerline is valid? [True, True] Translation: X:195.96, Y:-31.38, Z:-8.57 [[ 9.68101388e-01 2.47781452e-01 3.72028792e-02 1.95964478e+02] [-2.47632791e-01 9.68815570e-01 -8.62513166e-03 -3.13762670e+01] [-3.81798763e-02 -8.62650875e-04 9.99270510e-01 -8.57088269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05587156000004 meters 0.030828431709439167 Centerline is valid? [True, True] Translation: X:195.99, Y:-31.38, Z:-8.57 [[ 9.68475218e-01 2.46323473e-01 3.71550696e-02 1.95991595e+02] [-2.46174189e-01 9.69187339e-01 -8.61229005e-03 -3.13815274e+01] [-3.81316322e-02 -8.05829637e-04 9.99272400e-01 -8.57113788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08587156000002 meters 0.022742018509542807 Centerline is valid? [True, True] Translation: X:196.02, Y:-31.39, Z:-8.57 [[ 9.69333814e-01 2.42657592e-01 3.88490819e-02 1.96020015e+02] [-2.42491541e-01 9.70111752e-01 -9.00230237e-03 -3.13917001e+01] [-3.98724279e-02 -6.94337643e-04 9.99204537e-01 -8.57051879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11587156000002 meters 0.021165502784296998 Centerline is valid? [True, True] Translation: X:196.05, Y:-31.40, Z:-8.57 [[ 9.69835552e-01 2.40542085e-01 3.94779291e-02 1.96046787e+02] [-2.40368914e-01 9.70638513e-01 -9.14671430e-03 -3.13988551e+01] [-4.05189681e-02 -6.18458231e-04 9.99178578e-01 -8.57141147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14587156000002 meters 0.018558155207685067 Centerline is valid? [True, True] Translation: X:196.07, Y:-31.41, Z:-8.57 [[ 9.70364700e-01 2.38343181e-01 3.98105123e-02 1.96074153e+02] [-2.38165335e-01 9.71180850e-01 -9.22116940e-03 -3.14079971e+01] [-4.08610100e-02 -5.33586705e-04 9.99164698e-01 -8.57187762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17587156000002 meters 0.015126178094339436 Centerline is valid? [True, True] Translation: X:196.10, Y:-31.42, Z:-8.57 [[ 9.71347287e-01 2.34359067e-01 3.95003278e-02 1.96101264e+02] [-2.34180745e-01 9.72150037e-01 -9.14789766e-03 -3.14174649e+01] [-4.05441379e-02 -3.64430607e-04 9.99177682e-01 -8.57331699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20587156000002 meters 0.013714879519500877 Centerline is valid? [True, True] Translation: X:196.13, Y:-31.42, Z:-8.57 [[ 9.71812523e-01 2.32378975e-01 3.97546622e-02 1.96129060e+02] [-2.32196773e-01 9.72625278e-01 -9.20477535e-03 -3.14246429e+01] [-4.08053856e-02 -2.85588336e-04 9.99167073e-01 -8.57441306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23587156000002 meters 0.011861826506091095 Centerline is valid? [True, True] Translation: X:196.16, Y:-31.43, Z:-8.58 [[ 9.72751749e-01 2.28433552e-01 3.96503147e-02 1.96155384e+02] [-2.28249105e-01 9.73559499e-01 -9.17868676e-03 -3.14329659e+01] [-4.06986605e-02 -1.21565244e-04 9.99171459e-01 -8.57693463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26587156000002 meters 0.011347783728352875 Centerline is valid? [True, True] Translation: X:196.18, Y:-31.44, Z:-8.58 [[ 9.73239058e-01 2.26478840e-01 3.88982092e-02 1.96183129e+02] [-2.26299863e-01 9.74016085e-01 -9.00213696e-03 -3.14417773e+01] [-3.99262750e-02 -4.14281240e-05 9.99202628e-01 -8.57943369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29587156000002 meters 0.0113976065142958 Centerline is valid? [True, True] Translation: X:196.21, Y:-31.45, Z:-8.58 [[ 9.73737373e-01 2.24448435e-01 3.81893817e-02 1.96210288e+02] [-2.24274434e-01 9.74485966e-01 -8.83627702e-03 -3.14500593e+01] [-3.91983051e-02 3.93112074e-05 9.99231450e-01 -8.58138489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32587156000002 meters 0.025458989434216765 Centerline is valid? [True, True] Translation: X:196.24, Y:-31.46, Z:-8.58 [[ 9.74761799e-01 2.20184479e-01 3.68541844e-02 1.96235981e+02] [-2.20019452e-01 9.75458228e-01 -8.52563041e-03 -3.14603188e+01] [-3.78269289e-02 2.01821369e-04 9.99284285e-01 -8.58439424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35587156000003 meters 0.021436471884630364 Centerline is valid? [True, True] Translation: X:196.26, Y:-31.47, Z:-8.59 [[ 9.75166477e-01 2.18384855e-01 3.68564274e-02 1.96264018e+02] [-2.18218614e-01 9.75862686e-01 -8.52372259e-03 -3.14685991e+01] [-3.78282642e-02 2.69290007e-04 9.99284219e-01 -8.58538259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38587156000003 meters 0.0153127072009737 Centerline is valid? [True, True] Translation: X:196.29, Y:-31.48, Z:-8.59 [[ 9.75525336e-01 2.16711977e-01 3.72322195e-02 1.96290779e+02] [-2.16541178e-01 9.76235528e-01 -8.60882469e-03 -3.14775227e+01] [-3.82130508e-02 3.35817934e-04 9.99269558e-01 -8.58774443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41587156000003 meters 0.028259885560018416 Centerline is valid? [True, True] Translation: X:196.32, Y:-31.49, Z:-8.59 [[ 9.75825694e-01 2.15396619e-01 3.69933867e-02 1.96318515e+02] [-2.15227150e-01 9.76526574e-01 -8.55123261e-03 -3.14853403e+01] [-3.79669318e-02 3.82531287e-04 9.99278923e-01 -8.58732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44587156000003 meters 0.01737850932039082 Centerline is valid? [True, True] Translation: X:196.35, Y:-31.49, Z:-8.59 [[ 9.76074715e-01 2.13959317e-01 3.87241768e-02 1.96346682e+02] [-2.13772565e-01 9.76842465e-01 -8.94922838e-03 -3.14929438e+01] [-3.97421912e-02 4.56948923e-04 9.99209863e-01 -8.58704203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47587156000003 meters 0.017241241925844464 Centerline is valid? [True, True] Translation: X:196.38, Y:-31.50, Z:-8.59 [[ 9.76105706e-01 2.13698860e-01 3.93757244e-02 1.96376116e+02] [-2.13505618e-01 9.76899469e-01 -9.09826422e-03 -3.14994490e+01] [-4.04104129e-02 4.73929242e-04 9.99183053e-01 -8.58703207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50587156000003 meters 0.018107821074915462 Centerline is valid? [True, True] Translation: X:196.40, Y:-31.51, Z:-8.59 [[ 9.76055939e-01 2.13847952e-01 3.97977009e-02 1.96403479e+02] [-2.13650706e-01 9.76866844e-01 -9.19482129e-03 -3.15067498e+01] [-4.08433481e-02 4.71853025e-04 9.99165451e-01 -8.58816997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53587156000003 meters 0.01670302153206641 Centerline is valid? [True, True] Translation: X:196.43, Y:-31.51, Z:-8.59 [[ 9.75716449e-01 2.15439761e-01 3.95363066e-02 1.96431535e+02] [-2.15246460e-01 9.76517050e-01 -9.13307837e-03 -3.15096163e+01] [-4.05755057e-02 4.01244751e-04 9.99176395e-01 -8.59006226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56587156000003 meters 0.01539118789804629 Centerline is valid? [True, True] Translation: X:196.46, Y:-31.51, Z:-8.59 [[ 9.75429060e-01 2.16744201e-01 3.94981133e-02 1.96460322e+02] [-2.16552437e-01 9.76228371e-01 -9.12190232e-03 -3.15129183e+01] [-4.05362982e-02 3.44355893e-04 9.99178007e-01 -8.59145896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59587156000003 meters 0.014288528296047463 Centerline is valid? [True, True] Translation: X:196.49, Y:-31.52, Z:-8.59 [[ 9.75184998e-01 2.17926771e-01 3.90146324e-02 1.96489201e+02] [-2.17740693e-01 9.75965081e-01 -9.00843807e-03 -3.15165262e+01] [-4.00400987e-02 2.89820548e-04 9.99198032e-01 -8.59341516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62587156000004 meters 0.02097285966175623 Centerline is valid? [True, True] Translation: X:196.52, Y:-31.52, Z:-8.59 [[ 9.74917456e-01 2.19243559e-01 3.83173017e-02 1.96517578e+02] [-2.19065163e-01 9.75670133e-01 -8.84564705e-03 -3.15197249e+01] [-3.93243980e-02 2.29789800e-04 9.99226470e-01 -8.59472510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65587156000004 meters 0.01196345713403302 Centerline is valid? [True, True] Translation: X:196.55, Y:-31.52, Z:-8.60 [[ 9.74296160e-01 2.22030086e-01 3.80740578e-02 1.96545924e+02] [-2.21856143e-01 9.75039808e-01 -8.78772210e-03 -3.15211163e+01] [-3.90748607e-02 1.14880303e-04 9.99236279e-01 -8.59831985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68587156000004 meters 0.011525607432472336 Centerline is valid? [True, True] Translation: X:196.57, Y:-31.52, Z:-8.60 [[ 9.74015773e-01 2.23291572e-01 3.78701529e-02 1.96574917e+02] [-2.23120532e-01 9.74751697e-01 -8.73831771e-03 -3.15248764e+01] [-3.88651885e-02 6.16506316e-05 9.99244461e-01 -8.59864387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71587156000004 meters 0.011465626007815862 Centerline is valid? [True, True] Translation: X:196.60, Y:-31.53, Z:-8.60 [[ 9.73627728e-01 2.24924773e-01 3.81823871e-02 1.96603080e+02] [-2.24752228e-01 9.74376132e-01 -8.80848374e-03 -3.15283094e+01] [-3.91852528e-02 -5.39257377e-06 9.99231963e-01 -8.59960125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74587156000004 meters 0.016287251002809065 Centerline is valid? [True, True] Translation: X:196.63, Y:-31.53, Z:-8.60 [[ 9.73234718e-01 2.26592553e-01 3.83405701e-02 1.96631524e+02] [-2.26419961e-01 9.73989635e-01 -8.84262163e-03 -3.15314296e+01] [-3.93469901e-02 -7.51240227e-05 9.99225605e-01 -8.59916210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77587156000004 meters 0.016287251002809065 Centerline is valid? [True, True] Translation: X:196.66, Y:-31.54, Z:-8.60 [[ 9.73245721e-01 2.26545172e-01 3.83412442e-02 1.96659120e+02] [-2.26372658e-01 9.74000657e-01 -8.83969766e-03 -3.15377037e+01] [-3.93469879e-02 -7.62114446e-05 9.99225605e-01 -8.60043795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80587156000004 meters 0.012895559157537144 Centerline is valid? [True, True] Translation: X:196.69, Y:-31.54, Z:-8.60 [[ 9.72331764e-01 2.30352509e-01 3.88414965e-02 1.96688672e+02] [-2.30178576e-01 9.73107222e-01 -8.95301725e-03 -3.15372592e+01] [-3.98592907e-02 -2.35177299e-04 9.99205275e-01 -8.60164198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83587156000002 meters 0.023511885467026674 Centerline is valid? [True, True] Translation: X:196.72, Y:-31.54, Z:-8.60 [[ 9.71802145e-01 2.32578742e-01 3.88293742e-02 1.96716900e+02] [-2.32406771e-01 9.72577514e-01 -8.94828540e-03 -3.15383112e+01] [-3.98457572e-02 -3.28246554e-04 9.99205789e-01 -8.60262068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86587156000002 meters 0.025679203030756156 Centerline is valid? [True, True] Translation: X:196.75, Y:-31.54, Z:-8.60 [[ 9.71270713e-01 2.34701444e-01 3.93501471e-02 1.96745914e+02] [-2.34526674e-01 9.72067412e-01 -9.06566975e-03 -3.15408363e+01] [-4.03787214e-02 -4.23439581e-04 9.99184357e-01 -8.60270757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89587156000002 meters 0.021012932865370055 Centerline is valid? [True, True] Translation: X:196.78, Y:-31.54, Z:-8.61 [[ 9.70280583e-01 2.38717587e-01 3.96169573e-02 1.96775038e+02] [-2.38543852e-01 9.71088852e-01 -9.12536640e-03 -3.15362505e+01] [-4.06499710e-02 -5.96215753e-04 9.99173270e-01 -8.60546809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92587156000002 meters 0.02169545060940607 Centerline is valid? [True, True] Translation: X:196.80, Y:-31.54, Z:-8.61 [[ 9.69945756e-01 2.40076308e-01 3.96055177e-02 1.96803450e+02] [-2.39903995e-01 9.70753797e-01 -9.11805741e-03 -3.15407281e+01] [-4.06362363e-02 -6.57500847e-04 9.99173791e-01 -8.60677062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95587156000002 meters 0.02353253542889459 Centerline is valid? [True, True] Translation: X:196.83, Y:-31.54, Z:-8.61 [[ 9.69516221e-01 2.41846341e-01 3.93528109e-02 1.96832257e+02] [-2.41677755e-01 9.70314287e-01 -9.05797659e-03 -3.15414025e+01] [-4.03752332e-02 -7.28843736e-04 9.99184322e-01 -8.60878834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98587156000002 meters 0.024300506060620505 Centerline is valid? [True, True] Translation: X:196.86, Y:-31.54, Z:-8.61 [[ 9.69466699e-01 2.42093260e-01 3.90534704e-02 1.96860184e+02] [-2.41927526e-01 9.70252705e-01 -8.98664979e-03 -3.15449109e+01] [-4.00673426e-02 -7.35851783e-04 9.99196711e-01 -8.61061752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01587156000002 meters 0.024084018170518508 Centerline is valid? [True, True] Translation: X:196.89, Y:-31.55, Z:-8.61 [[ 9.69530035e-01 2.41872813e-01 3.88465424e-02 1.96887993e+02] [-2.41708749e-01 9.70307692e-01 -8.93668128e-03 -3.15500115e+01] [-3.98546391e-02 -7.25168266e-04 9.99205225e-01 -8.61236514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04587156000002 meters 0.022924427022228917 Centerline is valid? [True, True] Translation: X:196.92, Y:-31.56, Z:-8.61 [[ 9.69913147e-01 2.40347548e-01 3.87497464e-02 1.96915389e+02] [-2.40183200e-01 9.70686672e-01 -8.91147034e-03 -3.15556196e+01] [-3.97557124e-02 -6.63685852e-04 9.99209209e-01 -8.61390217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07587156000002 meters 0.021492447207351825 Centerline is valid? [True, True] Translation: X:196.94, Y:-31.56, Z:-8.62 [[ 9.70273007e-01 2.38892904e-01 3.87359257e-02 1.96943748e+02] [-2.38727605e-01 9.71045732e-01 -8.90604751e-03 -3.15629333e+01] [-3.97419468e-02 -6.06037259e-04 9.99209793e-01 -8.61506614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10587156000003 meters 0.019838962449420617 Centerline is valid? [True, True] Translation: X:196.97, Y:-31.57, Z:-8.62 [[ 9.70677307e-01 2.37208314e-01 3.89587152e-02 1.96971302e+02] [-2.37039903e-01 9.71458656e-01 -8.95343442e-03 -3.15704636e+01] [-3.99706102e-02 -5.43874479e-04 9.99200708e-01 -8.61618681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13587156000003 meters 0.016559914465623642 Centerline is valid? [True, True] Translation: X:197.00, Y:-31.58, Z:-8.62 [[ 9.71522672e-01 2.33708786e-01 3.90371803e-02 1.96998606e+02] [-2.33536947e-01 9.72306557e-01 -8.96955230e-03 -3.15800956e+01] [-4.00523695e-02 -4.02500503e-04 9.99197501e-01 -8.61758136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16587156000003 meters 0.01520237793340438 Centerline is valid? [True, True] Translation: X:197.03, Y:-31.59, Z:-8.62 [[ 9.71982663e-01 2.31789071e-01 3.90324115e-02 1.97025336e+02] [-2.31615795e-01 9.72766015e-01 -8.96675127e-03 -3.15880076e+01] [-4.00477983e-02 -3.24996243e-04 9.99197712e-01 -8.61931580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19587156000003 meters 0.02122054411404752 Centerline is valid? [True, True] Translation: X:197.05, Y:-31.60, Z:-8.62 [[ 9.72462858e-01 2.29825829e-01 3.86791787e-02 1.97052905e+02] [-2.29654266e-01 9.73231744e-01 -8.88200983e-03 -3.15967165e+01] [-3.96851198e-02 -2.45413712e-04 9.99212205e-01 -8.61986617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22587156000003 meters 0.012350189259037839 Centerline is valid? [True, True] Translation: X:197.08, Y:-31.61, Z:-8.62 [[ 9.72878640e-01 2.27974678e-01 3.91752128e-02 1.97080818e+02] [-2.27797261e-01 9.73667046e-01 -8.99399450e-03 -3.16053664e+01] [-4.01940167e-02 -1.73941048e-04 9.99191879e-01 -8.62136005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25587156000003 meters 0.011421734681721574 Centerline is valid? [True, True] Translation: X:197.11, Y:-31.61, Z:-8.62 [[ 9.73629962e-01 2.24742705e-01 3.91843450e-02 1.97107790e+02] [-2.24562667e-01 9.74418142e-01 -8.99410282e-03 -3.16142912e+01] [-4.02032957e-02 -4.24130487e-05 9.99191520e-01 -8.62310548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28587156000003 meters 0.02840361893619226 Centerline is valid? [True, True] Translation: X:197.13, Y:-31.62, Z:-8.62 [[ 9.74028299e-01 2.23061761e-01 3.88885950e-02 1.97134630e+02] [-2.22883165e-01 9.74804314e-01 -8.92438802e-03 -3.16226099e+01] [-3.98994599e-02 2.49933603e-05 9.99203699e-01 -8.62375737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31587156000003 meters 0.011685654177579762 Centerline is valid? [True, True] Translation: X:197.16, Y:-31.63, Z:-8.63 [[ 9.74406475e-01 2.21410307e-01 3.88522590e-02 1.97160500e+02] [-2.21230833e-01 9.75180736e-01 -8.91349752e-03 -3.16304665e+01] [-3.98615147e-02 9.00520644e-05 9.99205210e-01 -8.62646982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34587156000003 meters 0.012591663979403126 Centerline is valid? [True, True] Translation: X:197.19, Y:-31.64, Z:-8.63 [[ 9.75052054e-01 2.18494905e-01 3.91595352e-02 1.97187559e+02] [-2.18310423e-01 9.75838067e-01 -8.97917962e-03 -3.16398787e+01] [-4.01752702e-02 2.06232855e-04 9.99192627e-01 -8.62619148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37587156000004 meters 0.013511494777425845 Centerline is valid? [True, True] Translation: X:197.21, Y:-31.65, Z:-8.63 [[ 9.75409649e-01 2.16874299e-01 3.92626339e-02 1.97214440e+02] [-2.16687605e-01 9.76199500e-01 -9.00096592e-03 -3.16484821e+01] [-4.02802418e-02 2.71902924e-04 9.99188385e-01 -8.62743615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40587156000004 meters 0.014741864949743673 Centerline is valid? [True, True] Translation: X:197.24, Y:-31.66, Z:-8.63 [[ 9.75773463e-01 2.15215084e-01 3.93524637e-02 1.97241255e+02] [-2.15026301e-01 9.76566615e-01 -9.01868625e-03 -3.16577137e+01] [-4.03712596e-02 3.38380003e-04 9.99184691e-01 -8.62828467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43587156000004 meters 0.017505761822934344 Centerline is valid? [True, True] Translation: X:197.27, Y:-31.67, Z:-8.63 [[ 9.76377789e-01 2.12258865e-01 4.04052872e-02 1.97267595e+02] [-2.12057428e-01 9.77213361e-01 -9.25711253e-03 -3.16690538e+01] [-4.14494907e-02 4.70197781e-04 9.99140490e-01 -8.62842343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46587156000004 meters 0.017530648141638284 Centerline is valid? [True, True] Translation: X:197.30, Y:-31.68, Z:-8.63 [[ 9.76634933e-01 2.11057539e-01 4.04836190e-02 1.97295596e+02] [-2.10854390e-01 9.77473501e-01 -9.27259042e-03 -3.16765213e+01] [-4.15287149e-02 5.19786924e-04 9.99137176e-01 -8.62925395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49587156000004 meters 0.01856078978756442 Centerline is valid? [True, True] Translation: X:197.32, Y:-31.69, Z:-8.63 [[ 9.76864806e-01 2.10050975e-01 4.01713652e-02 1.97323444e+02] [-2.09850180e-01 9.77690277e-01 -9.19910498e-03 -3.16856564e+01] [-4.12074341e-02 5.56313704e-04 9.99150458e-01 -8.63092764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52587156000004 meters 0.018338119951946043 Centerline is valid? [True, True] Translation: X:197.35, Y:-31.69, Z:-8.63 [[ 9.76894700e-01 2.09842668e-01 4.05314734e-02 1.97350973e+02] [-2.09638160e-01 9.77735001e-01 -9.27955855e-03 -3.16937801e+01] [-4.15762875e-02 5.68208061e-04 9.99135171e-01 -8.63158231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55587156000004 meters 0.01758436404957011 Centerline is valid? [True, True] Translation: X:197.38, Y:-31.70, Z:-8.63 [[ 9.76692523e-01 2.10770988e-01 4.05870271e-02 1.97379616e+02] [-2.10566804e-01 9.77535325e-01 -9.29025036e-03 -3.16993460e+01] [-4.16333679e-02 5.27437506e-04 9.99132816e-01 -8.63273790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58587156000002 meters 0.014645847712175853 Centerline is valid? [True, True] Translation: X:197.41, Y:-31.70, Z:-8.64 [[ 9.75835227e-01 2.14866657e-01 3.97231546e-02 1.97407899e+02] [-2.14674541e-01 9.76643334e-01 -9.09063924e-03 -3.17008197e+01] [-4.07486295e-02 3.43416005e-04 9.99169371e-01 -8.63526062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61587156000002 meters 0.012599293448986346 Centerline is valid? [True, True] Translation: X:197.44, Y:-31.70, Z:-8.64 [[ 9.75197156e-01 2.17807229e-01 3.93766168e-02 1.97436952e+02] [-2.17620946e-01 9.75991785e-01 -9.00886535e-03 -3.17025526e+01] [-4.03934505e-02 2.16243253e-04 9.99183828e-01 -8.63695761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64587156000002 meters 0.01127655774072376 Centerline is valid? [True, True] Translation: X:197.47, Y:-31.70, Z:-8.64 [[ 9.74500468e-01 2.21008854e-01 3.87804586e-02 1.97466673e+02] [-2.20830780e-01 9.75271798e-01 -8.87054673e-03 -3.17039923e+01] [-3.97819570e-02 8.04329918e-05 9.99208381e-01 -8.63856005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67587156000002 meters 0.011344524478860767 Centerline is valid? [True, True] Translation: X:197.49, Y:-31.71, Z:-8.64 [[ 9.73798014e-01 2.24178251e-01 3.82300982e-02 1.97494226e+02] [-2.24007682e-01 9.74548157e-01 -8.74350730e-03 -3.17052839e+01] [-3.92171759e-02 -4.94256247e-05 9.99230709e-01 -8.64102548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70587156000002 meters 0.012726746130379829 Centerline is valid? [True, True] Translation: X:197.52, Y:-31.71, Z:-8.64 [[ 9.73009920e-01 2.27660462e-01 3.77148412e-02 1.97522889e+02] [-2.27497202e-01 9.73740560e-01 -8.62236963e-03 -3.17062204e+01] [-3.86874432e-02 -1.90369656e-04 9.99251343e-01 -8.64335011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73587156000002 meters 0.02733890778125183 Centerline is valid? [True, True] Translation: X:197.55, Y:-31.70, Z:-8.64 [[ 9.71334420e-01 2.34610903e-01 3.83036483e-02 1.97553813e+02] [-2.34448047e-01 9.72089243e-01 -8.75314498e-03 -3.16991920e+01] [-3.92881477e-02 -4.77984531e-04 9.99227808e-01 -8.64297481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76587156000002 meters 0.024271748759092184 Centerline is valid? [True, True] Translation: X:197.58, Y:-31.70, Z:-8.64 [[ 9.70548795e-01 2.37707431e-01 3.91179442e-02 1.97582897e+02] [-2.37540142e-01 9.71336603e-01 -8.93784796e-03 -3.16972263e+01] [-4.01212839e-02 -6.17464441e-04 9.99194626e-01 -8.64390098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79587156000002 meters 0.024543267279051203 Centerline is valid? [True, True] Translation: X:197.61, Y:-31.70, Z:-8.64 [[ 9.69861180e-01 2.40446315e-01 3.94317305e-02 1.97612198e+02] [-2.40278669e-01 9.70662158e-01 -9.00762832e-03 -3.16994988e+01] [-4.04407396e-02 -7.38454675e-04 9.99181666e-01 -8.64412576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82587156000002 meters 0.033635332061370364 Centerline is valid? [True, True] Translation: X:197.64, Y:-31.70, Z:-8.64 [[ 9.68683312e-01 2.45058582e-01 3.99866443e-02 1.97642973e+02] [-2.44890409e-01 9.69507806e-01 -9.12694662e-03 -3.16953622e+01] [-4.10040004e-02 -9.51224780e-04 9.99158530e-01 -8.64302454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85587156000003 meters 0.03088447807489509 Centerline is valid? [True, True] Translation: X:197.67, Y:-31.70, Z:-8.64 [[ 9.68300243e-01 2.46525049e-01 4.02497022e-02 1.97672170e+02] [-2.46355992e-01 9.69135881e-01 -9.18526221e-03 -3.16977864e+01] [-4.12718278e-02 -1.02166368e-03 9.99147433e-01 -8.64483353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88587156000003 meters 0.03295180517289564 Centerline is valid? [True, True] Translation: X:197.70, Y:-31.70, Z:-8.65 [[ 9.67975061e-01 2.47784660e-01 4.03366260e-02 1.97699743e+02] [-2.47616263e-01 9.68814526e-01 -9.19785802e-03 -3.16994307e+01] [-4.13577973e-02 -1.08470739e-03 9.99143811e-01 -8.64627837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91587156000003 meters 0.03372745016487555 Centerline is valid? [True, True] Translation: X:197.73, Y:-31.70, Z:-8.65 [[ 9.67678960e-01 2.48844221e-01 4.09143505e-02 1.97729145e+02] [-2.48672090e-01 9.68542839e-01 -9.32531758e-03 -3.17003987e+01] [-4.19478526e-02 -1.15034342e-03 9.99119139e-01 -8.64656668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94587156000003 meters 0.03274522483035469 Centerline is valid? [True, True] Translation: X:197.76, Y:-31.71, Z:-8.65 [[ 9.67600356e-01 2.49145663e-01 4.09388644e-02 1.97757100e+02] [-2.48973906e-01 9.68465315e-01 -9.32348342e-03 -3.17050929e+01] [-4.19707757e-02 -1.17130310e-03 9.99118152e-01 -8.64768118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97587156000003 meters 0.03461270131688815 Centerline is valid? [True, True] Translation: X:197.78, Y:-31.71, Z:-8.65 [[ 9.67640501e-01 2.49075633e-01 4.04127482e-02 1.97784584e+02] [-2.48908304e-01 9.68483347e-01 -9.20122854e-03 -3.17063462e+01] [-4.14308754e-02 -1.15558720e-03 9.99140704e-01 -8.65042542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00587156000003 meters 0.034590109400179585 Centerline is valid? [True, True] Translation: X:197.81, Y:-31.71, Z:-8.66 [[ 9.67965047e-01 2.48094227e-01 3.86383473e-02 1.97812088e+02] [-2.47940627e-01 9.68735317e-01 -8.79384516e-03 -3.17089416e+01] [-3.96120338e-02 -1.06788129e-03 9.99214565e-01 -8.65564942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03587156000003 meters 0.032741784338924315 Centerline is valid? [True, True] Translation: X:197.84, Y:-31.72, Z:-8.66 [[ 9.68187928e-01 2.47336740e-01 3.79034719e-02 1.97840565e+02] [-2.47188413e-01 9.68929048e-01 -8.62491869e-03 -3.17154115e+01] [-3.88590342e-02 -1.01875691e-03 9.99244183e-01 -8.65789598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06587156000003 meters 0.03289141997983446 Centerline is valid? [True, True] Translation: X:197.87, Y:-31.72, Z:-8.66 [[ 9.68683909e-01 2.45491218e-01 3.72229346e-02 1.97868998e+02] [-2.45347031e-01 9.69398365e-01 -8.46424832e-03 -3.17224405e+01] [-3.81617505e-02 -9.33355332e-04 9.99271139e-01 -8.65852513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09587156000003 meters 0.029709864775526264 Centerline is valid? [True, True] Translation: X:197.90, Y:-31.73, Z:-8.66 [[ 9.68924255e-01 2.44474550e-01 3.76561117e-02 1.97896434e+02] [-2.44326486e-01 9.69655282e-01 -8.55585904e-03 -3.17251703e+01] [-3.86051374e-02 -9.10406113e-04 9.99254129e-01 -8.66054247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12587156000004 meters 0.03044043620652027 Centerline is valid? [True, True] Translation: X:197.92, Y:-31.73, Z:-8.66 [[ 9.69269860e-01 2.43015123e-01 3.82045493e-02 1.97924579e+02] [-2.42861708e-01 9.70022111e-01 -8.67723249e-03 -3.17330799e+01] [-3.91679563e-02 -8.67842167e-04 9.99232264e-01 -8.65989456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15587156000004 meters 0.0305411642356824 Centerline is valid? [True, True] Translation: X:197.95, Y:-31.74, Z:-8.66 [[ 9.69522234e-01 2.41956038e-01 3.85215899e-02 1.97952040e+02] [-2.41799527e-01 9.70286850e-01 -8.74169510e-03 -3.17368491e+01] [-3.94920981e-02 -8.39234462e-04 9.99219530e-01 -8.66018104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18587156000004 meters 0.02453968520541556 Centerline is valid? [True, True] Translation: X:197.98, Y:-31.74, Z:-8.66 [[ 9.69971268e-01 2.39984817e-01 3.95351277e-02 1.97980502e+02] [-2.39818407e-01 9.70776327e-01 -8.96961562e-03 -3.17410384e+01] [-4.05323377e-02 -7.80981904e-04 9.99177922e-01 -8.66005796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21587156000004 meters 0.02399883121698154 Centerline is valid? [True, True] Translation: X:198.01, Y:-31.75, Z:-8.66 [[ 9.70222930e-01 2.38943209e-01 3.96687322e-02 1.98008556e+02] [-2.38775089e-01 9.71033256e-01 -8.99288422e-03 -3.17451845e+01] [-4.06684468e-02 -7.46802563e-04 9.99172417e-01 -8.66112512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24587156000004 meters 0.02423272418213789 Centerline is valid? [True, True] Translation: X:198.04, Y:-31.75, Z:-8.66 [[ 9.70451974e-01 2.38013941e-01 3.96526110e-02 1.98036516e+02] [-2.37845485e-01 9.71261475e-01 -8.98177010e-03 -3.17482179e+01] [-4.06508400e-02 -7.14817965e-04 9.99173157e-01 -8.66293994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27587156000004 meters 0.02280122087509513 Centerline is valid? [True, True] Translation: X:198.06, Y:-31.75, Z:-8.67 [[ 9.70863321e-01 2.36443101e-01 3.89752826e-02 1.98064373e+02] [-2.36279182e-01 9.71645126e-01 -8.82598403e-03 -3.17496357e+01] [-3.99569864e-02 -6.40223745e-04 9.99201196e-01 -8.66557436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30587156000004 meters 0.021759416786032475 Centerline is valid? [True, True] Translation: X:198.09, Y:-31.75, Z:-8.67 [[ 9.71155902e-01 2.35327048e-01 3.84368958e-02 1.98092719e+02] [-2.35166820e-01 9.71916064e-01 -8.70239541e-03 -3.17547680e+01] [-3.94053455e-02 -5.87699877e-04 9.99223135e-01 -8.66810767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33587156000002 meters 0.03009104652320253 Centerline is valid? [True, True] Translation: X:198.12, Y:-31.76, Z:-8.67 [[ 9.71511888e-01 2.33936633e-01 3.79249811e-02 1.98120528e+02] [-2.33779827e-01 9.72251701e-01 -8.58031447e-03 -3.17625063e+01] [-3.88798773e-02 -5.30218003e-04 9.99243751e-01 -8.66900353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36587156000002 meters 0.017255973839887754 Centerline is valid? [True, True] Translation: X:198.15, Y:-31.77, Z:-8.67 [[ 9.71987557e-01 2.32009269e-01 3.75750909e-02 1.98147934e+02] [-2.31854151e-01 9.72713469e-01 -8.49474702e-03 -3.17699442e+01] [-3.85206570e-02 -4.55152375e-04 9.99257700e-01 -8.67143435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39587156000002 meters 0.014638145843505748 Centerline is valid? [True, True] Translation: X:198.17, Y:-31.78, Z:-8.67 [[ 9.73006911e-01 2.27750937e-01 3.72432753e-02 1.98174938e+02] [-2.27595705e-01 9.73719377e-01 -8.41242252e-03 -3.17759719e+01] [-3.81804360e-02 -2.91064265e-04 9.99270819e-01 -8.67394425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42587156000002 meters 0.01905208789100279 Centerline is valid? [True, True] Translation: X:198.20, Y:-31.78, Z:-8.67 [[ 9.73623814e-01 2.25097410e-01 3.72535107e-02 1.98202562e+02] [-2.24940213e-01 9.74336246e-01 -8.41309436e-03 -3.17834536e+01] [-3.81912115e-02 -1.88623596e-04 9.99270432e-01 -8.67413625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45587156000002 meters 0.011166503227349175 Centerline is valid? [True, True] Translation: X:198.23, Y:-31.79, Z:-8.67 [[ 9.74859625e-01 2.19529103e-01 3.81534310e-02 1.98229780e+02] [-2.19360234e-01 9.75605951e-01 -8.60902586e-03 -3.17938304e+01] [-3.91126461e-02 2.32461510e-05 9.99234807e-01 -8.67445094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48587156000002 meters 0.018739521159972412 Centerline is valid? [True, True] Translation: X:198.26, Y:-31.80, Z:-8.68 [[ 9.75527010e-01 2.16512540e-01 3.83324036e-02 1.98255977e+02] [-2.16339823e-01 9.76279826e-01 -8.64761883e-03 -3.18032450e+01] [-3.92954703e-02 1.43160311e-04 9.99227624e-01 -8.67560336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51587156000002 meters 0.020734723913610184 Centerline is valid? [True, True] Translation: X:198.28, Y:-31.81, Z:-8.68 [[ 9.76197767e-01 2.13455252e-01 3.84027917e-02 1.98283766e+02] [-2.13279599e-01 9.76952806e-01 -8.66183999e-03 -3.18115002e+01] [-3.93666304e-02 2.65136817e-04 9.99224799e-01 -8.67550703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54587156000002 meters 0.024951594719666178 Centerline is valid? [True, True] Translation: X:198.31, Y:-31.82, Z:-8.68 [[ 9.77363598e-01 2.08012514e-01 3.86159357e-02 1.98309316e+02] [-2.07830943e-01 9.78126047e-01 -8.70262100e-03 -3.18229533e+01] [-3.95815066e-02 4.80038657e-04 9.99216230e-01 -8.67628857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57587156000002 meters 0.020042818567006872 Centerline is valid? [True, True] Translation: X:198.34, Y:-31.83, Z:-8.68 [[ 9.77897342e-01 2.05528096e-01 3.84055890e-02 1.98335720e+02] [-2.05346697e-01 9.78651047e-01 -8.65231632e-03 -3.18328579e+01] [-3.93639640e-02 5.74616280e-04 9.99224774e-01 -8.67876136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60587156000003 meters 0.02183890139099787 Centerline is valid? [True, True] Translation: X:198.36, Y:-31.84, Z:-8.68 [[ 9.78317737e-01 2.03561370e-01 3.81729402e-02 1.98362986e+02] [-2.03380759e-01 9.79061974e-01 -8.59751173e-03 -3.18414119e+01] [-3.91237954e-02 6.47456661e-04 9.99234161e-01 -8.68081649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63587156000003 meters 0.024217688345878067 Centerline is valid? [True, True] Translation: X:198.39, Y:-31.85, Z:-8.68 [[ 9.78946737e-01 2.00516967e-01 3.81606122e-02 1.98391511e+02] [-2.00334238e-01 9.79689929e-01 -8.59276471e-03 -3.18503942e+01] [-3.91085626e-02 7.66981817e-04 9.99234673e-01 -8.68113926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66587156000003 meters 0.024217688345878067 Centerline is valid? [True, True] Translation: X:198.42, Y:-31.86, Z:-8.68 [[ 9.78960741e-01 2.00448559e-01 3.81607515e-02 1.98418333e+02] [-2.00265801e-01 9.79703927e-01 -8.59214630e-03 -3.18563007e+01] [-3.91085214e-02 7.69080439e-04 9.99234673e-01 -8.68237750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69587156000003 meters 0.027512485096734537 Centerline is valid? [True, True] Translation: X:198.45, Y:-31.86, Z:-8.68 [[ 9.79227852e-01 1.99155081e-01 3.80797428e-02 1.98446100e+02] [-1.98972236e-01 9.79967646e-01 -8.57097523e-03 -3.18628205e+01] [-3.90238691e-02 8.16126102e-04 9.99237945e-01 -8.68225012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72587156000003 meters 0.025469189105300976 Centerline is valid? [True, True] Translation: X:198.47, Y:-31.87, Z:-8.68 [[ 9.79453321e-01 1.97996787e-01 3.83205517e-02 1.98473768e+02] [-1.97810810e-01 9.80202287e-01 -8.62327093e-03 -3.18692570e+01] [-3.92692724e-02 8.65871953e-04 9.99228289e-01 -8.68387474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75587156000003 meters 0.029546960863589433 Centerline is valid? [True, True] Translation: X:198.50, Y:-31.88, Z:-8.68 [[ 9.79611257e-01 1.97167723e-01 3.85574240e-02 1.98500428e+02] [-1.96978871e-01 9.80369356e-01 -8.67470939e-03 -3.18778228e+01] [-3.95108896e-02 9.02845123e-04 9.99218732e-01 -8.68417529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78587156000003 meters 0.02919546395209795 Centerline is valid? [True, True] Translation: X:198.53, Y:-31.89, Z:-8.69 [[ 9.80056030e-01 1.94863263e-01 3.89677592e-02 1.98527083e+02] [-1.94668644e-01 9.80829904e-01 -8.76458855e-03 -3.18885519e+01] [-3.99286399e-02 1.00398700e-03 9.99202029e-01 -8.68597899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81587156000003 meters 0.030878419765642224 Centerline is valid? [True, True] Translation: X:198.55, Y:-31.90, Z:-8.69 [[ 9.80319464e-01 1.93548600e-01 3.88932846e-02 1.98553537e+02] [-1.93353785e-01 9.81090123e-01 -8.74548480e-03 -3.18983021e+01] [-3.98504937e-02 1.05320517e-03 9.99205099e-01 -8.68745055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84587156000003 meters 0.03675323215772748 Centerline is valid? [True, True] Translation: X:198.58, Y:-31.91, Z:-8.69 [[ 9.80606073e-01 1.92074210e-01 3.89772706e-02 1.98581229e+02] [-1.91877486e-01 9.81379773e-01 -8.76194025e-03 -3.19071336e+01] [-3.99344478e-02 1.11315110e-03 9.99201682e-01 -8.68778983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87587156000004 meters 0.03783796687918305 Centerline is valid? [True, True] Translation: X:198.61, Y:-31.92, Z:-8.69 [[ 9.81110406e-01 1.89461357e-01 3.90738443e-02 1.98607139e+02] [-1.89261665e-01 9.81887419e-01 -8.78167861e-03 -3.19214862e+01] [-4.00299049e-02 1.22061543e-03 9.99197737e-01 -8.68933600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90587156000004 meters 0.03655532641982061 Centerline is valid? [True, True] Translation: X:198.63, Y:-31.93, Z:-8.69 [[ 9.81348649e-01 1.88348198e-01 3.84679692e-02 1.98633413e+02] [-1.88153849e-01 9.82101525e-01 -8.64426637e-03 -3.19320538e+01] [-3.94075832e-02 1.24514266e-03 9.99222444e-01 -8.69237903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93587156000004 meters 0.03557057812817769 Centerline is valid? [True, True] Translation: X:198.66, Y:-31.94, Z:-8.69 [[ 9.81502398e-01 1.87664983e-01 3.78800346e-02 1.98661680e+02] [-1.87476112e-01 9.82232299e-01 -8.50985016e-03 -3.19393896e+01] [-3.88039944e-02 1.25083670e-03 9.99246059e-01 -8.69412585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96587156000004 meters 0.03765322454742964 Centerline is valid? [True, True] Translation: X:198.69, Y:-31.95, Z:-8.70 [[ 9.81410816e-01 1.88303954e-01 3.70733104e-02 1.98687387e+02] [-1.88123566e-01 9.82110068e-01 -8.32692544e-03 -3.19512350e+01] [-3.79780644e-02 1.19777134e-03 9.99277855e-01 -8.69727404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99587156000004 meters 0.03629187048255274 Centerline is valid? [True, True] Translation: X:198.72, Y:-31.96, Z:-8.70 [[ 9.81209512e-01 1.89411685e-01 3.67574113e-02 1.98715421e+02] [-1.89235222e-01 9.81897096e-01 -8.25366381e-03 -3.19575695e+01] [-3.76553358e-02 1.14277653e-03 9.99290133e-01 -8.69939223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02587156000004 meters 0.03410674855154121 Centerline is valid? [True, True] Translation: X:198.74, Y:-31.96, Z:-8.70 [[ 9.80900142e-01 1.91104507e-01 3.62488390e-02 1.98743784e+02] [-1.90934113e-01 9.81569122e-01 -8.13778281e-03 -3.19629798e+01] [-3.71359080e-02 1.06121241e-03 9.99309661e-01 -8.70092008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05587156000004 meters 0.0287334922496834 Centerline is valid? [True, True] Translation: X:198.77, Y:-31.97, Z:-8.70 [[ 9.80024585e-01 1.95527905e-01 3.63407726e-02 1.98774098e+02] [-1.95359750e-01 9.80697731e-01 -8.15652976e-03 -3.19664690e+01] [-3.72341424e-02 8.94075452e-04 9.99306169e-01 -8.70184091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08587156000002 meters 0.02564591398335973 Centerline is valid? [True, True] Translation: X:198.80, Y:-31.97, Z:-8.70 [[ 9.79532757e-01 1.97962493e-01 3.64201885e-02 1.98803246e+02] [-1.97795318e-01 9.80209267e-01 -8.17343245e-03 -3.19703956e+01] [-3.73174394e-02 8.02402067e-04 9.99303140e-01 -8.70302392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11587156000002 meters 0.023652183845455216 Centerline is valid? [True, True] Translation: X:198.83, Y:-31.97, Z:-8.70 [[ 9.79044462e-01 2.00351506e-01 3.64858312e-02 1.98830995e+02] [-2.00185427e-01 9.79723822e-01 -8.18699575e-03 -3.19749204e+01] [-3.73863149e-02 7.11501146e-04 9.99300634e-01 -8.70414266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14587156000002 meters 0.033195005843817973 Centerline is valid? [True, True] Translation: X:198.86, Y:-31.98, Z:-8.70 [[ 9.78009491e-01 2.05266380e-01 3.69208519e-02 1.98860760e+02] [-2.05099909e-01 9.78706000e-01 -8.28206224e-03 -3.19768878e+01] [-3.78346882e-02 5.27472124e-04 9.99283873e-01 -8.70306692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17587156000002 meters 0.026985123699871594 Centerline is valid? [True, True] Translation: X:198.89, Y:-31.98, Z:-8.71 [[ 9.77554778e-01 2.07424857e-01 3.68996585e-02 1.98887674e+02] [-2.07260137e-01 9.78250854e-01 -8.27665752e-03 -3.19837076e+01] [-3.78139070e-02 4.43057825e-04 9.99284700e-01 -8.70548743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20587156000002 meters 0.014789707371057378 Centerline is valid? [True, True] Translation: X:198.92, Y:-31.99, Z:-8.71 [[ 9.77067075e-01 2.09730584e-01 3.67833157e-02 1.98916262e+02] [-2.09568622e-01 9.77759152e-01 -8.24822765e-03 -3.19864025e+01] [-3.76951292e-02 3.50442871e-04 9.99289225e-01 -8.70643082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23587156000002 meters 0.012057188582652152 Centerline is valid? [True, True] Translation: X:198.94, Y:-31.99, Z:-8.71 [[ 9.76052062e-01 2.14358495e-01 3.70514158e-02 1.98944067e+02] [-2.14197560e-01 9.76755039e-01 -8.30654758e-03 -3.19908167e+01] [-3.79707361e-02 1.71300034e-04 9.99278837e-01 -8.70745607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26587156000002 meters 0.028022611026603025 Centerline is valid? [True, True] Translation: X:198.97, Y:-32.00, Z:-8.71 [[ 9.75535050e-01 2.16659721e-01 3.72817831e-02 1.98971493e+02] [-2.16498548e-01 9.76247181e-01 -8.35583205e-03 -3.19956090e+01] [-3.82066079e-02 7.99551159e-05 9.99269858e-01 -8.70788515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29587156000002 meters 0.024303206829614288 Centerline is valid? [True, True] Translation: X:199.00, Y:-32.00, Z:-8.71 [[ 9.75007905e-01 2.19013775e-01 3.73168932e-02 1.98999495e+02] [-2.18854108e-01 9.75721767e-01 -8.36143076e-03 -3.19997035e+01] [-3.82421735e-02 -1.44942618e-05 9.99268500e-01 -8.70880590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32587156000002 meters 0.011747331932143586 Centerline is valid? [True, True] Translation: X:199.03, Y:-32.00, Z:-8.71 [[ 9.74451955e-01 2.21501592e-01 3.71541679e-02 1.99027867e+02] [-2.21345231e-01 9.75160003e-01 -8.32206848e-03 -3.20030827e+01] [-3.80746099e-02 -1.14441983e-04 9.99274893e-01 -8.71063054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35587156000003 meters 0.017715801812971513 Centerline is valid? [True, True] Translation: X:199.06, Y:-32.00, Z:-8.71 [[ 9.73077846e-01 2.27559625e-01 3.65530110e-02 1.99056477e+02] [-2.27412607e-01 9.73764087e-01 -8.18592609e-03 -3.20007349e+01] [-3.74567956e-02 -3.47072195e-04 9.99298188e-01 -8.71309243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38587156000003 meters 0.019554376752117457 Centerline is valid? [True, True] Translation: X:199.08, Y:-32.00, Z:-8.72 [[ 9.72355132e-01 2.30694504e-01 3.61322939e-02 1.99084226e+02] [-2.30553145e-01 9.73026119e-01 -8.08816983e-03 -3.20013316e+01] [-3.70235620e-02 -4.65840543e-04 9.99314284e-01 -8.71618603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41587156000003 meters 0.033337215996920175 Centerline is valid? [True, True] Translation: X:199.11, Y:-32.01, Z:-8.72 [[ 9.71616074e-01 2.33887475e-01 3.54803361e-02 1.99112709e+02] [-2.33753359e-01 9.72263501e-01 -7.94057434e-03 -3.20054466e+01] [-3.63534367e-02 -5.78458063e-04 9.99338828e-01 -8.71646362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44587156000003 meters 0.028892217392530405 Centerline is valid? [True, True] Translation: X:199.14, Y:-32.00, Z:-8.72 [[ 9.70249759e-01 2.39491329e-01 3.54867446e-02 1.99142896e+02] [-2.39361177e-01 9.70898177e-01 -7.93451881e-03 -3.20016141e+01] [-3.63542641e-02 -7.95684014e-04 9.99338648e-01 -8.72010794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47587156000003 meters 0.031077668575397482 Centerline is valid? [True, True] Translation: X:199.17, Y:-32.00, Z:-8.72 [[ 9.69674152e-01 2.41818947e-01 3.54349442e-02 1.99172134e+02] [-2.41690775e-01 9.70320987e-01 -7.92161110e-03 -3.20048100e+01] [-3.62988657e-02 -8.82917588e-04 9.99340589e-01 -8.72097949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50587156000003 meters 0.031362228848045695 Centerline is valid? [True, True] Translation: X:199.20, Y:-32.01, Z:-8.72 [[ 9.69155439e-01 2.43844025e-01 3.57466972e-02 1.99200747e+02] [-2.43714969e-01 9.69813980e-01 -7.99113244e-03 -3.20101397e+01] [-3.66162366e-02 -9.67355743e-04 9.99328933e-01 -8.72061849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53587156000003 meters 0.035553167752883016 Centerline is valid? [True, True] Translation: X:199.23, Y:-32.01, Z:-8.72 [[ 9.68413230e-01 2.46706766e-01 3.62158479e-02 1.99230685e+02] [-2.46576583e-01 9.69089556e-01 -8.08833383e-03 -3.20088969e+01] [-3.70918467e-02 -1.09713052e-03 9.99311258e-01 -8.72134637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56587156000003 meters 0.03848442111881526 Centerline is valid? [True, True] Translation: X:199.26, Y:-32.01, Z:-8.72 [[ 9.68220283e-01 2.47415240e-01 3.65401532e-02 1.99259070e+02] [-2.47283264e-01 9.68908876e-01 -8.15954091e-03 -3.20096849e+01] [-3.74228735e-02 -1.13553533e-03 9.99298874e-01 -8.72319080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59587156000003 meters 0.03781102269944654 Centerline is valid? [True, True] Translation: X:199.29, Y:-32.02, Z:-8.72 [[ 9.68213420e-01 2.47502665e-01 3.61275943e-02 1.99287279e+02] [-2.47373764e-01 9.68886557e-01 -8.06605071e-03 -3.20155764e+01] [-3.69999095e-02 -1.12736044e-03 9.99314633e-01 -8.72498237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62587156000004 meters 0.03676909930321648 Centerline is valid? [True, True] Translation: X:199.31, Y:-32.02, Z:-8.73 [[ 9.68623611e-01 2.45927637e-01 3.58872925e-02 1.99314532e+02] [-2.45799623e-01 9.69287604e-01 -8.00539795e-03 -3.20217948e+01] [-3.67538564e-02 -1.06686549e-03 9.99323779e-01 -8.72725891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65587156000004 meters 0.03451186123339899 Centerline is valid? [True, True] Translation: X:199.34, Y:-32.03, Z:-8.73 [[ 9.69070879e-01 2.44115833e-01 3.61813848e-02 1.99342631e+02] [-2.43984503e-01 9.69745557e-01 -8.06954287e-03 -3.20296966e+01] [-3.70566403e-02 -1.00773820e-03 9.99312659e-01 -8.72777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68587156000004 meters 0.030799369417271166 Centerline is valid? [True, True] Translation: X:199.37, Y:-32.04, Z:-8.73 [[ 9.70125522e-01 2.39859822e-01 3.63831863e-02 1.99371054e+02] [-2.39724285e-01 9.70807155e-01 -8.10772672e-03 -3.20405348e+01] [-3.72657755e-02 -8.56420682e-04 9.99305023e-01 -8.72793456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71587156000004 meters 0.02721532196334254 Centerline is valid? [True, True] Translation: X:199.40, Y:-32.05, Z:-8.73 [[ 9.70716848e-01 2.37461552e-01 3.63429908e-02 1.99398860e+02] [-2.37324670e-01 9.71396637e-01 -8.09780257e-03 -3.20492999e+01] [-3.72263758e-02 -7.64414909e-04 9.99306566e-01 -8.73011019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74587156000004 meters 0.022676561767524778 Centerline is valid? [True, True] Translation: X:199.43, Y:-32.06, Z:-8.73 [[ 9.71307342e-01 2.35054488e-01 3.62137397e-02 1.99426192e+02] [-2.34916932e-01 9.71981964e-01 -8.06825865e-03 -3.20605511e+01] [-3.70955823e-02 -6.70461788e-04 9.99311497e-01 -8.73010609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77587156000004 meters 0.027722012175852084 Centerline is valid? [True, True] Translation: X:199.45, Y:-32.07, Z:-8.73 [[ 9.71843562e-01 2.32880165e-01 3.58736664e-02 1.99453812e+02] [-2.32743962e-01 9.72505261e-01 -7.98535755e-03 -3.20652503e+01] [-3.67469607e-02 -5.88860932e-04 9.99324429e-01 -8.73249977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80587156000004 meters 0.019389939983934113 Centerline is valid? [True, True] Translation: X:199.48, Y:-32.07, Z:-8.73 [[ 9.72670540e-01 2.29370510e-01 3.60719950e-02 1.99480947e+02] [-2.29230523e-01 9.73339075e-01 -8.02570644e-03 -3.20734840e+01] [-3.69511427e-02 -4.62434079e-04 9.99316966e-01 -8.73458798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83587156000002 meters 0.017886776888613162 Centerline is valid? [True, True] Translation: X:199.51, Y:-32.08, Z:-8.74 [[ 9.73049438e-01 2.27709461e-01 3.63757241e-02 1.99508932e+02] [-2.27565977e-01 9.73729038e-01 -8.09242293e-03 -3.20802020e+01] [-3.72628201e-02 -4.03549624e-04 9.99305418e-01 -8.73541667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86587156000002 meters 0.017602296697087606 Centerline is valid? [True, True] Translation: X:199.54, Y:-32.09, Z:-8.73 [[ 9.73403655e-01 2.26164338e-01 3.65378642e-02 1.99536436e+02] [-2.26018714e-01 9.74089097e-01 -8.12236902e-03 -3.20882954e+01] [-3.74281253e-02 -3.51897369e-04 9.99299260e-01 -8.73448124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89587156000002 meters 0.015493418800869262 Centerline is valid? [True, True] Translation: X:199.56, Y:-32.09, Z:-8.74 [[ 9.73731114e-01 2.24743418e-01 3.65802386e-02 1.99563632e+02] [-2.24596726e-01 9.74417930e-01 -8.12450358e-03 -3.20934219e+01] [-3.74703690e-02 -3.04719898e-04 9.99297693e-01 -8.73687403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92587156000002 meters 0.022305294250710216 Centerline is valid? [True, True] Translation: X:199.59, Y:-32.10, Z:-8.74 [[ 9.74348773e-01 2.22080464e-01 3.63969138e-02 1.99591400e+02] [-2.21933468e-01 9.75028321e-01 -8.08144112e-03 -3.21003420e+01] [-3.72827519e-02 -2.03551081e-04 9.99304736e-01 -8.73773455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95587156000002 meters 0.012604941120812126 Centerline is valid? [True, True] Translation: X:199.62, Y:-32.11, Z:-8.74 [[ 9.74648423e-01 2.20747915e-01 3.64802530e-02 1.99619063e+02] [-2.20599336e-01 9.75330885e-01 -8.09928150e-03 -3.21060635e+01] [-3.73682169e-02 -1.53567650e-04 9.99301552e-01 -8.73909311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98587156000002 meters 0.02168628907531624 Centerline is valid? [True, True] Translation: X:199.65, Y:-32.11, Z:-8.74 [[ 9.74967194e-01 2.19294612e-01 3.67266170e-02 1.99646022e+02] [-2.19143265e-01 9.75658681e-01 -8.14661046e-03 -3.21112601e+01] [-3.76191505e-02 -1.05712827e-04 9.99292144e-01 -8.74017193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01587156000002 meters 0.011566590447825317 Centerline is valid? [True, True] Translation: X:199.67, Y:-32.12, Z:-8.74 [[ 9.75696018e-01 2.16023006e-01 3.67605920e-02 1.99673574e+02] [-2.15869371e-01 9.76388273e-01 -8.14579771e-03 -3.21185107e+01] [-3.76522907e-02 1.23365063e-05 9.99290901e-01 -8.74158522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04587156000002 meters 0.011750546666752843 Centerline is valid? [True, True] Translation: X:199.70, Y:-32.13, Z:-8.74 [[ 9.76114134e-01 2.14161506e-01 3.65519673e-02 1.99701770e+02] [-2.14008372e-01 9.76798261e-01 -8.09778866e-03 -3.21262353e+01] [-3.74381327e-02 8.19389449e-05 9.99298944e-01 -8.74318303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07587156000002 meters 0.013545268545511193 Centerline is valid? [True, True] Translation: X:199.73, Y:-32.14, Z:-8.75 [[ 9.76957482e-01 2.10386505e-01 3.59387888e-02 1.99728029e+02] [-2.10235964e-01 9.77618264e-01 -7.96054317e-03 -3.21357131e+01] [-3.68092071e-02 2.21486323e-04 9.99322287e-01 -8.74614926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10587156000003 meters 0.014478327299732438 Centerline is valid? [True, True] Translation: X:199.76, Y:-32.14, Z:-8.75 [[ 9.77326368e-01 2.08749413e-01 3.54521311e-02 1.99756154e+02] [-2.08601975e-01 9.77969123e-01 -7.84917838e-03 -3.21428628e+01] [-3.63096009e-02 2.75824426e-04 9.99340551e-01 -8.74813532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13587156000003 meters 0.015525793184282016 Centerline is valid? [True, True] Translation: X:199.78, Y:-32.15, Z:-8.75 [[ 9.77610485e-01 2.07439779e-01 3.53054830e-02 1.99783415e+02] [-2.07292763e-01 9.78247737e-01 -7.81509612e-03 -3.21493405e+01] [-3.61586707e-02 3.21548767e-04 9.99346010e-01 -8.74953268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16587156000003 meters 0.01588847671586298 Centerline is valid? [True, True] Translation: X:199.81, Y:-32.15, Z:-8.75 [[ 9.77816382e-01 2.06480547e-01 3.52265106e-02 1.99811986e+02] [-2.06333646e-01 9.78450642e-01 -7.79538202e-03 -3.21548920e+01] [-3.60769966e-02 3.54037874e-04 9.99348951e-01 -8.75043544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19587156000003 meters 0.017002194441581322 Centerline is valid? [True, True] Translation: X:199.84, Y:-32.16, Z:-8.75 [[ 9.77967843e-01 2.05766837e-01 3.51981017e-02 1.99839249e+02] [-2.05619770e-01 9.78600974e-01 -7.78746543e-03 -3.21600383e+01] [-3.60472987e-02 3.78465205e-04 9.99350013e-01 -8.75247581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22587156000003 meters 0.016361923152160382 Centerline is valid? [True, True] Translation: X:199.87, Y:-32.16, Z:-8.75 [[ 9.77921262e-01 2.05968308e-01 3.53137697e-02 1.99867812e+02] [-2.05820486e-01 9.78558593e-01 -7.81076737e-03 -3.21634909e+01] [-3.61653633e-02 3.70018243e-04 9.99345751e-01 -8.75324819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25587156000003 meters 0.016534594775309698 Centerline is valid? [True, True] Translation: X:199.89, Y:-32.17, Z:-8.76 [[ 9.77901966e-01 2.06093520e-01 3.51170428e-02 1.99894554e+02] [-2.05947473e-01 9.78532232e-01 -7.76587019e-03 -3.21662110e+01] [-3.59636538e-02 3.61993518e-04 9.99353033e-01 -8.75549082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28587156000003 meters 0.01633988808320264 Centerline is valid? [True, True] Translation: X:199.92, Y:-32.17, Z:-8.76 [[ 9.77945566e-01 2.05939409e-01 3.48056115e-02 1.99922608e+02] [-2.05795959e-01 9.78564678e-01 -7.69374919e-03 -3.21707176e+01] [-3.56439882e-02 3.61213716e-04 9.99364486e-01 -8.75677001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31587156000003 meters 0.024281699743298923 Centerline is valid? [True, True] Translation: X:199.95, Y:-32.18, Z:-8.76 [[ 9.78005223e-01 2.05671626e-01 3.47126271e-02 1.99950053e+02] [-2.05528830e-01 9.78620992e-01 -7.67160633e-03 -3.21753134e+01] [-3.55483374e-02 3.68425425e-04 9.99367890e-01 -8.75749940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34587156000003 meters 0.017199181634425194 Centerline is valid? [True, True] Translation: X:199.98, Y:-32.18, Z:-8.76 [[ 9.78179189e-01 2.04816148e-01 3.48686162e-02 1.99979117e+02] [-2.04671602e-01 9.78800381e-01 -7.70383030e-03 -3.21789372e+01] [-3.57072837e-02 3.99110910e-04 9.99362212e-01 -8.75911087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37587156000004 meters 0.018292071151171888 Centerline is valid? [True, True] Translation: X:200.01, Y:-32.19, Z:-8.76 [[ 9.78307129e-01 2.04196858e-01 3.49113808e-02 2.00006481e+02] [-2.04051620e-01 9.78929756e-01 -7.71168424e-03 -3.21850756e+01] [-3.57504911e-02 4.20671873e-04 9.99360658e-01 -8.76136065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40587156000004 meters 0.018520440714960635 Centerline is valid? [True, True] Translation: X:200.03, Y:-32.19, Z:-8.76 [[ 9.78452233e-01 2.03486673e-01 3.49914407e-02 2.00034786e+02] [-2.03340394e-01 9.79077615e-01 -7.72712482e-03 -3.21904483e+01] [-3.58317032e-02 4.45449187e-04 9.99357739e-01 -8.76234419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43587156000004 meters 0.020496746873146048 Centerline is valid? [True, True] Translation: X:200.06, Y:-32.20, Z:-8.76 [[ 9.78842994e-01 2.01603249e-01 3.49645930e-02 2.00061309e+02] [-2.01456050e-01 9.79467134e-01 -7.71962229e-03 -3.21980741e+01] [-3.58029707e-02 5.12469387e-04 9.99358737e-01 -8.76384519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46587156000004 meters 0.02284205328173655 Centerline is valid? [True, True] Translation: X:200.09, Y:-32.21, Z:-8.77 [[ 9.79093406e-01 2.00351404e-01 3.51485109e-02 2.00087615e+02] [-2.00201922e-01 9.79723942e-01 -7.75809359e-03 -3.22070766e+01] [-3.59901826e-02 5.59098832e-04 9.99351987e-01 -8.76576395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49587156000004 meters 0.022285731186153075 Centerline is valid? [True, True] Translation: X:200.12, Y:-32.21, Z:-8.77 [[ 9.79340013e-01 1.99072290e-01 3.55438086e-02 2.00116320e+02] [-1.98918665e-01 9.79984617e-01 -7.84312004e-03 -3.22127739e+01] [-3.63937336e-02 6.10754326e-04 9.99337342e-01 -8.76502882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52587156000004 meters 0.02284652622821549 Centerline is valid? [True, True] Translation: X:200.14, Y:-32.22, Z:-8.76 [[ 9.79835476e-01 1.96440914e-01 3.65158547e-02 2.00143939e+02] [-1.96276996e-01 9.80515395e-01 -8.05614325e-03 -3.22194650e+01] [-3.73869138e-02 7.26472686e-04 9.99300601e-01 -8.76339779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55587156000004 meters 0.028188680006985704 Centerline is valid? [True, True] Translation: X:200.17, Y:-32.23, Z:-8.76 [[ 9.80115112e-01 1.95027643e-01 3.65866952e-02 2.00170316e+02] [-1.94862242e-01 9.80797437e-01 -8.06807406e-03 -3.22293542e+01] [-3.74576344e-02 7.78275849e-04 9.99297913e-01 -8.76429050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58587156000002 meters 0.028188680006985704 Centerline is valid? [True, True] Translation: X:200.20, Y:-32.24, Z:-8.77 [[ 9.80128566e-01 1.94959927e-01 3.65871613e-02 2.00197165e+02] [-1.94794558e-01 9.80810900e-01 -8.06595981e-03 -3.22351413e+01] [-3.74576255e-02 7.78697720e-04 9.99297913e-01 -8.76552894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61587156000002 meters 0.02857903912158687 Centerline is valid? [True, True] Translation: X:200.22, Y:-32.24, Z:-8.77 [[ 9.80338104e-01 1.93847369e-01 3.68835790e-02 2.00223269e+02] [-1.93678627e-01 9.81031353e-01 -8.12852322e-03 -3.22441970e+01] [-3.77596403e-02 8.25140105e-04 9.99286510e-01 -8.76776940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64587156000002 meters 0.0337303886417434 Centerline is valid? [True, True] Translation: X:200.25, Y:-32.25, Z:-8.77 [[ 9.80566272e-01 1.92736023e-01 3.66416699e-02 2.00251579e+02] [-1.92568794e-01 9.81250267e-01 -8.07303524e-03 -3.22476719e+01] [-3.75106131e-02 8.60103883e-04 9.99295859e-01 -8.76666501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67587156000002 meters 0.03503016591494973 Centerline is valid? [True, True] Translation: X:200.28, Y:-32.25, Z:-8.77 [[ 9.80741146e-01 1.91913950e-01 3.62745063e-02 2.00280297e+02] [-1.91749580e-01 9.81411362e-01 -7.98986868e-03 -3.22520362e+01] [-3.71335799e-02 8.80371628e-04 9.99309923e-01 -8.76752256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70587156000002 meters 0.028318566753373797 Centerline is valid? [True, True] Translation: X:200.31, Y:-32.26, Z:-8.77 [[ 9.80767185e-01 1.91779165e-01 3.62833517e-02 2.00305935e+02] [-1.91614680e-01 9.81437706e-01 -7.99027848e-03 -3.22607652e+01] [-3.71422184e-02 8.84180119e-04 9.99309599e-01 -8.77147009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73587156000002 meters 0.028935522771031327 Centerline is valid? [True, True] Translation: X:200.33, Y:-32.27, Z:-8.77 [[ 9.80734794e-01 1.91927789e-01 3.63729096e-02 2.00332985e+02] [-1.91762711e-01 9.81408658e-01 -8.00680744e-03 -3.22677904e+01] [-3.72334172e-02 8.77586892e-04 9.99306211e-01 -8.77337143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76587156000002 meters 0.026570419958132155 Centerline is valid? [True, True] Translation: X:200.36, Y:-32.27, Z:-8.77 [[ 9.80578543e-01 1.92773371e-01 3.61129996e-02 2.00362029e+02] [-1.92611344e-01 9.81242951e-01 -7.94616067e-03 -3.22701884e+01] [-3.69674344e-02 8.36061256e-04 9.99316121e-01 -8.77412274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79587156000002 meters 0.027769627105705828 Centerline is valid? [True, True] Translation: X:200.39, Y:-32.28, Z:-8.78 [[ 9.80566739e-01 1.92906735e-01 3.57191991e-02 2.00388412e+02] [-1.92748365e-01 9.81216754e-01 -7.85807922e-03 -3.22772893e+01] [-3.65641530e-02 8.20553881e-04 9.99330971e-01 -8.77657727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82587156000002 meters 0.025534677544658775 Centerline is valid? [True, True] Translation: X:200.42, Y:-32.28, Z:-8.78 [[ 9.80538158e-01 1.93047521e-01 3.57431941e-02 2.00416775e+02] [-1.92889155e-01 9.81189072e-01 -7.85998668e-03 -3.22806637e+01] [-3.65881824e-02 8.12542346e-04 9.99330098e-01 -8.77700863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85587156000003 meters 0.029620132255574264 Centerline is valid? [True, True] Translation: X:200.44, Y:-32.29, Z:-8.78 [[ 9.80721226e-01 1.92196033e-01 3.53066837e-02 2.00442475e+02] [-1.92041021e-01 9.81356200e-01 -7.76236314e-03 -3.22925997e+01] [-3.61403284e-02 8.32382716e-04 9.99346378e-01 -8.78058539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88587156000003 meters 0.030240418081403313 Centerline is valid? [True, True] Translation: X:200.47, Y:-32.30, Z:-8.78 [[ 9.80882383e-01 1.91301878e-01 3.56839204e-02 2.00469822e+02] [-1.91143026e-01 9.81530861e-01 -7.84301775e-03 -3.23001127e+01] [-3.65252531e-02 8.72345417e-04 9.99332350e-01 -8.78122538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91587156000003 meters 0.032063894557739454 Centerline is valid? [True, True] Translation: X:200.50, Y:-32.31, Z:-8.78 [[ 9.81086934e-01 1.90280129e-01 3.55232449e-02 2.00498492e+02] [-1.90122115e-01 9.81729421e-01 -7.80552648e-03 -3.23057044e+01] [-3.63594512e-02 9.04145586e-04 9.99338368e-01 -8.78056756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94587156000003 meters 0.031659879581836005 Centerline is valid? [True, True] Translation: X:200.52, Y:-32.32, Z:-8.78 [[ 9.81407715e-01 1.88515747e-01 3.60653581e-02 2.00523739e+02] [-1.88351741e-01 9.82069675e-01 -7.92302351e-03 -3.23178519e+01] [-3.69123092e-02 9.82743395e-04 9.99318025e-01 -8.78285875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97587156000003 meters 0.031920193842839985 Centerline is valid? [True, True] Translation: X:200.55, Y:-32.33, Z:-8.78 [[ 9.81519208e-01 1.87924433e-01 3.61172056e-02 2.00551486e+02] [-1.87759660e-01 9.82182977e-01 -7.93158001e-03 -3.23252172e+01] [-3.69642422e-02 1.00364389e-03 9.99316085e-01 -8.78382966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00587156000003 meters 0.03229519665248898 Centerline is valid? [True, True] Translation: X:200.58, Y:-32.33, Z:-8.79 [[ 9.81769560e-01 1.86676379e-01 3.57835220e-02 2.00578810e+02] [-1.86513872e-01 9.82420913e-01 -7.85659499e-03 -3.23340505e+01] [-3.66211211e-02 1.03924256e-03 9.99328681e-01 -8.78547543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03587156000003 meters 0.03354470813041079 Centerline is valid? [True, True] Translation: X:200.60, Y:-32.34, Z:-8.79 [[ 9.81912444e-01 1.85957582e-01 3.56052030e-02 2.00604918e+02] [-1.85796278e-01 9.82557202e-01 -7.81581113e-03 -3.23426700e+01] [-3.64375580e-02 1.05912801e-03 9.99335370e-01 -8.78732632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06587156000003 meters 0.04260726973288886 Centerline is valid? [True, True] Translation: X:200.63, Y:-32.35, Z:-8.79 [[ 9.82056691e-01 1.85261588e-01 3.52533661e-02 2.00631198e+02] [-1.85103087e-01 9.82688656e-01 -7.73645305e-03 -3.23515279e+01] [-3.60763505e-02 1.07212858e-03 9.99348461e-01 -8.78768550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09587156000003 meters 0.043717310396910736 Centerline is valid? [True, True] Translation: X:200.66, Y:-32.36, Z:-8.79 [[ 9.82195262e-01 1.84500735e-01 3.53828560e-02 2.00659271e+02] [-1.84340655e-01 9.82831758e-01 -7.76263386e-03 -3.23597897e+01] [-3.62076062e-02 1.10192335e-03 9.99343682e-01 -8.78911956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12587156000004 meters 0.037735578209021375 Centerline is valid? [True, True] Translation: X:200.68, Y:-32.37, Z:-8.79 [[ 9.82483392e-01 1.82892635e-01 3.57305036e-02 2.00684417e+02] [-1.82728390e-01 9.83132195e-01 -7.83725807e-03 -3.23731647e+01] [-3.65611852e-02 1.17099850e-03 9.99330730e-01 -8.79125359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15587156000004 meters 0.040465580141118215 Centerline is valid? [True, True] Translation: X:200.71, Y:-32.38, Z:-8.79 [[ 9.82586232e-01 1.82251397e-01 3.61762930e-02 2.00710331e+02] [-1.82082674e-01 9.83251224e-01 -7.93283871e-03 -3.23846707e+01] [-3.70161553e-02 1.20762196e-03 9.99313938e-01 -8.79196964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18587156000004 meters 0.03837226341549799 Centerline is valid? [True, True] Translation: X:200.74, Y:-32.39, Z:-8.79 [[ 9.82642229e-01 1.81886112e-01 3.64923667e-02 2.00738557e+02] [-1.81714259e-01 9.83318834e-01 -7.99988297e-03 -3.23902105e+01] [-3.73386991e-02 1.22983943e-03 9.99301911e-01 -8.79169779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21587156000004 meters 0.04057821223448295 Centerline is valid? [True, True] Translation: X:200.77, Y:-32.40, Z:-8.79 [[ 9.82702414e-01 1.81601185e-01 3.62901631e-02 2.00766084e+02] [-1.81431102e-01 9.83371492e-01 -7.95384051e-03 -3.23978514e+01] [-3.71311387e-02 1.23209396e-03 9.99309642e-01 -8.79149170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24587156000004 meters 0.0383340396435719 Centerline is valid? [True, True] Translation: X:200.79, Y:-32.41, Z:-8.79 [[ 9.82566245e-01 1.82184880e-01 3.70437981e-02 2.00792384e+02] [-1.82008137e-01 9.83263519e-01 -8.11727561e-03 -3.24079602e+01] [-3.79026602e-02 1.23348835e-03 9.99280675e-01 -8.79274407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27587156000004 meters 0.037413883910217834 Centerline is valid? [True, True] Translation: X:200.82, Y:-32.41, Z:-8.79 [[ 9.82364267e-01 1.83255136e-01 3.71214438e-02 2.00820600e+02] [-1.83078502e-01 9.83064664e-01 -8.13197778e-03 -3.24147045e+01] [-3.79830064e-02 1.19242609e-03 9.99277674e-01 -8.79354215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30587156000004 meters 0.031887688755312976 Centerline is valid? [True, True] Translation: X:200.85, Y:-32.42, Z:-8.79 [[ 9.81711966e-01 1.86627225e-01 3.75751813e-02 2.00850367e+02] [-1.86448787e-01 9.82430215e-01 -8.22935161e-03 -3.24183814e+01] [-3.84508145e-02 1.07300600e-03 9.99259918e-01 -8.79358337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33587156000002 meters 0.03592958515425078 Centerline is valid? [True, True] Translation: X:200.88, Y:-32.43, Z:-8.79 [[ 9.81330163e-01 1.88614535e-01 3.76253774e-02 2.00877818e+02] [-1.88437088e-01 9.82050693e-01 -8.24011764e-03 -3.24251523e+01] [-3.85042339e-02 9.96259443e-04 9.99257940e-01 -8.79323297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36587156000002 meters 0.03050534233764623 Centerline is valid? [True, True] Translation: X:200.90, Y:-32.43, Z:-8.80 [[ 9.80948363e-01 1.90524470e-01 3.79570129e-02 2.00904969e+02] [-1.90345379e-01 9.81682009e-01 -8.31087519e-03 -3.24332661e+01] [-3.88451418e-02 9.27597405e-04 9.99244812e-01 -8.79608749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39587156000002 meters 0.02726887964760183 Centerline is valid? [True, True] Translation: X:200.93, Y:-32.44, Z:-8.80 [[ 9.80673854e-01 1.91866575e-01 3.82885104e-02 2.00933632e+02] [-1.91685435e-01 9.81420625e-01 -8.38159817e-03 -3.24371968e+01] [-3.91852823e-02 8.80264395e-04 9.99231574e-01 -8.79649383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42587156000002 meters 0.027423326371132605 Centerline is valid? [True, True] Translation: X:200.96, Y:-32.45, Z:-8.80 [[ 9.80374747e-01 1.93415584e-01 3.81545246e-02 2.00959499e+02] [-1.93236951e-01 9.81116583e-01 -8.35050524e-03 -3.24479800e+01] [-3.90491546e-02 8.13760460e-04 9.99236960e-01 -8.79857002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45587156000002 meters 0.027874982338881613 Centerline is valid? [True, True] Translation: X:200.99, Y:-32.46, Z:-8.80 [[ 9.80406345e-01 1.93293547e-01 3.79605431e-02 2.00986265e+02] [-1.93116726e-01 9.81140635e-01 -8.30572521e-03 -3.24570214e+01] [-3.88500744e-02 8.12169891e-04 9.99244721e-01 -8.80080375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48587156000002 meters 0.02526954754950664 Centerline is valid? [True, True] Translation: X:201.01, Y:-32.46, Z:-8.80 [[ 9.80584805e-01 1.92458580e-01 3.75916933e-02 2.01013540e+02] [-1.92284648e-01 9.81304743e-01 -8.22290178e-03 -3.24649174e+01] [-3.84714749e-02 8.34947022e-04 9.99259350e-01 -8.80178828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51587156000002 meters 0.027237507129639404 Centerline is valid? [True, True] Translation: X:201.04, Y:-32.48, Z:-8.80 [[ 9.80657003e-01 1.92080605e-01 3.76415190e-02 2.01039873e+02] [-1.91906028e-01 9.81378786e-01 -8.23136481e-03 -3.24762823e+01] [-3.85216738e-02 8.48511132e-04 9.99257405e-01 -8.80377510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54587156000002 meters 0.0384993829318845 Centerline is valid? [True, True] Translation: X:201.07, Y:-32.49, Z:-8.80 [[ 9.80725476e-01 1.91729321e-01 3.76484797e-02 2.01066238e+02] [-1.91554488e-01 9.81447465e-01 -8.23112204e-03 -3.24859586e+01] [-3.85281524e-02 8.60735820e-04 9.99257144e-01 -8.80348520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57587156000002 meters 0.027688217391078428 Centerline is valid? [True, True] Translation: X:201.09, Y:-32.49, Z:-8.81 [[ 9.80843317e-01 1.91089359e-01 3.78317791e-02 2.01093943e+02] [-1.90912445e-01 9.81572243e-01 -8.26857479e-03 -3.24949357e+01] [-3.87146610e-02 8.87618865e-04 9.99249912e-01 -8.80563674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60587156000003 meters 0.028393330975185527 Centerline is valid? [True, True] Translation: X:201.12, Y:-32.51, Z:-8.81 [[ 9.80928327e-01 1.90683759e-01 3.76738921e-02 2.01119333e+02] [-1.90508089e-01 9.81651108e-01 -8.23231069e-03 -3.25076111e+01] [-3.85523859e-02 8.98125576e-04 9.99256177e-01 -8.80709463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63587156000003 meters 0.02925237336787341 Centerline is valid? [True, True] Translation: X:201.15, Y:-32.52, Z:-8.81 [[ 9.80937880e-01 1.90681549e-01 3.74355675e-02 2.01146858e+02] [-1.90508186e-01 9.81651544e-01 -8.17781729e-03 -3.25176543e+01] [-3.83080416e-02 8.90148696e-04 9.99265581e-01 -8.80862268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66587156000003 meters 0.02801011077045231 Centerline is valid? [True, True] Translation: X:201.18, Y:-32.53, Z:-8.81 [[ 9.80924858e-01 1.90757408e-01 3.73902844e-02 2.01175110e+02] [-1.90584574e-01 9.81636811e-01 -8.16649810e-03 -3.25251908e+01] [-3.82614995e-02 8.84709586e-04 9.99267369e-01 -8.80995166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69587156000003 meters 0.027208044982667594 Centerline is valid? [True, True] Translation: X:201.20, Y:-32.54, Z:-8.81 [[ 9.80794656e-01 1.91410899e-01 3.74661383e-02 2.01203015e+02] [-1.91237874e-01 9.81509617e-01 -8.18215164e-03 -3.25363107e+01] [-3.83395280e-02 8.60065983e-04 9.99264400e-01 -8.81083227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72587156000003 meters 0.02672484254704113 Centerline is valid? [True, True] Translation: X:201.23, Y:-32.54, Z:-8.81 [[ 9.80655578e-01 1.92071168e-01 3.77266859e-02 2.01231358e+02] [-1.91896251e-01 9.81380641e-01 -8.23812620e-03 -3.25448301e+01] [-3.86065457e-02 8.39154837e-04 9.99254137e-01 -8.81163535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75587156000003 meters 0.024930145364613892 Centerline is valid? [True, True] Translation: X:201.26, Y:-32.56, Z:-8.81 [[ 9.80269292e-01 1.93993003e-01 3.79319048e-02 2.01259079e+02] [-1.93817650e-01 9.81002613e-01 -8.28200963e-03 -3.25551705e+01] [-3.88179497e-02 7.66727079e-04 9.99246005e-01 -8.81295376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78587156000003 meters 0.024270894797971163 Centerline is valid? [True, True] Translation: X:201.29, Y:-32.56, Z:-8.81 [[ 9.80040966e-01 1.95202468e-01 3.76258119e-02 2.01286138e+02] [-1.95030857e-01 9.80762708e-01 -8.21434633e-03 -3.25636794e+01] [-3.85054538e-02 7.12201575e-04 9.99258136e-01 -8.81484774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81587156000003 meters 0.023358139989024834 Centerline is valid? [True, True] Translation: X:201.31, Y:-32.57, Z:-8.82 [[ 9.79813197e-01 1.96374672e-01 3.74578177e-02 2.01313560e+02] [-1.96205499e-01 9.80528709e-01 -8.17631575e-03 -3.25713659e+01] [-3.83340870e-02 6.61832265e-04 9.99264760e-01 -8.81654325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84587156000003 meters 0.020883748713415123 Centerline is valid? [True, True] Translation: X:201.34, Y:-32.58, Z:-8.82 [[ 9.79276647e-01 1.99224480e-01 3.64260352e-02 2.01340597e+02] [-1.99066518e-01 9.79953734e-01 -7.94982406e-03 -3.25794519e+01] [-3.72796288e-02 5.33873041e-04 9.99304730e-01 -8.82001493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87587156000004 meters 0.019321260736530416 Centerline is valid? [True, True] Translation: X:201.37, Y:-32.59, Z:-8.82 [[ 9.79003770e-01 2.00590428e-01 3.62642841e-02 2.01368709e+02] [-2.00434847e-01 9.79675074e-01 -7.91331874e-03 -3.25863609e+01] [-3.71145512e-02 4.78542637e-04 9.99310903e-01 -8.82142247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90587156000004 meters 0.017739350375029807 Centerline is valid? [True, True] Translation: X:201.40, Y:-32.59, Z:-8.82 [[ 9.78650255e-01 2.02332948e-01 3.61255662e-02 2.01397040e+02] [-2.02179807e-01 9.79316706e-01 -7.88130790e-03 -3.25931461e+01] [-3.69730187e-02 4.09184004e-04 9.99316180e-01 -8.82245980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93587156000004 meters 0.014954147482639745 Centerline is valid? [True, True] Translation: X:201.42, Y:-32.60, Z:-8.82 [[ 9.77864168e-01 2.05997235e-01 3.66988875e-02 2.01424624e+02] [-2.05841837e-01 9.78552535e-01 -8.00458368e-03 -3.25988857e+01] [-3.75607115e-02 2.73229130e-04 9.99294310e-01 -8.82294305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96587156000004 meters 0.013406981942764589 Centerline is valid? [True, True] Translation: X:201.45, Y:-32.60, Z:-8.82 [[ 9.77371360e-01 2.08287221e-01 3.69006405e-02 2.01453495e+02] [-2.08131811e-01 9.78067687e-01 -8.04672178e-03 -3.26042041e+01] [-3.77673534e-02 1.84438269e-04 9.99286542e-01 -8.82385415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99587156000004 meters 0.023557039488433327 Centerline is valid? [True, True] Translation: X:201.48, Y:-32.61, Z:-8.82 [[ 9.76850859e-01 2.10701390e-01 3.69773522e-02 2.01480539e+02] [-2.10547104e-01 9.77550467e-01 -8.06229396e-03 -3.26097028e+01] [-3.78459645e-02 9.01843444e-05 9.99283581e-01 -8.82390685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02587156000004 meters 0.017295866326896413 Centerline is valid? [True, True] Translation: X:201.51, Y:-32.61, Z:-8.83 [[ 9.75669767e-01 2.16134157e-01 3.68039725e-02 2.01509714e+02] [-2.15985269e-01 9.76363668e-01 -8.02197892e-03 -3.26115832e+01] [-3.76678852e-02 -1.22313616e-04 9.99290306e-01 -8.82524471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05587156000004 meters 0.014201775535588771 Centerline is valid? [True, True] Translation: X:201.54, Y:-32.61, Z:-8.83 [[ 9.75010103e-01 2.19115695e-01 3.66552945e-02 2.01538582e+02] [-2.18970158e-01 9.75698855e-01 -7.98836560e-03 -3.26148231e+01] [-3.75149052e-02 -2.37678477e-04 9.99296040e-01 -8.82758604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08587156000004 meters 0.01706235543283307 Centerline is valid? [True, True] Translation: X:201.57, Y:-32.62, Z:-8.83 [[ 9.74307817e-01 2.22247634e-01 3.64728092e-02 2.01566900e+02] [-2.22105800e-01 9.74990185e-01 -7.94688689e-03 -3.26162912e+01] [-3.73268078e-02 -3.58108426e-04 9.99303048e-01 -8.83018845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11587156000002 meters 0.022583711768404534 Centerline is valid? [True, True] Translation: X:201.60, Y:-32.62, Z:-8.83 [[ 9.72815344e-01 2.28759357e-01 3.60480763e-02 2.01596993e+02] [-2.28625361e-01 9.73482816e-01 -7.85185340e-03 -3.26167289e+01] [-3.68883677e-02 -6.03100997e-04 9.99319211e-01 -8.83098686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14587156000002 meters 0.027465145744421018 Centerline is valid? [True, True] Translation: X:201.63, Y:-32.62, Z:-8.83 [[ 9.72083179e-01 2.31855269e-01 3.60198262e-02 2.01626379e+02] [-2.31723635e-01 9.72750027e-01 -7.84490792e-03 -3.26164714e+01] [-3.68571702e-02 -7.20742019e-04 9.99320284e-01 -8.83289109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17587156000002 meters 0.029443899186654826 Centerline is valid? [True, True] Translation: X:201.66, Y:-32.62, Z:-8.83 [[ 9.71439761e-01 2.34521539e-01 3.61170135e-02 2.01655458e+02] [-2.34391082e-01 9.72110573e-01 -7.86474075e-03 -3.26197353e+01] [-3.69541818e-02 -8.25384017e-04 9.99316620e-01 -8.83344077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20587156000002 meters 0.033461378420423626 Centerline is valid? [True, True] Translation: X:201.69, Y:-32.62, Z:-8.83 [[ 9.70395946e-01 2.38741924e-01 3.65239775e-02 2.01685318e+02] [-2.38611544e-01 9.71082539e-01 -7.95201370e-03 -3.26203713e+01] [-3.73662759e-02 -9.98440800e-04 9.99301138e-01 -8.83359292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23587156000002 meters 0.033088950365079445 Centerline is valid? [True, True] Translation: X:201.71, Y:-32.63, Z:-8.83 [[ 9.70087966e-01 2.39907955e-01 3.70609201e-02 2.01713206e+02] [-2.39774611e-01 9.70795060e-01 -8.06762558e-03 -3.26264218e+01] [-3.79140458e-02 -1.05996121e-03 9.99280442e-01 -8.83354068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26587156000002 meters 0.03624752306346184 Centerline is valid? [True, True] Translation: X:201.74, Y:-32.63, Z:-8.83 [[ 9.69861642e-01 2.40754817e-01 3.74901897e-02 2.01741814e+02] [-2.40619067e-01 9.70585335e-01 -8.15923917e-03 -3.26271207e+01] [-3.83518045e-02 -1.10752136e-03 9.99263685e-01 -8.83448669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29587156000002 meters 0.03515193091844251 Centerline is valid? [True, True] Translation: X:201.77, Y:-32.63, Z:-8.83 [[ 9.69815413e-01 2.40820137e-01 3.82586853e-02 2.01768959e+02] [-2.40678907e-01 9.70569097e-01 -8.32411209e-03 -3.26325312e+01] [-3.91373115e-02 -1.13520635e-03 9.99233197e-01 -8.83397448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32587156000002 meters 0.03939603378089715 Centerline is valid? [True, True] Translation: X:201.80, Y:-32.64, Z:-8.83 [[ 9.69963137e-01 2.40249949e-01 3.80982285e-02 2.01796630e+02] [-2.40109576e-01 9.70710425e-01 -8.28626574e-03 -3.26389537e+01] [-3.89731225e-02 -1.11037719e-03 9.99239642e-01 -8.83387096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35587156000003 meters 0.038729564197502425 Centerline is valid? [True, True] Translation: X:201.82, Y:-32.65, Z:-8.83 [[ 9.70290295e-01 2.38944425e-01 3.79777026e-02 2.01824509e+02] [-2.38804012e-01 9.71032670e-01 -8.25820511e-03 -3.26479508e+01] [-3.88508420e-02 -1.05637149e-03 9.99244463e-01 -8.83489764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38587156000003 meters 0.030386766196863292 Centerline is valid? [True, True] Translation: X:201.85, Y:-32.66, Z:-8.84 [[ 9.70706689e-01 2.37223311e-01 3.81264198e-02 2.01852018e+02] [-2.37080543e-01 9.71454638e-01 -8.28865146e-03 -3.26578039e+01] [-3.90043487e-02 -9.93182902e-04 9.99238547e-01 -8.83753819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41587156000003 meters 0.03763143782937126 Centerline is valid? [True, True] Translation: X:201.88, Y:-32.67, Z:-8.84 [[ 9.71819520e-01 2.32571399e-01 3.84364950e-02 2.01879874e+02] [-2.32422742e-01 9.72578984e-01 -8.35396999e-03 -3.26665027e+01] [-3.93254218e-02 -8.14964442e-04 9.99226124e-01 -8.83765640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44587156000003 meters 0.025264161518286643 Centerline is valid? [True, True] Translation: X:201.91, Y:-32.68, Z:-8.84 [[ 9.72541900e-01 2.29503170e-01 3.86075978e-02 2.01905737e+02] [-2.29350800e-01 9.73307666e-01 -8.39036819e-03 -3.26765446e+01] [-3.95026870e-02 -6.94698820e-04 9.99219223e-01 -8.84048050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47587156000003 meters 0.025264161518286643 Centerline is valid? [True, True] Translation: X:201.93, Y:-32.68, Z:-8.84 [[ 9.72557241e-01 2.29438077e-01 3.86080557e-02 2.01932609e+02] [-2.29285739e-01 9.73323013e-01 -8.38826043e-03 -3.26822416e+01] [-3.95026954e-02 -6.94213178e-04 9.99219223e-01 -8.84171890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50587156000003 meters 0.02079976645307863 Centerline is valid? [True, True] Translation: X:201.96, Y:-32.70, Z:-8.84 [[ 9.73270672e-01 2.26439974e-01 3.83293190e-02 2.01958882e+02] [-2.26287613e-01 9.74024955e-01 -8.32491651e-03 -3.26951878e+01] [-3.92188070e-02 -5.71053000e-04 9.99230483e-01 -8.84289558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53587156000003 meters 0.019373430405827615 Centerline is valid? [True, True] Translation: X:201.99, Y:-32.71, Z:-8.84 [[ 9.74073396e-01 2.23059200e-01 3.77572876e-02 2.01986496e+02] [-2.22908886e-01 9.74804805e-01 -8.19878925e-03 -3.27065483e+01] [-3.86348007e-02 -4.30212431e-04 9.99253305e-01 -8.84388265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56587156000003 meters 0.012703360989950088 Centerline is valid? [True, True] Translation: X:202.01, Y:-32.72, Z:-8.85 [[ 9.75617982e-01 2.16279577e-01 3.73188607e-02 2.02012669e+02] [-2.16127818e-01 9.76331459e-01 -8.10232689e-03 -3.27224580e+01] [-3.81879456e-02 -1.60868136e-04 9.99270561e-01 -8.84636111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59587156000003 meters 0.012128845706271128 Centerline is valid? [True, True] Translation: X:202.04, Y:-32.73, Z:-8.85 [[ 9.76400339e-01 2.12739966e-01 3.72032953e-02 2.02038816e+02] [-2.12586644e-01 9.77108851e-01 -8.07541063e-03 -3.27328373e+01] [-3.80696317e-02 -2.40900220e-05 9.99275089e-01 -8.84937853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62587156000004 meters 0.0177714270459978 Centerline is valid? [True, True] Translation: X:202.07, Y:-32.75, Z:-8.85 [[ 9.77807132e-01 2.06070641e-01 3.77902493e-02 2.02065786e+02] [-2.05907560e-01 9.78537089e-01 -8.20011892e-03 -3.27502860e+01] [-3.86689643e-02 2.36836726e-04 9.99252048e-01 -8.84712421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65587156000004 meters 0.015538616282963819 Centerline is valid? [True, True] Translation: X:202.10, Y:-32.76, Z:-8.85 [[ 9.78477082e-01 2.02877479e-01 3.77270193e-02 2.02095193e+02] [-2.02712618e-01 9.79204064e-01 -8.18512051e-03 -3.27619036e+01] [-3.86030272e-02 3.61209967e-04 9.99254560e-01 -8.85005392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68587156000004 meters 0.019599456418538278 Centerline is valid? [True, True] Translation: X:202.12, Y:-32.78, Z:-8.85 [[ 9.79041093e-01 2.00196486e-01 3.74153073e-02 2.02124449e+02] [-2.00032380e-01 9.79755660e-01 -8.11752156e-03 -3.27753187e+01] [-3.82829583e-02 4.63114205e-04 9.99266832e-01 -8.85307666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71587156000004 meters 0.023525294486739987 Centerline is valid? [True, True] Translation: X:202.15, Y:-32.79, Z:-8.85 [[ 9.80094347e-01 1.94944339e-01 3.75735901e-02 2.02153747e+02] [-1.94774708e-01 9.80814072e-01 -8.15895968e-03 -3.27891774e+01] [-3.84432489e-02 6.78165230e-04 9.99260555e-01 -8.85306491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74587156000004 meters 0.024537256416201175 Centerline is valid? [True, True] Translation: X:202.18, Y:-32.80, Z:-8.85 [[ 9.80479028e-01 1.92892617e-01 3.81223656e-02 2.02184865e+02] [-1.92716440e-01 9.81219571e-01 -8.27818048e-03 -3.27983472e+01] [-3.90032111e-02 7.69775789e-04 9.99238789e-01 -8.85297634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77587156000004 meters 0.03533739471096021 Centerline is valid? [True, True] Translation: X:202.21, Y:-32.81, Z:-8.85 [[ 9.80848249e-01 1.91044706e-01 3.79293150e-02 2.02213978e+02] [-1.90868637e-01 9.81580972e-01 -8.24375019e-03 -3.28086747e+01] [-3.88056187e-02 8.46351289e-04 9.99246420e-01 -8.85233047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80587156000004 meters 0.029859258273761395 Centerline is valid? [True, True] Translation: X:202.24, Y:-32.82, Z:-8.86 [[ 9.81442641e-01 1.87932582e-01 3.81010174e-02 2.02243105e+02] [-1.87752564e-01 9.82181448e-01 -8.28122487e-03 -3.28226686e+01] [-3.89784244e-02 9.73983492e-04 9.99239578e-01 -8.85535368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83587156000004 meters 0.03228992750996358 Centerline is valid? [True, True] Translation: X:202.27, Y:-32.83, Z:-8.86 [[ 9.81634252e-01 1.86963168e-01 3.79337394e-02 2.02272496e+02] [-1.86783769e-01 9.82366401e-01 -8.25093210e-03 -3.28344713e+01] [-3.88074514e-02 1.01399075e-03 9.99246193e-01 -8.85727303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86587156000002 meters 0.03496841462636762 Centerline is valid? [True, True] Translation: X:202.30, Y:-32.84, Z:-8.86 [[ 9.81762785e-01 1.86369368e-01 3.75272314e-02 2.02303566e+02] [-1.86193139e-01 9.82479208e-01 -8.16833403e-03 -3.28430126e+01] [-3.83920518e-02 1.03205336e-03 9.99262220e-01 -8.85743341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89587156000002 meters 0.03420613201037 Centerline is valid? [True, True] Translation: X:202.33, Y:-32.86, Z:-8.86 [[ 9.82031477e-01 1.84999593e-01 3.72737097e-02 2.02332224e+02] [-1.84824471e-01 9.82737998e-01 -8.12050984e-03 -3.28555247e+01] [-3.81325819e-02 1.08550259e-03 9.99272099e-01 -8.86114802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92587156000002 meters 0.03496276817315876 Centerline is valid? [True, True] Translation: X:202.36, Y:-32.87, Z:-8.86 [[ 9.82089366e-01 1.84758573e-01 3.69424761e-02 2.02362616e+02] [-1.84586385e-01 9.82783340e-01 -8.04822338e-03 -3.28652084e+01] [-3.77934283e-02 1.08499647e-03 9.99284984e-01 -8.86284942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95587156000002 meters 0.03322256922153543 Centerline is valid? [True, True] Translation: X:202.39, Y:-32.87, Z:-8.86 [[ 9.82097675e-01 1.84742819e-01 3.68001035e-02 2.02394738e+02] [-1.84571720e-01 9.82786299e-01 -8.02318536e-03 -3.28720130e+01] [-3.76488634e-02 1.08729330e-03 9.99290439e-01 -8.86371411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98587156000002 meters 0.03467930640115298 Centerline is valid? [True, True] Translation: X:202.42, Y:-32.88, Z:-8.87 [[ 9.81955505e-01 1.85555659e-01 3.65032007e-02 2.02423377e+02] [-1.85387572e-01 9.82633189e-01 -7.96645679e-03 -3.28849762e+01] [-3.73474776e-02 1.05546635e-03 9.99301782e-01 -8.86549048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01587156000002 meters 0.03405100437326454 Centerline is valid? [True, True] Translation: X:202.45, Y:-32.89, Z:-8.87 [[ 9.81728307e-01 1.86768306e-01 3.64298110e-02 2.02453585e+02] [-1.86601609e-01 9.82403470e-01 -7.95366358e-03 -3.28933364e+01] [-3.72742650e-02 1.01047533e-03 9.99304562e-01 -8.86706632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04587156000002 meters 0.03262798868726434 Centerline is valid? [True, True] Translation: X:202.48, Y:-32.90, Z:-8.87 [[ 9.81381109e-01 1.88599163e-01 3.63520862e-02 2.02484178e+02] [-1.88434221e-01 9.82053697e-01 -7.94233870e-03 -3.29007032e+01] [-3.71976191e-02 9.44484125e-04 9.99307483e-01 -8.86866648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07587156000002 meters 0.02758412272262818 Centerline is valid? [True, True] Translation: X:202.51, Y:-32.90, Z:-8.87 [[ 9.80467772e-01 1.93342809e-01 3.60763939e-02 2.02514553e+02] [-1.93183315e-01 9.81130966e-01 -7.88886622e-03 -3.29047784e+01] [-3.69209228e-02 7.65421705e-04 9.99317897e-01 -8.87007630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10587156000003 meters 0.022373989076384722 Centerline is valid? [True, True] Translation: X:202.55, Y:-32.91, Z:-8.87 [[ 9.79875658e-01 1.96328772e-01 3.60375889e-02 2.02546788e+02] [-1.96171650e-01 9.80537908e-01 -7.88007749e-03 -3.29061707e+01] [-3.68833080e-02 6.51942850e-04 9.99319367e-01 -8.87014961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13587156000003 meters 0.021437270096170035 Centerline is valid? [True, True] Translation: X:202.58, Y:-32.91, Z:-8.87 [[ 9.79158708e-01 1.99899647e-01 3.58936720e-02 2.02576809e+02] [-1.99746162e-01 9.79816240e-01 -7.84894775e-03 -3.29126463e+01] [-3.67382046e-02 5.15742329e-04 9.99324791e-01 -8.87329032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16587156000003 meters 0.014075028294582634 Centerline is valid? [True, True] Translation: X:202.61, Y:-32.91, Z:-8.87 [[ 9.77490317e-01 2.07827464e-01 3.63376669e-02 2.02610510e+02] [-2.07675364e-01 9.78165474e-01 -7.95297215e-03 -3.29086401e+01] [-3.71970972e-02 2.27515062e-04 9.99307923e-01 -8.87294297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19587156000003 meters 0.012150076658523672 Centerline is valid? [True, True] Translation: X:202.64, Y:-32.91, Z:-8.87 [[ 9.76563130e-01 2.12056532e-01 3.68304306e-02 2.02641944e+02] [-2.11903204e-01 9.77257398e-01 -8.06285326e-03 -3.29098827e+01] [-3.77025915e-02 6.93989714e-05 9.99289002e-01 -8.87279040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22587156000003 meters 0.012320967064536061 Centerline is valid? [True, True] Translation: X:202.67, Y:-32.91, Z:-8.87 [[ 9.75683844e-01 2.16013668e-01 3.71366698e-02 2.02672730e+02] [-2.15860602e-01 9.76390336e-01 -8.13092325e-03 -3.29112147e+01] [-3.80162760e-02 -8.31334529e-05 9.99277117e-01 -8.87431258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25587156000003 meters 0.020188738876012358 Centerline is valid? [True, True] Translation: X:202.70, Y:-32.91, Z:-8.87 [[ 9.74172233e-01 2.22699702e-01 3.73269722e-02 2.02701887e+02] [-2.22549925e-01 9.74887031e-01 -8.17354156e-03 -3.29074559e+01] [-3.82098264e-02 -3.44677634e-04 9.99269678e-01 -8.87383138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28587156000003 meters 0.01802542820036161 Centerline is valid? [True, True] Translation: X:202.73, Y:-32.91, Z:-8.88 [[ 9.73618636e-01 2.25071873e-01 3.75420125e-02 2.02730219e+02] [-2.24922217e-01 9.74342063e-01 -8.21827738e-03 -3.29107018e+01] [-3.84284650e-02 -4.42564664e-04 9.99261256e-01 -8.87592101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31587156000003 meters 0.020953210260691326 Centerline is valid? [True, True] Translation: X:202.76, Y:-32.91, Z:-8.88 [[ 9.72880160e-01 2.28291909e-01 3.72424317e-02 2.02759719e+02] [-2.28147058e-01 9.73592565e-01 -8.15089762e-03 -3.29121550e+01] [-3.81197386e-02 -5.66904643e-04 9.99273018e-01 -8.87741957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34587156000003 meters 0.022066225037972086 Centerline is valid? [True, True] Translation: X:202.79, Y:-32.92, Z:-8.88 [[ 9.72661296e-01 2.29261595e-01 3.70016839e-02 2.02788441e+02] [-2.29119381e-01 9.73364658e-01 -8.09640012e-03 -3.29166784e+01] [-3.78723250e-02 -6.02747862e-04 9.99282404e-01 -8.87949245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37587156000004 meters 0.022152170011285194 Centerline is valid? [True, True] Translation: X:202.82, Y:-32.92, Z:-8.88 [[ 9.72542506e-01 2.29794852e-01 3.68157608e-02 2.02816170e+02] [-2.29654513e-01 9.73238891e-01 -8.05392951e-03 -3.29226504e+01] [-3.76812818e-02 -6.22116846e-04 9.99289615e-01 -8.88076187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40587156000004 meters 0.021822894494193636 Centerline is valid? [True, True] Translation: X:202.84, Y:-32.93, Z:-8.88 [[ 9.72587612e-01 2.29531262e-01 3.72657481e-02 2.02844649e+02] [-2.29387349e-01 9.73301091e-01 -8.15048746e-03 -3.29283246e+01] [-3.81415850e-02 -6.21228013e-04 9.99272152e-01 -8.88101220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43587156000004 meters 0.028998055161823307 Centerline is valid? [True, True] Translation: X:202.87, Y:-32.94, Z:-8.88 [[ 9.72727091e-01 2.28927309e-01 3.73402387e-02 2.02872252e+02] [-2.28782446e-01 9.73443335e-01 -8.16491839e-03 -3.29353504e+01] [-3.82177793e-02 -6.00553806e-04 9.99269253e-01 -8.87991260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46587156000004 meters 0.020696325867176714 Centerline is valid? [True, True] Translation: X:202.90, Y:-32.94, Z:-8.88 [[ 9.72936371e-01 2.28025979e-01 3.74028193e-02 2.02899189e+02] [-2.27880033e-01 9.73654883e-01 -8.17679289e-03 -3.29407413e+01] [-3.82819588e-02 -5.67856492e-04 9.99266816e-01 -8.88337979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49587156000004 meters 0.0198347771250177 Centerline is valid? [True, True] Translation: X:202.93, Y:-32.95, Z:-8.89 [[ 9.73211196e-01 2.26867311e-01 3.72986786e-02 2.02926474e+02] [-2.26721421e-01 9.73925536e-01 -8.15154968e-03 -3.29477078e+01] [-3.81754557e-02 -5.23230001e-04 9.99270915e-01 -8.88542161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52587156000004 meters 0.017506124323950104 Centerline is valid? [True, True] Translation: X:202.95, Y:-32.96, Z:-8.89 [[ 9.73859300e-01 2.24157215e-01 3.67642006e-02 2.02954013e+02] [-2.24013633e-01 9.74552909e-01 -8.03243764e-03 -3.29573268e+01] [-3.76291874e-02 -4.13218027e-04 9.99291686e-01 -8.88830086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55587156000004 meters 0.016541702227949907 Centerline is valid? [True, True] Translation: X:202.98, Y:-32.96, Z:-8.89 [[ 9.74169041e-01 2.22852267e-01 3.64903676e-02 2.02981631e+02] [-2.22709967e-01 9.74852161e-01 -7.97083754e-03 -3.29645665e+01] [-3.73490329e-02 -3.61825408e-04 9.99302216e-01 -8.89013215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58587156000004 meters 0.015255346464785794 Centerline is valid? [True, True] Translation: X:203.01, Y:-32.97, Z:-8.89 [[ 9.74395177e-01 2.21855006e-01 3.65293793e-02 2.03010528e+02] [-2.21711775e-01 9.75079612e-01 -7.97738309e-03 -3.29724607e+01] [-3.73888754e-02 -3.25869912e-04 9.99300738e-01 -8.89033122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61587156000002 meters 0.02911908359272367 Centerline is valid? [True, True] Translation: X:203.04, Y:-32.98, Z:-8.89 [[ 9.74544033e-01 2.21140016e-01 3.68920279e-02 2.03039012e+02] [-2.20993447e-01 9.75242022e-01 -8.05572065e-03 -3.29775776e+01] [-3.77600980e-02 -3.02241905e-04 9.99286787e-01 -8.89006645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64587156000002 meters 0.01647846608689433 Centerline is valid? [True, True] Translation: X:203.07, Y:-32.98, Z:-8.89 [[ 9.74679870e-01 2.20450168e-01 3.74282725e-02 2.03068007e+02] [-2.20298855e-01 9.75398198e-01 -8.17129158e-03 -3.29843795e+01] [-3.83088322e-02 -2.81012158e-04 9.99265908e-01 -8.89010810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67587156000002 meters 0.014263751431530738 Centerline is valid? [True, True] Translation: X:203.10, Y:-32.99, Z:-8.89 [[ 9.74790008e-01 2.19991142e-01 3.72604019e-02 2.03096159e+02] [-2.19840881e-01 9.75501834e-01 -8.13378276e-03 -3.29891022e+01] [-3.81369506e-02 -2.62629430e-04 9.99272487e-01 -8.89319445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70587156000002 meters 0.013666928304306467 Centerline is valid? [True, True] Translation: X:203.12, Y:-32.99, Z:-8.90 [[ 9.75100772e-01 2.18638516e-01 3.70902176e-02 2.03124255e+02] [-2.18488700e-01 9.75805900e-01 -8.09522301e-03 -3.29930059e+01] [-3.79627808e-02 -2.10135235e-04 9.99279132e-01 -8.89583226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73587156000002 meters 0.02274142124602184 Centerline is valid? [True, True] Translation: X:203.15, Y:-33.00, Z:-8.90 [[ 9.75459630e-01 2.17114246e-01 3.66048343e-02 2.03153379e+02] [-2.16967307e-01 9.76146189e-01 -7.98787102e-03 -3.30002219e+01] [-3.74659501e-02 -1.50206591e-04 9.99297894e-01 -8.89596695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76587156000002 meters 0.012225479710916252 Centerline is valid? [True, True] Translation: X:203.18, Y:-33.01, Z:-8.90 [[ 9.75925291e-01 2.15003637e-01 3.66505446e-02 2.03180941e+02] [-2.14854873e-01 9.76613245e-01 -7.99702944e-03 -3.30085972e+01] [-3.75127977e-02 -7.00447993e-05 9.99296145e-01 -8.89960749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79587156000002 meters 0.014486830116937997 Centerline is valid? [True, True] Translation: X:203.21, Y:-33.02, Z:-8.90 [[ 9.76498843e-01 2.12416686e-01 3.64576716e-02 2.03211080e+02] [-2.12267748e-01 9.77179180e-01 -7.95313643e-03 -3.30185688e+01] [-3.73150566e-02 2.74406465e-05 9.99303550e-01 -8.89944904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82587156000002 meters 0.014123072261956358 Centerline is valid? [True, True] Translation: X:203.24, Y:-33.03, Z:-8.90 [[ 9.77626440e-01 2.07181892e-01 3.63621805e-02 2.03239313e+02] [-2.07030094e-01 9.78302413e-01 -7.93274583e-03 -3.30322965e+01] [-3.72167302e-02 2.27196423e-04 9.99307192e-01 -8.90278674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85587156000003 meters 0.015944282025034385 Centerline is valid? [True, True] Translation: X:203.27, Y:-33.04, Z:-8.91 [[ 9.78204931e-01 2.04524805e-01 3.58429594e-02 2.03269791e+02] [-2.04375439e-01 9.78861327e-01 -7.82191400e-03 -3.30428233e+01] [-3.66850623e-02 3.26014291e-04 9.99326823e-01 -8.90521504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88587156000003 meters 0.01783047471006426 Centerline is valid? [True, True] Translation: X:203.30, Y:-33.05, Z:-8.91 [[ 9.78706207e-01 2.02182792e-01 3.54440390e-02 2.03300297e+02] [-2.02034976e-01 9.79347715e-01 -7.74094007e-03 -3.30530659e+01] [-3.62771234e-02 4.15170527e-04 9.99341682e-01 -8.90751748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91587156000003 meters 0.01977899311047325 Centerline is valid? [True, True] Translation: X:203.33, Y:-33.06, Z:-8.91 [[ 9.79314265e-01 1.99324821e-01 3.48308157e-02 2.03330676e+02] [-1.99180054e-01 9.79933338e-01 -7.61308017e-03 -3.30625094e+01] [-3.56493534e-02 5.17994279e-04 9.99364226e-01 -8.90942367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94587156000003 meters 0.020767602869120234 Centerline is valid? [True, True] Translation: X:203.36, Y:-33.07, Z:-8.91 [[ 9.79313641e-01 1.99399446e-01 3.44187949e-02 2.03361814e+02] [-1.99257917e-01 9.79918158e-01 -7.52906047e-03 -3.30691652e+01] [-3.52288925e-02 5.15094248e-04 9.99379137e-01 -8.91214611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97587156000003 meters 0.02101332218741422 Centerline is valid? [True, True] Translation: X:203.39, Y:-33.07, Z:-8.91 [[ 9.79208304e-01 1.99934094e-01 3.43140674e-02 2.03393161e+02] [-1.99793620e-01 9.79809221e-01 -7.50996979e-03 -3.30749717e+01] [-3.51227387e-02 4.98093047e-04 9.99382882e-01 -8.91405102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00587156000003 meters 0.01959248264713846 Centerline is valid? [True, True] Translation: X:203.42, Y:-33.08, Z:-8.91 [[ 9.78865088e-01 2.01511750e-01 3.48733986e-02 2.03424263e+02] [-2.01367369e-01 9.79485991e-01 -7.64045832e-03 -3.30783769e+01] [-3.56976475e-02 4.56613377e-04 9.99362532e-01 -8.91490149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03587156000003 meters 0.019087452658694524 Centerline is valid? [True, True] Translation: X:203.46, Y:-33.08, Z:-8.91 [[ 9.78756517e-01 2.01914623e-01 3.55832137e-02 2.03455253e+02] [-2.01764537e-01 9.79403023e-01 -7.79685616e-03 -3.30844471e+01] [-3.64246063e-02 4.51793156e-04 9.99336302e-01 -8.91486912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06587156000003 meters 0.018937574366115352 Centerline is valid? [True, True] Translation: X:203.49, Y:-33.09, Z:-8.92 [[ 9.78721692e-01 2.01997678e-01 3.60664373e-02 2.03485857e+02] [-2.01843509e-01 9.79385895e-01 -7.90363207e-03 -3.30906448e+01] [-3.69194753e-02 4.55679896e-04 9.99318140e-01 -8.91546958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09587156000003 meters 0.022089654405187623 Centerline is valid? [True, True] Translation: X:203.52, Y:-33.10, Z:-8.92 [[ 9.78864997e-01 2.01343479e-01 3.58346246e-02 2.03517258e+02] [-2.01190862e-01 9.79520585e-01 -7.85246871e-03 -3.30966705e+01] [-3.66817958e-02 4.76907758e-04 9.99326883e-01 -8.91508207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12587156000004 meters 0.024680215556055707 Centerline is valid? [True, True] Translation: X:203.55, Y:-33.11, Z:-8.92 [[ 9.78970775e-01 2.00844870e-01 3.57429673e-02 2.03547509e+02] [-2.00692468e-01 9.79622931e-01 -7.83872044e-03 -3.31057276e+01] [-3.65889972e-02 5.00533873e-04 9.99330273e-01 -8.91762859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15587156000004 meters 0.0199114720708889 Centerline is valid? [True, True] Translation: X:203.58, Y:-33.11, Z:-8.92 [[ 9.79099705e-01 2.00193223e-01 3.58670024e-02 2.03579418e+02] [-2.00039115e-01 9.79756291e-01 -7.87160149e-03 -3.31122927e+01] [-3.67167625e-02 5.32279273e-04 9.99325571e-01 -8.92000315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18587156000004 meters 0.020955005994058355 Centerline is valid? [True, True] Translation: X:203.61, Y:-33.12, Z:-8.92 [[ 9.79236631e-01 1.99513823e-01 3.59145465e-02 2.03609167e+02] [-1.99358593e-01 9.79894849e-01 -7.88901039e-03 -3.31210698e+01] [-3.67664457e-02 5.65334485e-04 9.99323726e-01 -8.92209396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21587156000004 meters 0.022873207297244486 Centerline is valid? [True, True] Translation: X:203.64, Y:-33.13, Z:-8.92 [[ 9.79477530e-01 1.98420475e-01 3.53989268e-02 2.03638662e+02] [-1.98268837e-01 9.80116806e-01 -7.77910761e-03 -3.31324153e+01] [-3.62386173e-02 6.00957053e-04 9.99342985e-01 -8.92425696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24587156000004 meters 0.022946692481621428 Centerline is valid? [True, True] Translation: X:203.67, Y:-33.14, Z:-8.92 [[ 9.79538227e-01 1.98064677e-01 3.57105816e-02 2.03671083e+02] [-1.97910027e-01 9.80188756e-01 -7.85012269e-03 -3.31406202e+01] [-3.65579426e-02 6.22013085e-04 9.99331341e-01 -8.92457918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27587156000004 meters 0.024103931832491866 Centerline is valid? [True, True] Translation: X:203.70, Y:-33.15, Z:-8.92 [[ 9.79575941e-01 1.97703389e-01 3.66653088e-02 2.03701895e+02] [-1.97539818e-01 9.80261666e-01 -8.06759085e-03 -3.31499449e+01] [-3.75365867e-02 6.59959480e-04 9.99295036e-01 -8.92475168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30587156000004 meters 0.024295246496860753 Centerline is valid? [True, True] Translation: X:203.73, Y:-33.16, Z:-8.93 [[ 9.79544383e-01 1.97781042e-01 3.70872087e-02 2.03733642e+02] [-1.97613476e-01 9.80245994e-01 -8.16732635e-03 -3.31578662e+01] [-3.79699301e-02 6.71326418e-04 9.99278657e-01 -8.92525226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33587156000004 meters 0.023420382676245858 Centerline is valid? [True, True] Translation: X:203.76, Y:-33.16, Z:-8.93 [[ 9.79431354e-01 1.98254989e-01 3.75390859e-02 2.03764779e+02] [-1.98083374e-01 9.80150250e-01 -8.27430059e-03 -3.31641824e+01] [-3.84343658e-02 6.68240624e-04 9.99260903e-01 -8.92540081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36587156000002 meters 0.023382440343083167 Centerline is valid? [True, True] Translation: X:203.79, Y:-33.17, Z:-8.93 [[ 9.79249773e-01 1.99088400e-01 3.78641203e-02 2.03794611e+02] [-1.98914165e-01 9.79981321e-01 -8.35255974e-03 -3.31714950e+01] [-3.87690283e-02 6.47532357e-04 9.99247989e-01 -8.92643138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39587156000002 meters 0.023382440343083167 Centerline is valid? [True, True] Translation: X:203.83, Y:-33.18, Z:-8.93 [[ 9.79213491e-01 1.99267007e-01 3.78629052e-02 2.03826289e+02] [-1.99092692e-01 9.79945020e-01 -8.35806393e-03 -3.31786849e+01] [-3.87690518e-02 6.46101221e-04 9.99247989e-01 -8.92789600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42587156000002 meters 0.021502523804391688 Centerline is valid? [True, True] Translation: X:203.86, Y:-33.18, Z:-8.93 [[ 9.78872714e-01 2.00886748e-01 3.81146163e-02 2.03858079e+02] [-2.00711042e-01 9.79614293e-01 -8.42110272e-03 -3.31845865e+01] [-3.90293108e-02 5.93163336e-04 9.99237890e-01 -8.92926866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45587156000002 meters 0.021096358698225542 Centerline is valid? [True, True] Translation: X:203.89, Y:-33.19, Z:-8.93 [[ 9.78621173e-01 2.02197730e-01 3.76387854e-02 2.03888690e+02] [-2.02027109e-01 9.79344570e-01 -8.32232096e-03 -3.31918725e+01] [-3.85440945e-02 5.40344489e-04 9.99256754e-01 -8.93170034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48587156000002 meters 0.020027138684433777 Centerline is valid? [True, True] Translation: X:203.92, Y:-33.20, Z:-8.93 [[ 9.78331760e-01 2.03610228e-01 3.75478621e-02 2.03920437e+02] [-2.03441248e-01 9.79051906e-01 -8.30801058e-03 -3.31977854e+01] [-3.84529019e-02 4.89206700e-04 9.99260294e-01 -8.93381200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51587156000002 meters 0.016372533376917537 Centerline is valid? [True, True] Translation: X:203.95, Y:-33.20, Z:-8.93 [[ 9.77613240e-01 2.07051307e-01 3.74447563e-02 2.03952078e+02] [-2.06885505e-01 9.78330019e-01 -8.29223389e-03 -3.31992085e+01] [-3.83502470e-02 3.59820316e-04 9.99264294e-01 -8.93493908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54587156000002 meters 0.014850720271548063 Centerline is valid? [True, True] Translation: X:203.98, Y:-33.20, Z:-8.94 [[ 9.77258063e-01 2.08814382e-01 3.69219830e-02 2.03983420e+02] [-2.08654403e-01 9.77955250e-01 -8.17733820e-03 -3.32032772e+01] [-3.78155930e-02 2.87435363e-04 9.99284693e-01 -8.93667754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57587156000002 meters 0.012980980382798725 Centerline is valid? [True, True] Translation: X:204.01, Y:-33.21, Z:-8.94 [[ 9.76464231e-01 2.12566632e-01 3.65107128e-02 2.04013444e+02] [-2.12412782e-01 9.77146564e-01 -8.08723074e-03 -3.32055645e+01] [-3.73953930e-02 1.41549456e-04 9.99300538e-01 -8.94005646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60587156000003 meters 0.012485522108147967 Centerline is valid? [True, True] Translation: X:204.04, Y:-33.21, Z:-8.94 [[ 9.76159120e-01 2.14052263e-01 3.59861119e-02 2.04042831e+02] [-2.13903789e-01 9.76822206e-01 -7.97165938e-03 -3.32101602e+01] [-3.68583850e-02 8.40423089e-05 9.99320495e-01 -8.94202524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63587156000003 meters 0.012367514416989403 Centerline is valid? [True, True] Translation: X:204.07, Y:-33.22, Z:-8.94 [[ 9.75886522e-01 2.15328040e-01 3.57677491e-02 2.04071424e+02] [-2.15182228e-01 9.76541773e-01 -7.92305465e-03 -3.32153847e+01] [-3.66347570e-02 3.54182930e-05 9.99328721e-01 -8.94471213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66587156000003 meters 0.02201285268353143 Centerline is valid? [True, True] Translation: X:204.10, Y:-33.22, Z:-8.94 [[ 9.75687401e-01 2.16300205e-01 3.53315317e-02 2.04100307e+02] [-2.16158616e-01 9.76326903e-01 -7.82505405e-03 -3.32212102e+01] [-3.61876857e-02 -2.40833107e-06 9.99345011e-01 -8.94262780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69587156000003 meters 0.012434104326442973 Centerline is valid? [True, True] Translation: X:204.13, Y:-33.23, Z:-8.95 [[ 9.75282829e-01 2.18056554e-01 3.57035427e-02 2.04128527e+02] [-2.17913175e-01 9.75936132e-01 -7.90656706e-03 -3.32261356e+01] [-3.65684562e-02 -6.91332485e-05 9.99331148e-01 -8.94664370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72587156000003 meters 0.025105063738495397 Centerline is valid? [True, True] Translation: X:204.16, Y:-33.23, Z:-8.95 [[ 9.75134569e-01 2.18691801e-01 3.58673750e-02 2.04156086e+02] [-2.18547562e-01 9.75793978e-01 -7.94203123e-03 -3.32312576e+01] [-3.67360256e-02 -9.41781370e-05 9.99325000e-01 -8.94591975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75587156000003 meters 0.012496794149092199 Centerline is valid? [True, True] Translation: X:204.18, Y:-33.24, Z:-8.95 [[ 9.74999040e-01 2.19171545e-01 3.66156606e-02 2.04184692e+02] [-2.19021648e-01 9.75686333e-01 -8.10538144e-03 -3.32369753e+01] [-3.75018686e-02 -1.16883222e-04 9.99296551e-01 -8.94703556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78587156000003 meters 0.03006789477697866 Centerline is valid? [True, True] Translation: X:204.21, Y:-33.24, Z:-8.95 [[ 9.74637564e-01 2.20717666e-01 3.69503862e-02 2.04212993e+02] [-2.20566192e-01 9.75337726e-01 -8.17774074e-03 -3.32403353e+01] [-3.78440775e-02 -1.79672664e-04 9.99283640e-01 -8.94625133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81587156000003 meters 0.0136001872309961 Centerline is valid? [True, True] Translation: X:204.24, Y:-33.25, Z:-8.95 [[ 9.74452389e-01 2.21541998e-01 3.69010139e-02 2.04240554e+02] [-2.21391607e-01 9.75150808e-01 -8.16449544e-03 -3.32467767e+01] [-3.77928322e-02 -2.13662683e-04 9.99285573e-01 -8.94924082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84587156000003 meters 0.02827814649802484 Centerline is valid? [True, True] Translation: X:204.27, Y:-33.25, Z:-8.95 [[ 9.74393318e-01 2.21879002e-01 3.64331053e-02 2.04267745e+02] [-2.21732699e-01 9.75074181e-01 -8.05931901e-03 -3.32519027e+01] [-3.73131739e-02 -2.25464180e-04 9.99303596e-01 -8.94978316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87587156000004 meters 0.014649037062844256 Centerline is valid? [True, True] Translation: X:204.30, Y:-33.26, Z:-8.95 [[ 9.74165896e-01 2.22800348e-01 3.68891966e-02 2.04295559e+02] [-2.22651114e-01 9.74864059e-01 -8.15767589e-03 -3.32578540e+01] [-3.77794850e-02 -2.66491083e-04 9.99286065e-01 -8.95228332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90587156000004 meters 0.02481658802652304 Centerline is valid? [True, True] Translation: X:204.32, Y:-33.26, Z:-8.95 [[ 9.74196671e-01 2.22796798e-01 3.60892527e-02 2.04324592e+02] [-2.22654035e-01 9.74864872e-01 -7.97888571e-03 -3.32643512e+01] [-3.69598149e-02 -2.62413835e-04 9.99316718e-01 -8.95200440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93587156000004 meters 0.01526177076822839 Centerline is valid? [True, True] Translation: X:204.35, Y:-33.27, Z:-8.96 [[ 9.74107114e-01 2.23177994e-01 3.61512446e-02 2.04351860e+02] [-2.23035025e-01 9.74777670e-01 -7.99200718e-03 -3.32689002e+01] [-3.70230661e-02 -2.77922678e-04 9.99314373e-01 -8.95683936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96587156000004 meters 0.02798170309101359 Centerline is valid? [True, True] Translation: X:204.38, Y:-33.27, Z:-8.96 [[ 9.74070417e-01 2.23481938e-01 3.52511846e-02 2.04380753e+02] [-2.23346288e-01 9.74708029e-01 -7.79060821e-03 -3.32738996e+01] [-3.61006729e-02 -2.84620217e-04 9.99348118e-01 -8.95642100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99587156000004 meters 0.016930575616088007 Centerline is valid? [True, True] Translation: X:204.41, Y:-33.28, Z:-8.96 [[ 9.74043991e-01 2.23557852e-01 3.54991570e-02 2.04408307e+02] [-2.23420397e-01 9.74690619e-01 -7.84374814e-03 -3.32773348e+01] [-3.63542268e-02 -2.91080009e-04 9.99338924e-01 -8.96230451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02587156000004 meters 0.01579830174410334 Centerline is valid? [True, True] Translation: X:204.44, Y:-33.28, Z:-8.96 [[ 9.74007416e-01 2.23760479e-01 3.52250117e-02 2.04436089e+02] [-2.23625352e-01 9.74644119e-01 -7.78092765e-03 -3.32849832e+01] [-3.60729146e-02 -2.98524401e-04 9.99349116e-01 -8.96145357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05587156000004 meters 0.017307746833786986 Centerline is valid? [True, True] Translation: X:204.46, Y:-33.29, Z:-8.96 [[ 9.73936870e-01 2.23913796e-01 3.61881986e-02 2.04463962e+02] [-2.23771346e-01 9.74608903e-01 -7.99196324e-03 -3.32868047e+01] [-3.70588514e-02 -3.14214255e-04 9.99313035e-01 -8.96273696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08587156000004 meters 0.015408272327188426 Centerline is valid? [True, True] Translation: X:204.49, Y:-33.29, Z:-8.96 [[ 9.73911985e-01 2.23971371e-01 3.65002885e-02 2.04491390e+02] [-2.23826583e-01 9.74595671e-01 -8.05847860e-03 -3.32949290e+01] [-3.73778917e-02 -3.21485952e-04 9.99301151e-01 -8.96051565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11587156000002 meters 0.022402763483415942 Centerline is valid? [True, True] Translation: X:204.52, Y:-33.30, Z:-8.96 [[ 9.73949508e-01 2.23879203e-01 3.60618793e-02 2.04519712e+02] [-2.23737876e-01 9.74616849e-01 -7.95989663e-03 -3.33005348e+01] [-3.69285705e-02 -3.15870885e-04 9.99317858e-01 -8.96071084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14587156000002 meters 0.015399589762157408 Centerline is valid? [True, True] Translation: X:204.55, Y:-33.30, Z:-8.96 [[ 9.73982356e-01 2.23644762e-01 3.66249982e-02 2.04547439e+02] [-2.23498887e-01 9.74670674e-01 -8.08240620e-03 -3.33038479e+01] [-3.75048995e-02 -3.13525313e-04 9.99296395e-01 -8.96313948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17587156000002 meters 0.0154857394449594 Centerline is valid? [True, True] Translation: X:204.58, Y:-33.31, Z:-8.96 [[ 9.73973431e-01 2.23684897e-01 3.66172426e-02 2.04576014e+02] [-2.23539202e-01 9.74661462e-01 -8.07831253e-03 -3.33088863e+01] [-3.74964117e-02 -3.17327405e-04 9.99296712e-01 -8.96455063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20587156000002 meters 0.020945557974487154 Centerline is valid? [True, True] Translation: X:204.60, Y:-33.31, Z:-8.97 [[ 9.74024049e-01 2.23509889e-01 3.63384278e-02 2.04604005e+02] [-2.23366346e-01 9.74701613e-01 -8.01510667e-03 -3.33109471e+01] [-3.72105798e-02 -3.09875175e-04 9.99307399e-01 -8.96777632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23587156000002 meters 0.019170673655963203 Centerline is valid? [True, True] Translation: X:204.63, Y:-33.32, Z:-8.97 [[ 9.74076448e-01 2.23266887e-01 3.64275972e-02 2.04631903e+02] [-2.23122556e-01 9.74757306e-01 -8.03242659e-03 -3.33199773e+01] [-3.73014413e-02 -3.03621035e-04 9.99304013e-01 -8.96532784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26587156000002 meters 0.017047569957081406 Centerline is valid? [True, True] Translation: X:204.66, Y:-33.32, Z:-8.96 [[ 9.74078761e-01 2.22970557e-01 3.81405041e-02 2.04659948e+02] [-2.22812177e-01 9.74825131e-01 -8.40821845e-03 -3.33244129e+01] [-3.90551070e-02 -3.07901732e-04 9.99237011e-01 -8.96373681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29587156000002 meters 0.015496814785945674 Centerline is valid? [True, True] Translation: X:204.69, Y:-33.33, Z:-8.97 [[ 9.74064265e-01 2.22956178e-01 3.85921036e-02 2.04687194e+02] [-2.22794108e-01 9.74828418e-01 -8.50536964e-03 -3.33286344e+01] [-3.95170040e-02 -3.13316663e-04 9.99218849e-01 -8.96620215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32587156000002 meters 0.015117339698282837 Centerline is valid? [True, True] Translation: X:204.72, Y:-33.33, Z:-8.97 [[ 9.74107596e-01 2.22856563e-01 3.80702563e-02 2.04715201e+02] [-2.22698862e-01 9.74851198e-01 -8.38801272e-03 -3.33333191e+01] [-3.89821587e-02 -3.07375864e-04 9.99239860e-01 -8.96698324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35587156000003 meters 0.015330446497677404 Centerline is valid? [True, True] Translation: X:204.74, Y:-33.34, Z:-8.97 [[ 9.74053490e-01 2.23038277e-01 3.83891279e-02 2.04744052e+02] [-2.22878138e-01 9.74809635e-01 -8.45639107e-03 -3.33370855e+01] [-3.93081907e-02 -3.19120105e-04 9.99227083e-01 -8.96792766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38587156000003 meters 0.022676672246868153 Centerline is valid? [True, True] Translation: X:204.77, Y:-33.34, Z:-8.97 [[ 9.73953951e-01 2.23485215e-01 3.83152592e-02 2.04772881e+02] [-2.23326110e-01 9.74707261e-01 -8.43827332e-03 -3.33405630e+01] [-3.92319907e-02 -3.38308157e-04 9.99230072e-01 -8.96757162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41587156000003 meters 0.017321450296155744 Centerline is valid? [True, True] Translation: X:204.80, Y:-33.34, Z:-8.97 [[ 9.73602462e-01 2.25016747e-01 3.82845997e-02 2.04801398e+02] [-2.24859149e-01 9.74354814e-01 -8.42974841e-03 -3.33409563e+01] [-3.91996185e-02 -4.01418686e-04 9.99231319e-01 -8.97074673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44587156000003 meters 0.01825597816157813 Centerline is valid? [True, True] Translation: X:204.83, Y:-33.34, Z:-8.97 [[ 9.73448055e-01 2.25763799e-01 3.78099279e-02 2.04828885e+02] [-2.25610735e-01 9.74181977e-01 -8.32300591e-03 -3.33432678e+01] [-3.87127837e-02 -4.28311712e-04 9.99250287e-01 -8.97283015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47587156000003 meters 0.019378306070554806 Centerline is valid? [True, True] Translation: X:204.86, Y:-33.35, Z:-8.98 [[ 9.73267559e-01 2.26645235e-01 3.71778915e-02 2.04856480e+02] [-2.26497973e-01 9.73977273e-01 -8.18171488e-03 -3.33450170e+01] [-3.80647680e-02 -4.57719377e-04 9.99275169e-01 -8.97550528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50587156000003 meters 0.02623433202885252 Centerline is valid? [True, True] Translation: X:204.89, Y:-33.34, Z:-8.98 [[ 9.72783341e-01 2.28885398e-01 3.61115761e-02 2.04885442e+02] [-2.28748075e-01 9.73453231e-01 -7.94519968e-03 -3.33411310e+01] [-3.69714706e-02 -5.31495617e-04 9.99316180e-01 -8.97689990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53587156000003 meters 0.02328995246381592 Centerline is valid? [True, True] Translation: X:204.91, Y:-33.34, Z:-8.98 [[ 9.72562355e-01 2.29796831e-01 3.62751017e-02 2.04914049e+02] [-2.29659017e-01 9.73238455e-01 -7.97788530e-03 -3.33422207e+01] [-3.71376166e-02 -5.71913267e-04 9.99309997e-01 -8.98035430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56587156000003 meters 0.02448401964566684 Centerline is valid? [True, True] Translation: X:204.94, Y:-33.34, Z:-8.98 [[ 9.72352515e-01 2.30726026e-01 3.60012266e-02 2.04943108e+02] [-2.30591002e-01 9.73018569e-01 -7.91547615e-03 -3.33433646e+01] [-3.68561684e-02 -6.04925791e-04 9.99320398e-01 -8.98188082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59587156000003 meters 0.02488763459664916 Centerline is valid? [True, True] Translation: X:204.97, Y:-33.35, Z:-8.98 [[ 9.72314726e-01 2.30871810e-01 3.60871380e-02 2.04971884e+02] [-2.30736304e-01 9.72983983e-01 -7.93267689e-03 -3.33454971e+01] [-3.69436387e-02 -6.13554285e-04 9.99317162e-01 -8.98350291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62587156000004 meters 0.02304203558825167 Centerline is valid? [True, True] Translation: X:205.00, Y:-33.35, Z:-8.99 [[ 9.72803439e-01 2.28869209e-01 3.56700783e-02 2.04999882e+02] [-2.28735528e-01 9.73457036e-01 -7.83946507e-03 -3.33474407e+01] [-3.65175009e-02 -5.32755603e-04 9.99332872e-01 -8.98617417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65587156000004 meters 0.027799775427186806 Centerline is valid? [True, True] Translation: X:205.03, Y:-33.35, Z:-8.99 [[ 9.73354694e-01 2.26646626e-01 3.48130265e-02 2.05027537e+02] [-2.26517944e-01 9.73976957e-01 -7.64905331e-03 -3.33546265e+01] [-3.56407178e-02 -4.40533254e-04 9.99364571e-01 -8.98744589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68587156000004 meters 0.01762889630406901 Centerline is valid? [True, True] Translation: X:205.05, Y:-33.36, Z:-8.99 [[ 9.74066998e-01 2.23504759e-01 3.52009276e-02 2.05054742e+02] [-2.23371200e-01 9.74702782e-01 -7.73264016e-03 -3.33638855e+01] [-3.60387240e-02 -3.30763875e-04 9.99350339e-01 -8.99112280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71587156000004 meters 0.012985547474580979 Centerline is valid? [True, True] Translation: X:205.08, Y:-33.38, Z:-8.99 [[ 9.75745401e-01 2.16140256e-01 3.47030630e-02 2.05079756e+02] [-2.16005837e-01 9.76362323e-01 -7.62181446e-03 -3.33787031e+01] [-3.55301441e-02 -5.91137624e-05 9.99368603e-01 -8.99316834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74587156000004 meters 0.013196248962910244 Centerline is valid? [True, True] Translation: X:205.11, Y:-33.39, Z:-8.99 [[ 9.76621740e-01 2.12151237e-01 3.46674248e-02 2.05105760e+02] [-2.12014646e-01 9.77236842e-01 -7.61210571e-03 -3.33896040e+01] [-3.54932024e-02 8.41461170e-05 9.99369914e-01 -8.99464180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77587156000004 meters 0.017127476678405237 Centerline is valid? [True, True] Translation: X:205.13, Y:-33.40, Z:-8.99 [[ 9.78305462e-01 2.04093391e-01 3.55571509e-02 2.05132433e+02] [-2.03944463e-01 9.78951347e-01 -7.80482917e-03 -3.34040209e+01] [-3.64016348e-02 3.83822952e-04 9.99337167e-01 -8.99221389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80587156000004 meters 0.02019092379264494 Centerline is valid? [True, True] Translation: X:205.16, Y:-33.41, Z:-8.99 [[ 9.79082051e-01 2.00312566e-01 3.56821196e-02 2.05159981e+02] [-2.00160146e-01 9.79731902e-01 -7.83040798e-03 -3.34142252e+01] [-3.65274401e-02 5.24473629e-04 9.99332513e-01 -8.99329914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83587156000004 meters 0.025924107657914773 Centerline is valid? [True, True] Translation: X:205.19, Y:-33.43, Z:-8.99 [[ 9.80457865e-01 1.93555726e-01 3.51931116e-02 2.05188296e+02] [-1.93403158e-01 9.81088985e-01 -7.72149791e-03 -3.34275004e+01] [-3.60221143e-02 7.64144432e-04 9.99350701e-01 -8.99444022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86587156000002 meters 0.028524031284761102 Centerline is valid? [True, True] Translation: X:205.22, Y:-33.44, Z:-9.00 [[ 9.80997840e-01 1.90759263e-01 3.54138538e-02 2.05217669e+02] [-1.90602956e-01 9.81636462e-01 -7.76982268e-03 -3.34367273e+01] [-3.62456958e-02 8.72194050e-04 9.99342528e-01 -8.99571136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89587156000002 meters 0.03337459693819339 Centerline is valid? [True, True] Translation: X:205.25, Y:-33.45, Z:-9.00 [[ 9.81471659e-01 1.88329602e-01 3.52894314e-02 2.05246381e+02] [-1.88172831e-01 9.82105413e-01 -7.74231476e-03 -3.34489378e+01] [-3.61160487e-02 9.58350307e-04 9.99347143e-01 -8.99795840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92587156000002 meters 0.0421197230982947 Centerline is valid? [True, True] Translation: X:205.27, Y:-33.47, Z:-9.00 [[ 9.81854718e-01 1.86348863e-01 3.51484583e-02 2.05273971e+02] [-1.86191985e-01 9.82483100e-01 -7.71384075e-03 -3.34660984e+01] [-3.59702317e-02 1.02950973e-03 9.99352332e-01 -9.00207967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95587156000002 meters 0.04607855334758494 Centerline is valid? [True, True] Translation: X:205.30, Y:-33.47, Z:-9.00 [[ 9.82421527e-01 1.83268882e-01 3.55029457e-02 2.05304859e+02] [-1.83106576e-01 9.83062140e-01 -7.79816336e-03 -3.34698597e+01] [-3.63307625e-02 1.16026074e-03 9.99339146e-01 -8.99852840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98587156000002 meters 0.04140236074558535 Centerline is valid? [True, True] Translation: X:205.34, Y:-33.48, Z:-9.00 [[ 9.82628709e-01 1.82050990e-01 3.60313268e-02 2.05335537e+02] [-1.81882990e-01 9.83288330e-01 -7.91439008e-03 -3.34797638e+01] [-3.68700057e-02 1.22342143e-03 9.99319321e-01 -9.00124194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01587156000002 meters 0.03955150676861847 Centerline is valid? [True, True] Translation: X:205.37, Y:-33.49, Z:-9.00 [[ 9.82907027e-01 1.80494882e-01 3.62680847e-02 2.05367619e+02] [-1.80323352e-01 9.83575068e-01 -7.97330080e-03 -3.34855089e+01] [-3.71115239e-02 1.29703078e-03 9.99310288e-01 -9.00111011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04587156000002 meters 0.04444657670786746 Centerline is valid? [True, True] Translation: X:205.40, Y:-33.50, Z:-9.00 [[ 9.83484102e-01 1.77241210e-01 3.66684462e-02 2.05395211e+02] [-1.77063530e-01 9.84166392e-01 -8.06349603e-03 -3.35000921e+01] [-3.75170361e-02 1.43767565e-03 9.99294954e-01 -9.00185093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07587156000002 meters 0.0583562852348121 Centerline is valid? [True, True] Translation: X:205.42, Y:-33.53, Z:-9.01 [[ 9.83705003e-01 1.75969280e-01 3.68684185e-02 2.05421195e+02] [-1.75788786e-01 9.84394525e-01 -8.10687756e-03 -3.35253015e+01] [-3.77196307e-02 1.49372149e-03 9.99287245e-01 -9.00611919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10587156000003 meters 0.05162514960240861 Centerline is valid? [True, True] Translation: X:205.45, Y:-33.53, Z:-9.01 [[ 9.83928990e-01 1.74722926e-01 3.68190445e-02 2.05454443e+02] [-1.74541919e-01 9.84616432e-01 -8.09935382e-03 -3.35257770e+01] [-3.76677791e-02 1.54272234e-03 9.99289127e-01 -9.00589942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13587156000003 meters 0.04784105689752238 Centerline is valid? [True, True] Translation: X:205.49, Y:-33.53, Z:-9.01 [[ 9.84032415e-01 1.74118543e-01 3.69180061e-02 2.05485681e+02] [-1.73936105e-01 9.84723446e-01 -8.12195473e-03 -3.35338388e+01] [-3.77682091e-02 1.57089253e-03 9.99285292e-01 -9.00639730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16587156000003 meters 0.04776400325113561 Centerline is valid? [True, True] Translation: X:205.52, Y:-33.54, Z:-9.01 [[ 9.83902846e-01 1.74836813e-01 3.69767161e-02 2.05515607e+02] [-1.74654061e-01 9.84596201e-01 -8.14119273e-03 -3.35427808e+01] [-3.78305144e-02 1.55200908e-03 9.99282965e-01 -9.00751065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19587156000003 meters 0.046738772518382384 Centerline is valid? [True, True] Translation: X:205.55, Y:-33.55, Z:-9.01 [[ 9.83633838e-01 1.76339904e-01 3.69961002e-02 2.05546600e+02] [-1.76157806e-01 9.84328190e-01 -8.15112760e-03 -3.35503559e+01] [-3.78536734e-02 1.50057308e-03 9.99282166e-01 -9.00911116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22587156000003 meters 0.04305557197178144 Centerline is valid? [True, True] Translation: X:205.58, Y:-33.56, Z:-9.01 [[ 9.82923245e-01 1.80383718e-01 3.63814193e-02 2.05575768e+02] [-1.80210119e-01 9.83595418e-01 -8.02287322e-03 -3.35555651e+01] [-3.72317931e-02 1.32956866e-03 9.99305772e-01 -9.01123327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25587156000003 meters 0.03990345333226573 Centerline is valid? [True, True] Translation: X:205.61, Y:-33.56, Z:-9.01 [[ 9.82478677e-01 1.82829368e-01 3.61811018e-02 2.05607126e+02] [-1.82659341e-01 9.83143891e-01 -7.97841892e-03 -3.35607066e+01] [-3.70299185e-02 1.22981023e-03 9.99313401e-01 -9.01305972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28587156000003 meters 0.03990345333226573 Centerline is valid? [True, True] Translation: X:205.64, Y:-33.57, Z:-9.01 [[ 9.82445343e-01 1.83008407e-01 3.61810833e-02 2.05638822e+02] [-1.82838498e-01 9.83110587e-01 -7.97850348e-03 -3.35678854e+01] [-3.70301393e-02 1.22314865e-03 9.99313401e-01 -9.01452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31587156000003 meters 0.03599835758704235 Centerline is valid? [True, True] Translation: X:205.67, Y:-33.57, Z:-9.02 [[ 9.81965930e-01 1.85577696e-01 3.61086072e-02 2.05670357e+02] [-1.85409902e-01 9.82628942e-01 -7.97062884e-03 -3.35720893e+01] [-3.69605335e-02 1.13199264e-03 9.99316085e-01 -9.01582421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34587156000003 meters 0.032508794146070844 Centerline is valid? [True, True] Translation: X:205.70, Y:-33.58, Z:-9.02 [[ 9.80859242e-01 1.91284205e-01 3.64074282e-02 2.05699145e+02] [-1.91117480e-01 9.81534256e-01 -8.03826427e-03 -3.35786610e+01] [-3.72727310e-02 9.26309851e-04 9.99304701e-01 -9.01785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37587156000004 meters 0.02926872974817314 Centerline is valid? [True, True] Translation: X:205.73, Y:-33.58, Z:-9.02 [[ 9.80243892e-01 1.94343861e-01 3.67746622e-02 2.05729260e+02] [-1.94175919e-01 9.80933125e-01 -8.11896353e-03 -3.35833790e+01] [-3.76513550e-02 8.17810579e-04 9.99290602e-01 -9.01866113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40587156000004 meters 0.024904754566868206 Centerline is valid? [True, True] Translation: X:205.76, Y:-33.59, Z:-9.02 [[ 9.79601774e-01 1.97494668e-01 3.70974494e-02 2.05760839e+02] [-1.97326007e-01 9.80303709e-01 -8.19058505e-03 -3.35865934e+01] [-3.79843641e-02 7.03220090e-04 9.99278086e-01 -9.01887383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43587156000004 meters 0.018755157178585665 Centerline is valid? [True, True] Translation: X:205.79, Y:-33.59, Z:-9.02 [[ 9.78428307e-01 2.03299617e-01 3.67057760e-02 2.05791937e+02] [-2.03138541e-01 9.79116459e-01 -8.10506251e-03 -3.35888054e+01] [-3.75869856e-02 4.73864800e-04 9.99293247e-01 -9.02062150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46587156000004 meters 0.016275991674389804 Centerline is valid? [True, True] Translation: X:205.82, Y:-33.59, Z:-9.02 [[ 9.77918839e-01 2.05782362e-01 3.64467175e-02 2.05822259e+02] [-2.05625255e-01 9.78597710e-01 -8.04838701e-03 -3.35942127e+01] [-3.73228903e-02 3.76303724e-04 9.99303187e-01 -9.02233025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49587156000004 meters 0.01465969710379387 Centerline is valid? [True, True] Translation: X:205.85, Y:-33.60, Z:-9.02 [[ 9.77470344e-01 2.07912062e-01 3.63909584e-02 2.05852046e+02] [-2.07756910e-01 9.78147477e-01 -8.03607396e-03 -3.36001453e+01] [-3.72665209e-02 2.94550890e-04 9.99305319e-01 -9.02370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52587156000004 meters 0.013409800702161993 Centerline is valid? [True, True] Translation: X:205.88, Y:-33.61, Z:-9.03 [[ 9.77054353e-01 2.09803117e-01 3.67075454e-02 2.05880583e+02] [-2.09646580e-01 9.77743628e-01 -8.10616367e-03 -3.36060369e+01] [-3.75912670e-02 2.24551161e-04 9.99293173e-01 -9.02518634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55587156000004 meters 0.0120367923083412 Centerline is valid? [True, True] Translation: X:205.91, Y:-33.61, Z:-9.03 [[ 9.76399210e-01 2.12900700e-01 3.63025322e-02 2.05908797e+02] [-2.12749771e-01 9.77073836e-01 -8.01584033e-03 -3.36135449e+01] [-3.71768324e-02 1.03304754e-04 9.99308697e-01 -9.02704728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58587156000004 meters 0.011876661723024621 Centerline is valid? [True, True] Translation: X:205.94, Y:-33.62, Z:-9.03 [[ 9.76129786e-01 2.14125781e-01 3.63426977e-02 2.05936847e+02] [-2.13975395e-01 9.76806095e-01 -8.02391216e-03 -3.36207825e+01] [-3.72178951e-02 5.59365427e-05 9.99307173e-01 -9.02926786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61587156000002 meters 0.011761888397820943 Centerline is valid? [True, True] Translation: X:205.97, Y:-33.63, Z:-9.03 [[ 9.75853528e-01 2.15410136e-01 3.61713278e-02 2.05965222e+02] [-2.15262100e-01 9.76523668e-01 -7.98466174e-03 -3.36274650e+01] [-3.70421347e-02 5.54433902e-06 9.99313705e-01 -9.03038244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64587156000002 meters 0.012566036736568028 Centerline is valid? [True, True] Translation: X:205.99, Y:-33.63, Z:-9.03 [[ 9.75124650e-01 2.18780602e-01 3.55944554e-02 2.05993374e+02] [-2.18639522e-01 9.75774069e-01 -7.85656814e-03 -3.36330019e+01] [-3.64510113e-02 -1.21221466e-04 9.99335434e-01 -9.03271909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67587156000002 meters 0.026862770044197938 Centerline is valid? [True, True] Translation: X:206.02, Y:-33.64, Z:-9.03 [[ 9.74709206e-01 2.20649590e-01 3.54361594e-02 2.06020524e+02] [-2.20511037e-01 9.75353127e-01 -7.82054961e-03 -3.36372522e+01] [-3.62883699e-02 -1.91302529e-04 9.99341342e-01 -9.03254747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70587156000002 meters 0.016966352874063735 Centerline is valid? [True, True] Translation: X:206.05, Y:-33.64, Z:-9.03 [[ 9.73677625e-01 2.25067941e-01 3.60042387e-02 2.06049187e+02] [-2.24928010e-01 9.74343004e-01 -7.94360767e-03 -3.36407683e+01] [-3.68683295e-02 -3.63848716e-04 9.99320066e-01 -9.03428058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73587156000002 meters 0.03222794894617642 Centerline is valid? [True, True] Translation: X:206.08, Y:-33.64, Z:-9.03 [[ 9.73141464e-01 2.27385968e-01 3.59348434e-02 2.06077268e+02] [-2.27248215e-01 9.73804609e-01 -7.92666698e-03 -3.36448131e+01] [-3.67959290e-02 -4.52360688e-04 9.99322698e-01 -9.03339767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76587156000002 meters 0.021694706076229565 Centerline is valid? [True, True] Translation: X:206.11, Y:-33.65, Z:-9.04 [[ 9.72604818e-01 2.29594877e-01 3.64151122e-02 2.06105335e+02] [-2.29455045e-01 9.73286132e-01 -8.03038602e-03 -3.36487772e+01] [-3.72860592e-02 -5.45239073e-04 9.99304484e-01 -9.03568967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79587156000002 meters 0.02390720669449745 Centerline is valid? [True, True] Translation: X:206.13, Y:-33.65, Z:-9.04 [[ 9.72118759e-01 2.31617779e-01 3.65830838e-02 2.06133966e+02] [-2.31478170e-01 9.72806666e-01 -8.06516328e-03 -3.36525791e+01] [-3.74563030e-02 -6.27888751e-04 9.99298069e-01 -9.03680477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82587156000002 meters 0.028709824775294563 Centerline is valid? [True, True] Translation: X:206.16, Y:-33.65, Z:-9.04 [[ 9.71245390e-01 2.35296363e-01 3.63044548e-02 2.06162826e+02] [-2.35161505e-01 9.71923369e-01 -8.00194258e-03 -3.36543007e+01] [-3.71679760e-02 -7.65560366e-04 9.99308739e-01 -9.03878808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85587156000003 meters 0.030906063290648343 Centerline is valid? [True, True] Translation: X:206.19, Y:-33.66, Z:-9.04 [[ 9.70869429e-01 2.36871239e-01 3.61188076e-02 2.06191588e+02] [-2.36738889e-01 9.71540704e-01 -7.95984921e-03 -3.36583772e+01] [-3.69763511e-02 -8.22752131e-04 9.99315802e-01 -9.04087681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88587156000003 meters 0.03426141356499806 Centerline is valid? [True, True] Translation: X:206.22, Y:-33.66, Z:-9.04 [[ 9.70256892e-01 2.39472530e-01 3.54185245e-02 2.06221624e+02] [-2.39347060e-01 9.70902718e-01 -7.80370981e-03 -3.36604448e+01] [-3.62567158e-02 -9.05716471e-04 9.99342099e-01 -9.04262075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91587156000003 meters 0.041901234119157166 Centerline is valid? [True, True] Translation: X:206.25, Y:-33.66, Z:-9.04 [[ 9.69993693e-01 2.40493490e-01 3.57087843e-02 2.06249253e+02] [-2.40366665e-01 9.70650284e-01 -7.86710952e-03 -3.36641339e+01] [-3.65527303e-02 -9.52154803e-04 9.99331272e-01 -9.04213132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94587156000003 meters 0.037110399107286626 Centerline is valid? [True, True] Translation: X:206.28, Y:-33.67, Z:-9.04 [[ 9.69770550e-01 2.41338186e-01 3.60688164e-02 2.06277630e+02] [-2.41209455e-01 9.70440564e-01 -7.94423398e-03 -3.36690834e+01] [-3.69198895e-02 -9.96055393e-04 9.99317732e-01 -9.04432913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97587156000003 meters 0.038136015564727364 Centerline is valid? [True, True] Translation: X:206.30, Y:-33.67, Z:-9.04 [[ 9.69616613e-01 2.41932483e-01 3.62256409e-02 2.06304742e+02] [-2.41803103e-01 9.70292546e-01 -7.97719780e-03 -3.36737695e+01] [-3.70794126e-02 -1.02464884e-03 9.99311797e-01 -9.04499187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00587156000003 meters 0.03983887274542749 Centerline is valid? [True, True] Translation: X:206.33, Y:-33.68, Z:-9.04 [[ 9.69308036e-01 2.43019116e-01 3.71973264e-02 2.06332791e+02] [-2.42883576e-01 9.70020879e-01 -8.18916429e-03 -3.36761440e+01] [-3.80723067e-02 -1.09679690e-03 9.99274385e-01 -9.04459566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03587156000003 meters 0.04055620089627439 Centerline is valid? [True, True] Translation: X:206.36, Y:-33.68, Z:-9.05 [[ 9.69221147e-01 2.43347202e-01 3.73163070e-02 2.06361623e+02] [-2.43211165e-01 9.69938603e-01 -8.21196505e-03 -3.36804991e+01] [-3.81928854e-02 -1.11653232e-03 9.99269762e-01 -9.04522535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06587156000003 meters 0.04147851057941059 Centerline is valid? [True, True] Translation: X:206.39, Y:-33.68, Z:-9.05 [[ 9.69156213e-01 2.43652810e-01 3.70073365e-02 2.06389324e+02] [-2.43519299e-01 9.69861873e-01 -8.14240055e-03 -3.36833204e+01] [-3.78759234e-02 -1.12074257e-03 9.99281821e-01 -9.04734352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09587156000003 meters 0.04185985405478984 Centerline is valid? [True, True] Translation: X:206.42, Y:-33.69, Z:-9.05 [[ 9.69141903e-01 2.43745223e-01 3.67727787e-02 2.06417777e+02] [-2.43613547e-01 9.69838653e-01 -8.08866084e-03 -3.36878482e+01] [-3.76352346e-02 -1.11928687e-03 9.99290917e-01 -9.04909377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12587156000004 meters 0.04241855844007117 Centerline is valid? [True, True] Translation: X:206.45, Y:-33.69, Z:-9.05 [[ 9.69125699e-01 2.43751967e-01 3.71531680e-02 2.06445947e+02] [-2.43617614e-01 9.69836943e-01 -8.17080892e-03 -3.36916631e+01] [-3.80241656e-02 -1.13262526e-03 9.99276178e-01 -9.04986870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15587156000004 meters 0.034002313569262914 Centerline is valid? [True, True] Translation: X:206.47, Y:-33.71, Z:-9.05 [[ 9.69129067e-01 2.43682031e-01 3.75222464e-02 2.06472258e+02] [-2.43545045e-01 9.69854504e-01 -8.24934658e-03 -3.37069995e+01] [-3.84013372e-02 -1.14367562e-03 9.99261742e-01 -9.04789297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18587156000004 meters 0.044506484417307396 Centerline is valid? [True, True] Translation: X:206.50, Y:-33.70, Z:-9.05 [[ 9.69297506e-01 2.43052889e-01 3.72510172e-02 2.06502360e+02] [-2.42917473e-01 9.70012400e-01 -8.18811045e-03 -3.37001977e+01] [-3.81240925e-02 -1.11220792e-03 9.99272394e-01 -9.05066117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21587156000004 meters 0.04068065596830428 Centerline is valid? [True, True] Translation: X:206.53, Y:-33.71, Z:-9.05 [[ 9.69449238e-01 2.42483733e-01 3.70110037e-02 2.06530614e+02] [-2.42349775e-01 9.70154864e-01 -8.13185310e-03 -3.37065725e+01] [-3.78782474e-02 -1.08618964e-03 9.99281771e-01 -9.05358963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24587156000004 meters 0.03628279315860172 Centerline is valid? [True, True] Translation: X:206.56, Y:-33.71, Z:-9.05 [[ 9.69878508e-01 2.40767672e-01 3.69676588e-02 2.06558522e+02] [-2.40632835e-01 9.70582242e-01 -8.12095180e-03 -3.37140426e+01] [-3.78354159e-02 -1.01929592e-03 9.99283464e-01 -9.05447432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27587156000004 meters 0.037402917711824774 Centerline is valid? [True, True] Translation: X:206.59, Y:-33.72, Z:-9.06 [[ 9.70268382e-01 2.39157401e-01 3.71887734e-02 2.06586667e+02] [-2.39019879e-01 9.70980332e-01 -8.16649812e-03 -3.37167945e+01] [-3.80626460e-02 -9.65161194e-04 9.99274889e-01 -9.05668490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30587156000004 meters 0.03565855774045561 Centerline is valid? [True, True] Translation: X:206.61, Y:-33.72, Z:-9.06 [[ 9.70683811e-01 2.37435967e-01 3.73778021e-02 2.06614251e+02] [-2.37295895e-01 9.71402770e-01 -8.20467030e-03 -3.37236570e+01] [-3.82569843e-02 -9.05458373e-04 9.99267523e-01 -9.05765404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33587156000004 meters 0.028556095953064378 Centerline is valid? [True, True] Translation: X:206.64, Y:-33.74, Z:-9.06 [[ 9.71589774e-01 2.33598817e-01 3.80118955e-02 2.06641923e+02] [-2.33451085e-01 9.72332763e-01 -8.34203179e-03 -3.37354364e+01] [-3.89089001e-02 -7.68885460e-04 9.99242466e-01 -9.05659491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36587156000002 meters 0.031571579413888946 Centerline is valid? [True, True] Translation: X:206.67, Y:-33.74, Z:-9.06 [[ 9.72100139e-01 2.31491496e-01 3.78550795e-02 2.06669059e+02] [-2.31343402e-01 9.72836688e-01 -8.30711425e-03 -3.37398337e+01] [-3.87498365e-02 -6.82175976e-04 9.99248710e-01 -9.05785113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39587156000002 meters 0.02189597670689411 Centerline is valid? [True, True] Translation: X:206.70, Y:-33.75, Z:-9.06 [[ 9.72549271e-01 2.29615702e-01 3.77431527e-02 2.06696105e+02] [-2.29467199e-01 9.73281182e-01 -8.27925006e-03 -3.37533318e+01] [-3.86357460e-02 -6.08836906e-04 9.99253175e-01 -9.05903392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42587156000002 meters 0.01932044714474509 Centerline is valid? [True, True] Translation: X:206.72, Y:-33.76, Z:-9.06 [[ 9.73233453e-01 2.26765914e-01 3.73345104e-02 2.06722733e+02] [-2.26618558e-01 9.73949166e-01 -8.18842716e-03 -3.37599744e+01] [-3.82187714e-02 -4.91441663e-04 9.99269275e-01 -9.06121574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45587156000002 meters 0.01825502560596368 Centerline is valid? [True, True] Translation: X:206.75, Y:-33.77, Z:-9.06 [[ 9.73472292e-01 2.25771275e-01 3.71352598e-02 2.06751456e+02] [-2.25624853e-01 9.74180233e-01 -8.14242219e-03 -3.37651666e+01] [-3.80147611e-02 -4.52215143e-04 9.99277075e-01 -9.06257775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48587156000002 meters 0.01720591594193096 Centerline is valid? [True, True] Translation: X:206.78, Y:-33.77, Z:-9.06 [[ 9.73663872e-01 2.24969610e-01 3.69775391e-02 2.06780009e+02] [-2.24823919e-01 9.74365690e-01 -8.10605663e-03 -3.37699114e+01] [-3.78532618e-02 -4.20860752e-04 9.99283220e-01 -9.06428023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51587156000002 meters 0.016529979775808203 Centerline is valid? [True, True] Translation: X:206.81, Y:-33.77, Z:-9.07 [[ 9.74146281e-01 2.22933190e-01 3.66035092e-02 2.06808153e+02] [-2.22789062e-01 9.74833666e-01 -8.02226735e-03 -3.37730468e+01] [-3.74707628e-02 -3.39999587e-04 9.99297667e-01 -9.06766798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54587156000002 meters 0.015380711945078373 Centerline is valid? [True, True] Translation: X:206.84, Y:-33.78, Z:-9.07 [[ 9.74473522e-01 2.21513718e-01 3.65106610e-02 2.06835448e+02] [-2.21369389e-01 9.75157213e-01 -8.00019420e-03 -3.37795093e+01] [-3.73757872e-02 -2.86365287e-04 9.99301240e-01 -9.06948084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57587156000002 meters 0.016372224712497985 Centerline is valid? [True, True] Translation: X:206.86, Y:-33.79, Z:-9.07 [[ 9.74835088e-01 2.19941547e-01 3.63629807e-02 2.06863123e+02] [-2.19797372e-01 9.75513026e-01 -7.96561424e-03 -3.37858627e+01] [-3.72245309e-02 -2.27327331e-04 9.99306901e-01 -9.07038169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60587156000003 meters 0.01237442873033697 Centerline is valid? [True, True] Translation: X:206.89, Y:-33.79, Z:-9.07 [[ 9.75586027e-01 2.16562194e-01 3.65064493e-02 2.06889730e+02] [-2.16414573e-01 9.76268819e-01 -7.99541165e-03 -3.37928177e+01] [-3.73716120e-02 -1.00315753e-04 9.99301432e-01 -9.07209017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63587156000003 meters 0.011799138980942803 Centerline is valid? [True, True] Translation: X:206.92, Y:-33.80, Z:-9.07 [[ 9.75976592e-01 2.14741596e-01 3.68203682e-02 2.06918088e+02] [-2.14590214e-01 9.76670899e-01 -8.06190765e-03 -3.37998071e+01] [-3.76926090e-02 -3.30575196e-05 9.99289381e-01 -9.07292414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66587156000003 meters 0.01175760781973785 Centerline is valid? [True, True] Translation: X:206.95, Y:-33.81, Z:-9.07 [[ 9.76696684e-01 2.11498071e-01 3.64986654e-02 2.06946224e+02] [-2.11347119e-01 9.77378411e-01 -7.98983568e-03 -3.38071085e+01] [-3.73628424e-02 8.97582526e-05 9.99301761e-01 -9.07316731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69587156000003 meters 0.012532552091561637 Centerline is valid? [True, True] Translation: X:206.97, Y:-33.81, Z:-9.08 [[ 9.77004577e-01 2.10141596e-01 3.60910773e-02 2.06973243e+02] [-2.09993135e-01 9.77670952e-01 -7.89890308e-03 -3.38138920e+01] [-3.69450860e-02 1.38385989e-04 9.99317288e-01 -9.07617676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72587156000003 meters 0.018979001936523587 Centerline is valid? [True, True] Translation: X:207.00, Y:-33.82, Z:-9.08 [[ 9.77229329e-01 2.09138224e-01 3.58335148e-02 2.07001344e+02] [-2.08991288e-01 9.77886074e-01 -7.84017610e-03 -3.38191901e+01] [-3.66807756e-02 1.72757616e-04 9.99327019e-01 -9.07615069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75587156000003 meters 0.029228888168194536 Centerline is valid? [True, True] Translation: X:207.03, Y:-33.82, Z:-9.08 [[ 9.77317335e-01 2.08752200e-01 3.56839673e-02 2.07029545e+02] [-2.08606295e-01 9.77968550e-01 -7.80569618e-03 -3.38239447e+01] [-3.65272540e-02 1.84741993e-04 9.99332640e-01 -9.07706522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78587156000003 meters 0.016921039451798615 Centerline is valid? [True, True] Translation: X:207.06, Y:-33.82, Z:-9.08 [[ 9.77224139e-01 2.09182338e-01 3.57173760e-02 2.07058669e+02] [-2.09036511e-01 9.77876639e-01 -7.81125488e-03 -3.38246480e+01] [-3.65611642e-02 1.67111172e-04 9.99331403e-01 -9.07797614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81587156000003 meters 0.013372718003016263 Centerline is valid? [True, True] Translation: X:207.09, Y:-33.83, Z:-9.08 [[ 9.77130706e-01 2.09615338e-01 3.57350511e-02 2.07085581e+02] [-2.09469719e-01 9.77783917e-01 -7.81340203e-03 -3.38289209e+01] [-3.65789672e-02 1.49303936e-04 9.99330754e-01 -9.08358910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84587156000003 meters 0.014915521416093645 Centerline is valid? [True, True] Translation: X:207.11, Y:-33.83, Z:-9.08 [[ 9.76986936e-01 2.10313970e-01 3.55606775e-02 2.07114064e+02] [-2.10170310e-01 9.77633888e-01 -7.77310457e-03 -3.38306515e+01] [-3.64001159e-02 1.20422998e-04 9.99337289e-01 -9.08307799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87587156000004 meters 0.011828190652258737 Centerline is valid? [True, True] Translation: X:207.14, Y:-33.83, Z:-9.08 [[ 9.76723731e-01 2.11491310e-01 3.58075433e-02 2.07144062e+02] [-2.11346538e-01 9.77379875e-01 -7.82435343e-03 -3.38296552e+01] [-3.66523550e-02 7.44313582e-05 9.99328074e-01 -9.08380055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90587156000004 meters 0.02830403145514557 Centerline is valid? [True, True] Translation: X:207.17, Y:-33.83, Z:-9.08 [[ 9.76595466e-01 2.12136319e-01 3.54891122e-02 2.07171017e+02] [-2.11994590e-01 9.77240083e-01 -7.75333536e-03 -3.38320266e+01] [-3.63261470e-02 4.83723722e-05 9.99339987e-01 -9.08380801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93587156000004 meters 0.01178898346075052 Centerline is valid? [True, True] Translation: X:207.20, Y:-33.83, Z:-9.09 [[ 9.76534630e-01 2.12371533e-01 3.57554079e-02 2.07199577e+02] [-2.12227952e-01 9.77188994e-01 -7.80804718e-03 -3.38349838e+01] [-3.65979981e-02 3.65314559e-05 9.99330068e-01 -9.08696461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96587156000004 meters 0.011679255723282576 Centerline is valid? [True, True] Translation: X:207.23, Y:-33.84, Z:-9.09 [[ 9.76419985e-01 2.12885555e-01 3.58295132e-02 2.07227338e+02] [-2.12741781e-01 9.77077141e-01 -7.82267643e-03 -3.38373530e+01] [-3.66735332e-02 1.57831402e-05 9.99327300e-01 -9.08755036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99587156000004 meters 0.018096135463483445 Centerline is valid? [True, True] Translation: X:207.25, Y:-33.84, Z:-9.09 [[ 9.76330251e-01 2.13320919e-01 3.56850889e-02 2.07254868e+02] [-2.13178686e-01 9.76982183e-01 -7.78860673e-03 -3.38363738e+01] [-3.65251688e-02 -3.04798126e-06 9.99332733e-01 -9.08833266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02587156000004 meters 0.025750909897101534 Centerline is valid? [True, True] Translation: X:207.28, Y:-33.84, Z:-9.09 [[ 9.76383313e-01 2.13091709e-01 3.56026691e-02 2.07282456e+02] [-2.12950095e-01 9.77032202e-01 -7.76745349e-03 -3.38394505e+01] [-3.64401341e-02 2.42018532e-06 9.99335838e-01 -9.08923748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05587156000004 meters 0.011832104377269191 Centerline is valid? [True, True] Translation: X:207.31, Y:-33.84, Z:-9.09 [[ 9.76527818e-01 2.12442800e-01 3.55172940e-02 2.07308884e+02] [-2.12301527e-01 9.77173504e-01 -7.74630957e-03 -3.38433885e+01] [-3.63522063e-02 2.41110283e-05 9.99339040e-01 -9.09290374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08587156000004 meters 0.012085841874305527 Centerline is valid? [True, True] Translation: X:207.34, Y:-33.85, Z:-9.10 [[ 9.76827605e-01 2.11126306e-01 3.51213983e-02 2.07336416e+02] [-2.10987431e-01 9.77458786e-01 -7.65677750e-03 -3.38470369e+01] [-3.59462665e-02 6.91780555e-05 9.99353722e-01 -9.09533662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11587156000002 meters 0.014741278535470376 Centerline is valid? [True, True] Translation: X:207.36, Y:-33.85, Z:-9.10 [[ 9.77022787e-01 2.10229887e-01 3.50694739e-02 2.07363854e+02] [-2.10090925e-01 9.77651975e-01 -7.64321957e-03 -3.38524155e+01] [-3.58925736e-02 9.98214861e-05 9.99355649e-01 -9.09678274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14587156000002 meters 0.013202610047161575 Centerline is valid? [True, True] Translation: X:207.39, Y:-33.86, Z:-9.10 [[ 9.77495996e-01 2.07933436e-01 3.55705460e-02 2.07392244e+02] [-2.07789015e-01 9.78142961e-01 -7.75069885e-03 -3.38576517e+01] [-3.64047086e-02 1.85108373e-04 9.99337112e-01 -9.09765632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17587156000002 meters 0.0199379831255195 Centerline is valid? [True, True] Translation: X:207.42, Y:-33.86, Z:-9.10 [[ 9.77737216e-01 2.06789889e-01 3.56072750e-02 2.07419101e+02] [-2.06644470e-01 9.78385349e-01 -7.75709445e-03 -3.38630948e+01] [-3.64417249e-02 2.26353454e-04 9.99335754e-01 -9.09747868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20587156000002 meters 0.0199379831255195 Centerline is valid? [True, True] Translation: X:207.45, Y:-33.87, Z:-9.10 [[ 9.77751169e-01 2.06723834e-01 3.56076929e-02 2.07445965e+02] [-2.06578441e-01 9.78399307e-01 -7.75517566e-03 -3.38688058e+01] [-3.64417217e-02 2.26850381e-04 9.99335754e-01 -9.09871691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23587156000002 meters 0.014193368863656007 Centerline is valid? [True, True] Translation: X:207.47, Y:-33.87, Z:-9.10 [[ 9.78018215e-01 2.05446467e-01 3.56667956e-02 2.07474195e+02] [-2.05299840e-01 9.78668317e-01 -7.76534225e-03 -3.38736940e+01] [-3.65013250e-02 2.72258728e-04 9.99333568e-01 -9.10031067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26587156000002 meters 0.028253788595631334 Centerline is valid? [True, True] Translation: X:207.50, Y:-33.88, Z:-9.10 [[ 9.78543623e-01 2.02942328e-01 3.55919761e-02 2.07501590e+02] [-2.02794720e-01 9.79190625e-01 -7.74739772e-03 -3.38793610e+01] [-3.64236043e-02 3.63301809e-04 9.99336374e-01 -9.10076060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29587156000002 meters 0.01721564758745852 Centerline is valid? [True, True] Translation: X:207.53, Y:-33.89, Z:-9.10 [[ 9.78896489e-01 2.01255839e-01 3.54647821e-02 2.07529013e+02] [-2.01108256e-01 9.79538620e-01 -7.71754975e-03 -3.38862154e+01] [-3.62923256e-02 4.22421895e-04 9.99341127e-01 -9.10339877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32587156000002 meters 0.018278779284814018 Centerline is valid? [True, True] Translation: X:207.56, Y:-33.89, Z:-9.11 [[ 9.79207824e-01 1.99785867e-01 3.51801639e-02 2.07557123e+02] [-1.99639777e-01 9.79839469e-01 -7.65335354e-03 -3.38940429e+01] [-3.59999450e-02 4.70863577e-04 9.99351681e-01 -9.10522207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35587156000003 meters 0.018962093453558457 Centerline is valid? [True, True] Translation: X:207.59, Y:-33.90, Z:-9.11 [[ 9.79497653e-01 1.98327242e-01 3.53645863e-02 2.07585459e+02] [-1.98178729e-01 9.80135720e-01 -7.69171149e-03 -3.39008591e+01] [-3.61875701e-02 5.25504600e-04 9.99344877e-01 -9.10619201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38587156000003 meters 0.022347051564911794 Centerline is valid? [True, True] Translation: X:207.61, Y:-33.91, Z:-9.11 [[ 9.80067364e-01 1.95386709e-01 3.59443545e-02 2.07612324e+02] [-1.95231369e-01 9.80726068e-01 -7.81613411e-03 -3.39097673e+01] [-3.67787342e-02 6.42872433e-04 9.99323227e-01 -9.10666565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41587156000003 meters 0.023425227671275344 Centerline is valid? [True, True] Translation: X:207.64, Y:-33.92, Z:-9.11 [[ 9.80310099e-01 1.94091194e-01 3.63416815e-02 2.07640650e+02] [-1.93931617e-01 9.80983243e-01 -7.89964837e-03 -3.39163729e+01] [-3.71838327e-02 6.96304031e-04 9.99308200e-01 -9.10729018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44587156000003 meters 0.025730234577698515 Centerline is valid? [True, True] Translation: X:207.67, Y:-33.92, Z:-9.11 [[ 9.80534537e-01 1.92905372e-01 3.65997075e-02 2.07667265e+02] [-1.92742756e-01 9.81217082e-01 -7.95407737e-03 -3.39244776e+01] [-3.74466424e-02 7.44919094e-04 9.99298351e-01 -9.10842736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47587156000003 meters 0.027892039863053452 Centerline is valid? [True, True] Translation: X:207.69, Y:-33.93, Z:-9.11 [[ 9.80779978e-01 1.91533676e-01 3.72221032e-02 2.07694052e+02] [-1.91364593e-01 9.81485709e-01 -8.08669088e-03 -3.39323053e+01] [-3.80818360e-02 8.08271867e-04 9.99274297e-01 -9.10939178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50587156000003 meters 0.02702100679167353 Centerline is valid? [True, True] Translation: X:207.72, Y:-33.94, Z:-9.11 [[ 9.80806513e-01 1.91346876e-01 3.74827606e-02 2.07722142e+02] [-1.91175369e-01 9.81522135e-01 -8.14101788e-03 -3.39370092e+01] [-3.83479176e-02 8.18982782e-04 9.99264112e-01 -9.10984229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53587156000003 meters 0.024141718125765797 Centerline is valid? [True, True] Translation: X:207.75, Y:-33.94, Z:-9.11 [[ 9.80738919e-01 1.91728316e-01 3.73018290e-02 2.07751127e+02] [-1.91558804e-01 9.81447714e-01 -8.09996683e-03 -3.39388349e+01] [-3.81627878e-02 7.98458970e-04 9.99271216e-01 -9.11045421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56587156000003 meters 0.02969785764749574 Centerline is valid? [True, True] Translation: X:207.78, Y:-33.95, Z:-9.11 [[ 9.80625900e-01 1.92408142e-01 3.67688876e-02 2.07778339e+02] [-1.92243983e-01 9.81314695e-01 -7.98249728e-03 -3.39455649e+01] [-3.76177472e-02 7.59246164e-04 9.99291914e-01 -9.11188737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59587156000003 meters 0.02326948279880421 Centerline is valid? [True, True] Translation: X:207.81, Y:-33.95, Z:-9.12 [[ 9.80266982e-01 1.94408016e-01 3.58073608e-02 2.07806610e+02] [-1.94253751e-01 9.80920529e-01 -7.77145916e-03 -3.39483387e+01] [-3.66350093e-02 6.62390650e-04 9.99328493e-01 -9.11621740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62587156000004 meters 0.02151550880870269 Centerline is valid? [True, True] Translation: X:207.84, Y:-33.95, Z:-9.12 [[ 9.80015824e-01 1.95644798e-01 3.59457607e-02 2.07835296e+02] [-1.95490233e-01 9.80674631e-01 -7.79975390e-03 -3.39509766e+01] [-3.67770769e-02 6.16837122e-04 9.99323304e-01 -9.11708395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65587156000004 meters 0.021006825345757516 Centerline is valid? [True, True] Translation: X:207.86, Y:-33.96, Z:-9.12 [[ 9.79703683e-01 1.97160309e-01 3.61732635e-02 2.07862442e+02] [-1.97004876e-01 9.80371102e-01 -7.84741499e-03 -3.39551111e+01] [-3.70104209e-02 5.61832075e-04 9.99314722e-01 -9.11845003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68587156000004 meters 0.019242427345104618 Centerline is valid? [True, True] Translation: X:207.89, Y:-33.96, Z:-9.12 [[ 9.79335653e-01 1.98923483e-01 3.64846074e-02 2.07890191e+02] [-1.98766669e-01 9.80014898e-01 -7.91267563e-03 -3.39580859e+01] [-3.73294758e-02 4.97241477e-04 9.99302889e-01 -9.11923150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71587156000004 meters 0.01837713876807857 Centerline is valid? [True, True] Translation: X:207.92, Y:-33.96, Z:-9.12 [[ 9.78997758e-01 2.00619595e-01 3.62652387e-02 2.07917433e+02] [-2.00465906e-01 9.79669125e-01 -7.86293406e-03 -3.39619552e+01] [-3.71053933e-02 4.27850899e-04 9.99311266e-01 -9.12095065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74587156000004 meters 0.014536805584242878 Centerline is valid? [True, True] Translation: X:207.95, Y:-33.96, Z:-9.12 [[ 9.78269501e-01 2.04156020e-01 3.61815169e-02 2.07947033e+02] [-2.04005538e-01 9.78938320e-01 -7.84255333e-03 -3.39597387e+01] [-3.70205779e-02 2.90900923e-04 9.99314461e-01 -9.12167550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77587156000004 meters 0.013302296104334092 Centerline is valid? [True, True] Translation: X:207.98, Y:-33.96, Z:-9.12 [[ 9.77886296e-01 2.06020930e-01 3.59689825e-02 2.07975742e+02] [-2.05873536e-01 9.78547561e-01 -7.79474749e-03 -3.39621939e+01] [-3.68032412e-02 2.17315143e-04 9.99322508e-01 -9.12342177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80587156000004 meters 0.012069377874957913 Centerline is valid? [True, True] Translation: X:208.00, Y:-33.96, Z:-9.13 [[ 9.77346793e-01 2.08640195e-01 3.55319021e-02 2.08004644e+02] [-2.08498158e-01 9.77992462e-01 -7.69821842e-03 -3.39630920e+01] [-3.63560902e-02 1.15492953e-04 9.99338892e-01 -9.12579087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83587156000004 meters 0.011895064539662539 Centerline is valid? [True, True] Translation: X:208.03, Y:-33.97, Z:-9.13 [[ 9.77214119e-01 2.09261353e-01 3.55281761e-02 2.08031485e+02] [-2.09119788e-01 9.77859743e-01 -7.69650503e-03 -3.39671622e+01] [-3.63521542e-02 9.14887073e-05 9.99339038e-01 -9.12734624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86587156000002 meters 0.023286601395937183 Centerline is valid? [True, True] Translation: X:208.06, Y:-33.97, Z:-9.13 [[ 9.77156689e-01 2.09570754e-01 3.52831867e-02 2.08057821e+02] [-2.09431449e-01 9.77793482e-01 -7.64036678e-03 -3.39717083e+01] [-3.61008674e-02 7.64265888e-05 9.99348148e-01 -9.12796498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89587156000002 meters 0.011994061316145398 Centerline is valid? [True, True] Translation: X:208.09, Y:-33.98, Z:-9.13 [[ 9.77271800e-01 2.08996936e-01 3.54980225e-02 2.08085010e+02] [-2.08855666e-01 9.77916291e-01 -7.68368875e-03 -3.39775273e+01] [-3.63199619e-02 9.50892173e-05 9.99340208e-01 -9.13008786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92587156000002 meters 0.012133295866499059 Centerline is valid? [True, True] Translation: X:208.11, Y:-33.98, Z:-9.13 [[ 9.77404495e-01 2.08305050e-01 3.59090303e-02 2.08111076e+02] [-2.08160117e-01 9.78063900e-01 -7.77007302e-03 -3.39840221e+01] [-3.67398717e-02 1.19676359e-04 9.99324856e-01 -9.13072903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95587156000002 meters 0.012575013973389814 Centerline is valid? [True, True] Translation: X:208.14, Y:-33.99, Z:-9.13 [[ 9.77619086e-01 2.07295214e-01 3.59112277e-02 2.08137962e+02] [-2.07149701e-01 9.78278422e-01 -7.76729905e-03 -3.39912953e+01] [-3.67413031e-02 1.54459695e-04 9.99324798e-01 -9.13178629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98587156000002 meters 0.0135100483577192 Centerline is valid? [True, True] Translation: X:208.17, Y:-34.00, Z:-9.13 [[ 9.78021874e-01 2.05350313e-01 3.61173348e-02 2.08165142e+02] [-2.05201883e-01 9.78688509e-01 -7.80959292e-03 -3.40001123e+01] [-3.69513229e-02 2.26607605e-04 9.99317041e-01 -9.13263315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01587156000002 meters 0.014110433070009691 Centerline is valid? [True, True] Translation: X:208.19, Y:-34.01, Z:-9.13 [[ 9.78209420e-01 2.04466810e-01 3.60507107e-02 2.08193241e+02] [-2.04318392e-01 9.78873463e-01 -7.79344719e-03 -3.40079959e+01] [-3.68825853e-02 2.57800224e-04 9.99319573e-01 -9.13429265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04587156000002 meters 0.01464485455083329 Centerline is valid? [True, True] Translation: X:208.22, Y:-34.02, Z:-9.14 [[ 9.78348888e-01 2.03846001e-01 3.57807411e-02 2.08221130e+02] [-2.03699444e-01 9.79002927e-01 -7.73338695e-03 -3.40158694e+01] [-3.66058703e-02 2.77433438e-04 9.99329742e-01 -9.13600798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07587156000002 meters 0.015393434261961972 Centerline is valid? [True, True] Translation: X:208.25, Y:-34.02, Z:-9.14 [[ 9.78524004e-01 2.03037036e-01 3.55912420e-02 2.08247659e+02] [-2.02891551e-01 9.79171011e-01 -7.69084191e-03 -3.40236725e+01] [-3.64114381e-02 3.04511120e-04 9.99336837e-01 -9.13780232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10587156000003 meters 0.016575516100820628 Centerline is valid? [True, True] Translation: X:208.27, Y:-34.03, Z:-9.14 [[ 9.78853155e-01 2.01391882e-01 3.58860786e-02 2.08274521e+02] [-2.01242943e-01 9.79510681e-01 -7.75260398e-03 -3.40335088e+01] [-3.67121088e-02 3.66840813e-04 9.99325816e-01 -9.13871660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13587156000003 meters 0.017502165964423628 Centerline is valid? [True, True] Translation: X:208.30, Y:-34.04, Z:-9.14 [[ 9.79042188e-01 2.00427503e-01 3.61276851e-02 2.08301027e+02] [-2.00276015e-01 9.79708454e-01 -7.80152304e-03 -3.40422335e+01] [-3.69582383e-02 4.02511370e-04 9.99316730e-01 -9.13962200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16587156000003 meters 0.019181443876429626 Centerline is valid? [True, True] Translation: X:208.33, Y:-34.05, Z:-9.14 [[ 9.79384058e-01 1.98842733e-01 3.56150787e-02 2.08328236e+02] [-1.98694545e-01 9.80031307e-01 -7.68867331e-03 -3.40532548e+01] [-3.64327289e-02 4.53642199e-04 9.99336005e-01 -9.14160964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19587156000003 meters 0.02547023677302839 Centerline is valid? [True, True] Translation: X:208.35, Y:-34.06, Z:-9.14 [[ 9.79482382e-01 1.98379870e-01 3.54921245e-02 2.08354778e+02] [-1.98232457e-01 9.80125098e-01 -7.66057085e-03 -3.40616766e+01] [-3.63064251e-02 4.67703117e-04 9.99340595e-01 -9.14257090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22587156000003 meters 0.020435376622881085 Centerline is valid? [True, True] Translation: X:208.38, Y:-34.07, Z:-9.14 [[ 9.79606539e-01 1.97780687e-01 3.54094513e-02 2.08382842e+02] [-1.97633648e-01 9.80246175e-01 -7.64057198e-03 -3.40700814e+01] [-3.62211368e-02 4.86655245e-04 9.99343681e-01 -9.14482448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25587156000003 meters 0.020837370599137598 Centerline is valid? [True, True] Translation: X:208.41, Y:-34.08, Z:-9.15 [[ 9.79650931e-01 1.97653096e-01 3.48899199e-02 2.08408724e+02] [-1.97510314e-01 9.80271912e-01 -7.52698474e-03 -3.40811236e+01] [-3.56893403e-02 4.82698577e-04 9.99362816e-01 -9.14706655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28587156000003 meters 0.020833203041428817 Centerline is valid? [True, True] Translation: X:208.44, Y:-34.09, Z:-9.15 [[ 9.79631524e-01 1.97752119e-01 3.48737163e-02 2.08435403e+02] [-1.97609604e-01 9.80251943e-01 -7.52147498e-03 -3.40894302e+01] [-3.56724158e-02 4.76892731e-04 9.99363423e-01 -9.14875734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31587156000003 meters 0.02079407758303466 Centerline is valid? [True, True] Translation: X:208.46, Y:-34.10, Z:-9.15 [[ 9.79630416e-01 1.97792351e-01 3.46761212e-02 2.08462616e+02] [-1.97651538e-01 9.80243829e-01 -7.47699546e-03 -3.40973138e+01] [-3.54699463e-02 4.70903510e-04 9.99370633e-01 -9.15037972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34587156000003 meters 0.02007826504143254 Centerline is valid? [True, True] Translation: X:208.49, Y:-34.10, Z:-9.15 [[ 9.79541886e-01 1.98250528e-01 3.45604038e-02 2.08490750e+02] [-1.98111028e-01 9.80151277e-01 -7.44950284e-03 -3.41040222e+01] [-3.53512918e-02 4.50302919e-04 9.99374846e-01 -9.14897816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37587156000004 meters 0.01835798637451499 Centerline is valid? [True, True] Translation: X:208.52, Y:-34.11, Z:-9.15 [[ 9.79474937e-01 1.98621292e-01 3.43282667e-02 2.08517364e+02] [-1.98483942e-01 9.80076219e-01 -7.39791387e-03 -3.41110898e+01] [-3.51137011e-02 4.32461515e-04 9.99383230e-01 -9.15074356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40587156000004 meters 0.029009772654095444 Centerline is valid? [True, True] Translation: X:208.55, Y:-34.12, Z:-9.15 [[ 9.79268307e-01 1.99560233e-01 3.47749346e-02 2.08545730e+02] [-1.99419958e-01 9.79885479e-01 -7.49189701e-03 -3.41175536e+01] [-3.55705382e-02 4.01761313e-04 9.99367087e-01 -9.15052141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43587156000004 meters 0.015544325726928949 Centerline is valid? [True, True] Translation: X:208.57, Y:-34.12, Z:-9.15 [[ 9.78792018e-01 2.01791283e-01 3.53052805e-02 2.08573849e+02] [-2.01648208e-01 9.79428493e-01 -7.60439714e-03 -3.41242758e+01] [-3.61134988e-02 3.23876664e-04 9.99347642e-01 -9.15212217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46587156000004 meters 0.01535032746549058 Centerline is valid? [True, True] Translation: X:208.60, Y:-34.13, Z:-9.15 [[ 9.78497649e-01 2.03220920e-01 3.52648365e-02 2.08600358e+02] [-2.03079159e-01 9.79132874e-01 -7.59406719e-03 -3.41309316e+01] [-3.60722340e-02 2.69223561e-04 9.99349149e-01 -9.15450156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49587156000004 meters 0.024071104472863047 Centerline is valid? [True, True] Translation: X:208.63, Y:-34.13, Z:-9.15 [[ 9.78136794e-01 2.04972711e-01 3.51368816e-02 2.08629270e+02] [-2.04833186e-01 9.78767668e-01 -7.56430503e-03 -3.41343679e+01] [-3.59413198e-02 2.01725654e-04 9.99353882e-01 -9.15227852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52587156000004 meters 0.01301390202163044 Centerline is valid? [True, True] Translation: X:208.66, Y:-34.14, Z:-9.16 [[ 9.77848792e-01 2.06419502e-01 3.46803848e-02 2.08656236e+02] [-2.06284547e-01 9.78463575e-01 -7.46440480e-03 -3.41399783e+01] [-3.54742920e-02 1.45031747e-04 9.99370579e-01 -9.15675157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55587156000004 meters 0.011945493852937824 Centerline is valid? [True, True] Translation: X:208.69, Y:-34.14, Z:-9.16 [[ 9.77055644e-01 2.10129686e-01 3.47531805e-02 2.08685548e+02] [-2.09996592e-01 9.77673522e-01 -7.47772324e-03 -3.41419388e+01] [-3.55485560e-02 8.10222802e-06 9.99367950e-01 -9.15608177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58587156000004 meters 0.012205136341041676 Centerline is valid? [True, True] Translation: X:208.71, Y:-34.15, Z:-9.16 [[ 9.76616461e-01 2.12144956e-01 3.48540562e-02 2.08712734e+02] [-2.12012421e-01 9.77238207e-01 -7.49800318e-03 -3.41454971e+01] [-3.56513790e-02 -6.68195129e-05 9.99364285e-01 -9.15732927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61587156000002 meters 0.013768654238565527 Centerline is valid? [True, True] Translation: X:208.74, Y:-34.15, Z:-9.16 [[ 9.75839158e-01 2.15675038e-01 3.49602012e-02 2.08740288e+02] [-2.15544076e-01 9.76465175e-01 -7.51751683e-03 -3.41479570e+01] [-3.57587597e-02 -1.99576971e-04 9.99360431e-01 -9.15893705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64587156000002 meters 0.021672003725000694 Centerline is valid? [True, True] Translation: X:208.77, Y:-34.15, Z:-9.16 [[ 9.75483614e-01 2.17254703e-01 3.51014541e-02 2.08768508e+02] [-2.17123784e-01 9.76114914e-01 -7.54561160e-03 -3.41527781e+01] [-3.59023724e-02 -2.60740049e-04 9.99355268e-01 -9.15775286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67587156000002 meters 0.016283675750506408 Centerline is valid? [True, True] Translation: X:208.80, Y:-34.16, Z:-9.16 [[ 9.75215251e-01 2.18385583e-01 3.55380351e-02 2.08796211e+02] [-2.18252200e-01 9.75862512e-01 -7.63772662e-03 -3.41551826e+01] [-3.63482056e-02 -3.07826856e-04 9.99339138e-01 -9.16119632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70587156000002 meters 0.026294966802867446 Centerline is valid? [True, True] Translation: X:208.82, Y:-34.16, Z:-9.16 [[ 9.74722005e-01 2.20481549e-01 3.61234011e-02 2.08824869e+02] [-2.20345263e-01 9.75391066e-01 -7.76106838e-03 -3.41593073e+01] [-3.69456150e-02 -3.94736176e-04 9.99317200e-01 -9.15887368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73587156000002 meters 0.01709640708475952 Centerline is valid? [True, True] Translation: X:208.85, Y:-34.17, Z:-9.16 [[ 9.74632450e-01 2.20908044e-01 3.59335924e-02 2.08853257e+02] [-2.20773539e-01 9.75294554e-01 -7.71858209e-03 -3.41658089e+01] [-3.67509338e-02 -4.10405792e-04 9.99324372e-01 -9.16084323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76587156000002 meters 0.0176632843846455 Centerline is valid? [True, True] Translation: X:208.88, Y:-34.17, Z:-9.16 [[ 9.74573229e-01 2.21192954e-01 3.57868577e-02 2.08880321e+02] [-2.21059801e-01 9.75229973e-01 -7.68536239e-03 -3.41700105e+01] [-3.66003643e-02 -4.21087184e-04 9.99329893e-01 -9.16264253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79587156000002 meters 0.018119647857224717 Centerline is valid? [True, True] Translation: X:208.91, Y:-34.17, Z:-9.16 [[ 9.74558752e-01 2.21277711e-01 3.56568840e-02 2.08908193e+02] [-2.21145662e-01 9.75210743e-01 -7.65520541e-03 -3.41741794e+01] [-3.64669027e-02 -4.24917764e-04 9.99334771e-01 -9.16468237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82587156000002 meters 0.017550782695407437 Centerline is valid? [True, True] Translation: X:208.94, Y:-34.18, Z:-9.17 [[ 9.74740543e-01 2.20456339e-01 3.57753736e-02 2.08935257e+02] [-2.20322940e-01 9.75396763e-01 -7.67839313e-03 -3.41799565e+01] [-3.65879340e-02 -3.97694390e-04 9.99330358e-01 -9.16540723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85587156000003 meters 0.01681289722110324 Centerline is valid? [True, True] Translation: X:208.96, Y:-34.19, Z:-9.17 [[ 9.74923440e-01 2.19659192e-01 3.56949015e-02 2.08963523e+02] [-2.19525942e-01 9.75576600e-01 -7.65881269e-03 -3.41877381e+01] [-3.65054393e-02 -3.69200885e-04 9.99333386e-01 -9.16643177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88587156000003 meters 0.014698330511875177 Centerline is valid? [True, True] Translation: X:208.99, Y:-34.20, Z:-9.17 [[ 9.75628921e-01 2.16519792e-01 3.56003885e-02 2.08989503e+02] [-2.16385217e-01 9.76278196e-01 -7.63687924e-03 -3.41976790e+01] [-3.64094185e-02 -2.52637516e-04 9.99336925e-01 -9.16721927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91587156000003 meters 0.013572596466212268 Centerline is valid? [True, True] Translation: X:209.02, Y:-34.21, Z:-9.17 [[ 9.76026581e-01 2.14726456e-01 3.55620815e-02 2.09016954e+02] [-2.14591064e-01 9.76674211e-01 -7.62637694e-03 -3.42064589e+01] [-3.63701528e-02 -1.87758277e-04 9.99338369e-01 -9.16846030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94587156000003 meters 0.02293821881528283 Centerline is valid? [True, True] Translation: X:209.04, Y:-34.22, Z:-9.17 [[ 9.76805829e-01 2.11245626e-01 3.50094054e-02 2.09043774e+02] [-2.11112234e-01 9.77433006e-01 -7.50618381e-03 -3.42189459e+01] [-3.58049969e-02 -5.88296826e-05 9.99358794e-01 -9.16954670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97587156000003 meters 0.01229822681172068 Centerline is valid? [True, True] Translation: X:209.07, Y:-34.23, Z:-9.17 [[ 9.77256458e-01 2.09180122e-01 3.48352258e-02 2.09070467e+02] [-2.09046793e-01 9.77877127e-01 -7.46738169e-03 -3.42274580e+01] [-3.56265983e-02 1.53547461e-05 9.99365171e-01 -9.17257829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00587156000003 meters 0.02035101026043481 Centerline is valid? [True, True] Translation: X:209.10, Y:-34.24, Z:-9.17 [[ 9.77582049e-01 2.07731258e-01 3.43665932e-02 2.09096947e+02] [-2.07600685e-01 9.78185933e-01 -7.36445518e-03 -3.42362000e+01] [-3.51467456e-02 6.48308986e-05 9.99382160e-01 -9.17334854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03587156000003 meters 0.025339225185455408 Centerline is valid? [True, True] Translation: X:209.12, Y:-34.24, Z:-9.18 [[ 9.77928499e-01 2.06228909e-01 3.35482840e-02 2.09124784e+02] [-2.06103684e-01 9.78503768e-01 -7.18659013e-03 -3.42446598e+01] [-3.43092050e-02 1.13546348e-04 9.99411259e-01 -9.17560191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06587156000003 meters 0.013860803723179415 Centerline is valid? [True, True] Translation: X:209.15, Y:-34.25, Z:-9.18 [[ 9.78406110e-01 2.04043459e-01 3.29810594e-02 2.09152253e+02] [-2.03921244e-01 9.78961814e-01 -7.06355124e-03 -3.42539962e+01] [-3.37284691e-02 1.85483023e-04 9.99431016e-01 -9.17762553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09587156000003 meters 0.013860803723179415 Centerline is valid? [True, True] Translation: X:209.18, Y:-34.26, Z:-9.18 [[ 9.78415961e-01 2.03996161e-01 3.29814001e-02 2.09179945e+02] [-2.03873973e-01 9.78971671e-01 -7.06195971e-03 -3.42598369e+01] [-3.37284691e-02 1.85485025e-04 9.99431016e-01 -9.17890144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12587156000004 meters 0.014514308098700286 Centerline is valid? [True, True] Translation: X:209.21, Y:-34.27, Z:-9.18 [[ 9.78493215e-01 2.03620693e-01 3.30097227e-02 2.09206547e+02] [-2.03498133e-01 9.79049832e-01 -7.06648992e-03 -3.42674049e+01] [-3.37570470e-02 1.97095494e-04 9.99430049e-01 -9.18141000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15587156000004 meters 0.014322850866942117 Centerline is valid? [True, True] Translation: X:209.23, Y:-34.27, Z:-9.18 [[ 9.78509998e-01 2.03558578e-01 3.28951178e-02 2.09234285e+02] [-2.03436907e-01 9.79062749e-01 -7.03974759e-03 -3.42738465e+01] [-3.36393855e-02 1.96382383e-04 9.99434016e-01 -9.18211379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18587156000004 meters 0.014331314510943372 Centerline is valid? [True, True] Translation: X:209.26, Y:-34.28, Z:-9.18 [[ 9.78486300e-01 2.03743520e-01 3.24521122e-02 2.09262125e+02] [-2.03625259e-01 9.79024281e-01 -6.94337205e-03 -3.42810265e+01] [-3.31860729e-02 1.85924693e-04 9.99449173e-01 -9.18380972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21587156000004 meters 0.032594947963349885 Centerline is valid? [True, True] Translation: X:209.29, Y:-34.29, Z:-9.18 [[ 9.78362533e-01 2.04423870e-01 3.19003902e-02 2.09290775e+02] [-2.04310008e-01 9.78882453e-01 -6.82380868e-03 -3.42867606e+01] [-3.26216815e-02 1.58589786e-04 9.99467759e-01 -9.18319601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24587156000004 meters 0.013899153118125899 Centerline is valid? [True, True] Translation: X:209.32, Y:-34.29, Z:-9.19 [[ 9.78113942e-01 2.05652002e-01 3.16286331e-02 2.09317594e+02] [-2.05540766e-01 9.78625179e-01 -6.76409778e-03 -3.42912440e+01] [-3.23436270e-02 1.15084889e-04 9.99476801e-01 -9.18774168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27587156000004 meters 0.013537724161050702 Centerline is valid? [True, True] Translation: X:209.35, Y:-34.30, Z:-9.19 [[ 9.77964192e-01 2.06381909e-01 3.15046984e-02 2.09345122e+02] [-2.06271962e-01 9.78471512e-01 -6.73632458e-03 -3.42963225e+01] [-3.22167054e-02 8.93482891e-05 9.99480903e-01 -9.18855149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30587156000004 meters 0.017472180635112584 Centerline is valid? [True, True] Translation: X:209.37, Y:-34.30, Z:-9.19 [[ 9.77851041e-01 2.06956608e-01 3.12458724e-02 2.09371205e+02] [-2.06848822e-01 9.78350120e-01 -6.67883956e-03 -3.43021248e+01] [-3.19516330e-02 6.77383105e-05 9.99489414e-01 -9.19003634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33587156000004 meters 0.013566651342689843 Centerline is valid? [True, True] Translation: X:209.40, Y:-34.31, Z:-9.19 [[ 9.77766544e-01 2.07414076e-01 3.08542897e-02 2.09399028e+02] [-2.07309300e-01 9.78253239e-01 -6.59205433e-03 -3.43087907e+01] [-3.15505937e-02 4.91089757e-05 9.99502155e-01 -9.19175362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36587156000002 meters 0.01330203542120318 Centerline is valid? [True, True] Translation: X:209.43, Y:-34.31, Z:-9.19 [[ 9.77702346e-01 2.07663763e-01 3.12071156e-02 2.09427636e+02] [-2.07556754e-01 9.78200266e-01 -6.66588241e-03 -3.43147254e+01] [-3.19110710e-02 4.00012347e-05 9.99490711e-01 -9.19189231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39587156000002 meters 0.013262489305486947 Centerline is valid? [True, True] Translation: X:209.46, Y:-34.32, Z:-9.19 [[ 9.77575802e-01 2.08149533e-01 3.19268512e-02 2.09455247e+02] [-2.08037838e-01 9.78097015e-01 -6.81812026e-03 -3.43201216e+01] [-3.26467464e-02 2.32363015e-05 9.99466953e-01 -9.19266165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42587156000002 meters 0.012932926994139032 Centerline is valid? [True, True] Translation: X:209.48, Y:-34.32, Z:-9.19 [[ 9.77108269e-01 2.10100261e-01 3.34262140e-02 2.09482813e+02] [-2.09979041e-01 9.77679844e-01 -7.13609473e-03 -3.43241639e+01] [-3.41794311e-02 -4.60672169e-05 9.99415711e-01 -9.19081132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45587156000002 meters 0.027753513305099405 Centerline is valid? [True, True] Translation: X:209.51, Y:-34.33, Z:-9.19 [[ 9.76814709e-01 2.11402523e-01 3.37934664e-02 2.09510597e+02] [-2.11279472e-01 9.77399081e-01 -7.21253356e-03 -3.43289790e+01] [-3.45544509e-02 -9.45568654e-05 9.99402812e-01 -9.18909147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48587156000002 meters 0.014020785863595888 Centerline is valid? [True, True] Translation: X:209.54, Y:-34.33, Z:-9.19 [[ 9.76409293e-01 2.13164936e-01 3.44325718e-02 2.09537593e+02] [-2.13038366e-01 9.77016215e-01 -7.34648117e-03 -3.43319084e+01] [-3.52071932e-02 -1.62286364e-04 9.99380021e-01 -9.19114160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51587156000002 meters 0.014654613725709382 Centerline is valid? [True, True] Translation: X:209.57, Y:-34.34, Z:-9.19 [[ 9.76189485e-01 2.14180143e-01 3.43650413e-02 2.09566465e+02] [-2.14054813e-01 9.76794157e-01 -7.32881183e-03 -3.43366388e+01] [-3.51372576e-02 -2.01693466e-04 9.99382476e-01 -9.19248510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54587156000002 meters 0.01418821258396668 Centerline is valid? [True, True] Translation: X:209.59, Y:-34.34, Z:-9.19 [[ 9.76091547e-01 2.14667659e-01 3.41040748e-02 2.09594495e+02] [-2.14544577e-01 9.76687129e-01 -7.27161045e-03 -3.43431788e+01] [-3.48699905e-02 -2.19086786e-04 9.99391833e-01 -9.19206308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57587156000002 meters 0.028628191004262105 Centerline is valid? [True, True] Translation: X:209.62, Y:-34.35, Z:-9.19 [[ 9.75990692e-01 2.15251312e-01 3.33022708e-02 2.09622528e+02] [-2.15134346e-01 9.76558660e-01 -7.09901918e-03 -3.43504695e+01] [-3.40496941e-02 -2.35885615e-04 9.99420113e-01 -9.19288682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60587156000003 meters 0.015053265843628056 Centerline is valid? [True, True] Translation: X:209.65, Y:-34.36, Z:-9.20 [[ 9.76103142e-01 2.14761587e-01 3.31680149e-02 2.09648774e+02] [-2.14645323e-01 9.76666480e-01 -7.06910314e-03 -3.43557046e+01] [-3.39122602e-02 -2.19185500e-04 9.99424790e-01 -9.19759317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63587156000003 meters 0.0149360866129997 Centerline is valid? [True, True] Translation: X:209.68, Y:-34.36, Z:-9.20 [[ 9.76253003e-01 2.14190410e-01 3.24429098e-02 2.09676638e+02] [-2.14078970e-01 9.76791907e-01 -6.91125716e-03 -3.43628250e+01] [-3.31702967e-02 -1.98209158e-04 9.99449695e-01 -9.20031241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66587156000003 meters 0.014336251150205181 Centerline is valid? [True, True] Translation: X:209.70, Y:-34.37, Z:-9.20 [[ 9.76437167e-01 2.13410781e-01 3.20358799e-02 2.09703018e+02] [-2.13301741e-01 9.76962543e-01 -6.82331920e-03 -3.43711889e+01] [-3.27540245e-02 -1.70766483e-04 9.99463428e-01 -9.20129033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69587156000003 meters 0.013655851019855645 Centerline is valid? [True, True] Translation: X:209.73, Y:-34.38, Z:-9.20 [[ 9.76791676e-01 2.11763777e-01 3.21578038e-02 2.09730135e+02] [-2.11653103e-01 9.77320873e-01 -6.84654173e-03 -3.43828792e+01] [-3.28783424e-02 -1.18653989e-04 9.99459354e-01 -9.20241250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72587156000003 meters 0.013495968695157744 Centerline is valid? [True, True] Translation: X:209.76, Y:-34.39, Z:-9.20 [[ 9.76983798e-01 2.10923078e-01 3.18451469e-02 2.09756768e+02] [-2.10814142e-01 9.77502658e-01 -6.77868419e-03 -3.43910647e+01] [-3.25584967e-02 -9.07427078e-05 9.99469827e-01 -9.20409743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75587156000003 meters 0.02179537668213895 Centerline is valid? [True, True] Translation: X:209.78, Y:-34.40, Z:-9.21 [[ 9.77105643e-01 2.10378799e-01 3.17068434e-02 2.09783523e+02] [-2.10270604e-01 9.77619944e-01 -6.74667880e-03 -3.43972445e+01] [-3.24166007e-02 -7.47992015e-05 9.99474441e-01 -9.21031743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78587156000003 meters 0.014752127152952788 Centerline is valid? [True, True] Translation: X:209.81, Y:-34.41, Z:-9.21 [[ 9.77322215e-01 2.09328876e-01 3.19798178e-02 2.09811155e+02] [-2.09218323e-01 9.77845294e-01 -6.80248410e-03 -3.44053195e+01] [-3.26952707e-02 -4.25450104e-05 9.99465366e-01 -9.21201346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81587156000003 meters 0.02063020606627837 Centerline is valid? [True, True] Translation: X:209.84, Y:-34.41, Z:-9.21 [[ 9.77323376e-01 2.09303264e-01 3.21117254e-02 2.09838503e+02] [-2.09191817e-01 9.77850777e-01 -6.82948104e-03 -3.44127970e+01] [-3.28299083e-02 -4.28987279e-05 9.99460952e-01 -9.20672602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84587156000003 meters 0.01324912649313234 Centerline is valid? [True, True] Translation: X:209.87, Y:-34.42, Z:-9.21 [[ 9.77341061e-01 2.09139203e-01 3.26380739e-02 2.09866537e+02] [-2.09024070e-01 9.77885879e-01 -6.93871775e-03 -3.44192305e+01] [-3.33674695e-02 -4.06492886e-05 9.99443150e-01 -9.20814488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87587156000004 meters 0.013219199908091773 Centerline is valid? [True, True] Translation: X:209.89, Y:-34.43, Z:-9.21 [[ 9.77188213e-01 2.09845906e-01 3.26786168e-02 2.09894686e+02] [-2.09730935e-01 9.77734469e-01 -6.94573760e-03 -3.44263026e+01] [-3.34085447e-02 -6.64239538e-05 9.99441777e-01 -9.20894511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90587156000004 meters 0.013324069225197683 Centerline is valid? [True, True] Translation: X:209.92, Y:-34.43, Z:-9.21 [[ 9.77122443e-01 2.10114484e-01 3.29186078e-02 2.09922864e+02] [-2.09998026e-01 9.77676786e-01 -6.99509965e-03 -3.44329190e+01] [-3.36535305e-02 -7.77738023e-05 9.99433556e-01 -9.20999278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93587156000004 meters 0.015378986121580515 Centerline is valid? [True, True] Translation: X:209.95, Y:-34.44, Z:-9.21 [[ 9.77048860e-01 2.10394954e-01 3.33089965e-02 2.09951023e+02] [-2.10275936e-01 9.77616466e-01 -7.07638978e-03 -3.44392759e+01] [-3.40522602e-02 -9.01018604e-05 9.99420050e-01 -9.20957164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96587156000004 meters 0.01319939052816399 Centerline is valid? [True, True] Translation: X:209.98, Y:-34.45, Z:-9.21 [[ 9.76987346e-01 2.10710745e-01 3.31165873e-02 2.09979113e+02] [-2.10593335e-01 9.77548450e-01 -7.03391176e-03 -3.44456590e+01] [-3.38551894e-02 -1.02089774e-04 9.99426744e-01 -9.21096419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99587156000004 meters 0.01342131717951426 Centerline is valid? [True, True] Translation: X:210.01, Y:-34.45, Z:-9.21 [[ 9.76974794e-01 2.10838383e-01 3.26715316e-02 2.10005783e+02] [-2.10724229e-01 9.77520928e-01 -6.93789899e-03 -3.44516493e+01] [-3.33998813e-02 -1.06530852e-04 9.99442063e-01 -9.21366504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02587156000004 meters 0.013844933915877699 Centerline is valid? [True, True] Translation: X:210.03, Y:-34.46, Z:-9.22 [[ 9.76940424e-01 2.11001221e-01 3.26480108e-02 2.10033068e+02] [-2.10887391e-01 9.77485791e-01 -6.93084599e-03 -3.44577805e+01] [-3.33753836e-02 -1.14030206e-04 9.99442880e-01 -9.21631969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05587156000004 meters 0.013978294572130786 Centerline is valid? [True, True] Translation: X:210.06, Y:-34.47, Z:-9.22 [[ 9.76922997e-01 2.11144626e-01 3.22397847e-02 2.10061125e+02] [-2.11033774e-01 9.77454824e-01 -6.84204884e-03 -3.44659537e+01] [-3.29575949e-02 -1.19528587e-04 9.99456744e-01 -9.21830968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08587156000004 meters 0.013927328795503138 Centerline is valid? [True, True] Translation: X:210.09, Y:-34.47, Z:-9.22 [[ 9.76891911e-01 2.11296732e-01 3.21851755e-02 2.10089494e+02] [-2.11186389e-01 9.77421953e-01 -6.82891247e-03 -3.44724474e+01] [-3.29014240e-02 -1.25961640e-04 9.99458594e-01 -9.21868797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11587156000002 meters 0.014267299480226363 Centerline is valid? [True, True] Translation: X:210.12, Y:-34.48, Z:-9.22 [[ 9.76768154e-01 2.11792124e-01 3.26813312e-02 2.10116377e+02] [-2.11678677e-01 9.77314727e-01 -6.93272173e-03 -3.44777295e+01] [-3.34082421e-02 -1.46279150e-04 9.99441778e-01 -9.21996284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14587156000002 meters 0.014396105001041009 Centerline is valid? [True, True] Translation: X:210.14, Y:-34.48, Z:-9.22 [[ 9.76528749e-01 2.12812708e-01 3.32017240e-02 2.10144970e+02] [-2.12696291e-01 9.77092993e-01 -7.04069038e-03 -3.44830795e+01] [-3.39395202e-02 -1.86446974e-04 9.99423871e-01 -9.21893490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17587156000002 meters 0.01446589851713507 Centerline is valid? [True, True] Translation: X:210.17, Y:-34.49, Z:-9.22 [[ 9.76288412e-01 2.13848355e-01 3.36127722e-02 2.10173783e+02] [-2.13729707e-01 9.76866843e-01 -7.12618548e-03 -3.44881432e+01] [-3.43591257e-02 -2.26835655e-04 9.99409525e-01 -9.21883733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20587156000002 meters 0.01600392271299702 Centerline is valid? [True, True] Translation: X:210.20, Y:-34.49, Z:-9.22 [[ 9.75902903e-01 2.15573048e-01 3.37903137e-02 2.10201736e+02] [-2.15454232e-01 9.76487674e-01 -7.16221537e-03 -3.44904044e+01] [-3.45398054e-02 -2.90639307e-04 9.99403281e-01 -9.22063061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23587156000002 meters 0.03057987323945499 Centerline is valid? [True, True] Translation: X:210.23, Y:-34.50, Z:-9.22 [[ 9.75673990e-01 2.16616470e-01 3.37278904e-02 2.10230329e+02] [-2.16498794e-01 9.76256727e-01 -7.14671803e-03 -3.44957486e+01] [-3.44751767e-02 -3.29180693e-04 9.99405500e-01 -9.21884954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26587156000002 meters 0.01682215041678649 Centerline is valid? [True, True] Translation: X:210.26, Y:-34.50, Z:-9.22 [[ 9.75571939e-01 2.17087054e-01 3.36541593e-02 2.10258795e+02] [-2.16970231e-01 9.76152186e-01 -7.12939570e-03 -3.45001073e+01] [-3.43992807e-02 -3.46712324e-04 9.99408109e-01 -9.22270858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29587156000002 meters 0.017051548839783624 Centerline is valid? [True, True] Translation: X:210.29, Y:-34.51, Z:-9.22 [[ 9.75451719e-01 2.17669135e-01 3.33780033e-02 2.10287569e+02] [-2.17554619e-01 9.76022548e-01 -7.06922327e-03 -3.45054222e+01] [-3.41164356e-02 -3.65852818e-04 9.99417798e-01 -9.22401391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32587156000002 meters 0.019447604087243133 Centerline is valid? [True, True] Translation: X:210.32, Y:-34.51, Z:-9.23 [[ 9.75109058e-01 2.19221300e-01 3.32317062e-02 2.10316071e+02] [-2.19108740e-01 9.75675072e-01 -7.03666690e-03 -3.45064917e+01] [-3.39659346e-02 -4.19839626e-04 9.99422903e-01 -9.22699050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35587156000003 meters 0.020150755780998855 Centerline is valid? [True, True] Translation: X:210.34, Y:-34.51, Z:-9.23 [[ 9.75025845e-01 2.19657453e-01 3.27903293e-02 2.10344349e+02] [-2.19548185e-01 9.75576966e-01 -6.94097451e-03 -3.45105505e+01] [-3.35141267e-02 -4.31427728e-04 9.99438151e-01 -9.22935840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38587156000003 meters 0.032775740407171204 Centerline is valid? [True, True] Translation: X:210.37, Y:-34.51, Z:-9.23 [[ 9.74906676e-01 2.20321906e-01 3.18626979e-02 2.10373336e+02] [-2.20219138e-01 9.75427117e-01 -6.74311990e-03 -3.45140992e+01] [-3.25653966e-02 -4.42863266e-04 9.99469509e-01 -9.23000256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41587156000003 meters 0.02001157744211918 Centerline is valid? [True, True] Translation: X:210.40, Y:-34.52, Z:-9.23 [[ 9.74987597e-01 2.19922945e-01 3.21416123e-02 2.10401190e+02] [-2.19818205e-01 9.75517150e-01 -6.80054980e-03 -3.45191262e+01] [-3.28502909e-02 -4.34859825e-04 9.99460189e-01 -9.23258549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44587156000003 meters 0.020228056617351095 Centerline is valid? [True, True] Translation: X:210.43, Y:-34.52, Z:-9.23 [[ 9.75069315e-01 2.19578814e-01 3.20152313e-02 2.10428320e+02] [-2.19474748e-01 9.75594673e-01 -6.77265677e-03 -3.45229082e+01] [-3.27210211e-02 -4.22725036e-04 9.99464435e-01 -9.23450816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47587156000003 meters 0.01925091015200064 Centerline is valid? [True, True] Translation: X:210.46, Y:-34.53, Z:-9.24 [[ 9.75318096e-01 2.18440498e-01 3.22235998e-02 2.10456559e+02] [-2.18334561e-01 9.75850192e-01 -6.81344007e-03 -3.45282956e+01] [-3.29337373e-02 -3.90254118e-04 9.99457461e-01 -9.23578438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50587156000003 meters 0.018421970249435066 Centerline is valid? [True, True] Translation: X:210.48, Y:-34.54, Z:-9.24 [[ 9.75491411e-01 2.17572257e-01 3.28454078e-02 2.10484739e+02] [-2.17461755e-01 9.76044147e-01 -6.94325299e-03 -3.45351414e+01] [-3.35692273e-02 -3.69536388e-04 9.99436326e-01 -9.23614873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53587156000003 meters 0.016399202110887606 Centerline is valid? [True, True] Translation: X:210.51, Y:-34.54, Z:-9.24 [[ 9.75964457e-01 2.15263030e-01 3.39883309e-02 2.10511331e+02] [-2.15143358e-01 9.76556059e-01 -7.18322307e-03 -3.45435364e+01] [-3.47377928e-02 -3.01793219e-04 9.99396415e-01 -9.23502946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56587156000003 meters 0.015453025864598739 Centerline is valid? [True, True] Translation: X:210.54, Y:-34.55, Z:-9.24 [[ 9.76239423e-01 2.13884929e-01 3.47825575e-02 2.10538160e+02] [-2.13758800e-01 9.76858828e-01 -7.34887777e-03 -3.45496931e+01] [-3.55494625e-02 -2.60813557e-04 9.99367884e-01 -9.23562640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59587156000003 meters 0.014270287666241995 Centerline is valid? [True, True] Translation: X:210.57, Y:-34.56, Z:-9.24 [[ 9.76533903e-01 2.12492749e-01 3.50480681e-02 2.10566171e+02] [-2.12363871e-01 9.77162620e-01 -7.40272187e-03 -3.45567363e+01] [-3.58206868e-02 -2.13934538e-04 9.99358210e-01 -9.23607030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62587156000004 meters 0.012881707853302934 Centerline is valid? [True, True] Translation: X:210.59, Y:-34.57, Z:-9.24 [[ 9.77322926e-01 2.08931308e-01 3.44616720e-02 2.10592984e+02] [-2.08804552e-01 9.77930315e-01 -7.27720601e-03 -3.45672912e+01] [-3.52215500e-02 -8.35737075e-05 9.99379525e-01 -9.23837045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65587156000004 meters 0.012633705203370208 Centerline is valid? [True, True] Translation: X:210.62, Y:-34.58, Z:-9.24 [[ 9.77692440e-01 2.07267050e-01 3.40273817e-02 2.10619854e+02] [-2.07142513e-01 9.78284401e-01 -7.18399651e-03 -3.45750638e+01] [-3.47774625e-02 -2.47782978e-05 9.99395081e-01 -9.24074310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68587156000004 meters 0.015275432408630578 Centerline is valid? [True, True] Translation: X:210.65, Y:-34.59, Z:-9.24 [[ 9.78491428e-01 2.03555679e-01 3.34605811e-02 2.10647383e+02] [-2.03433168e-01 9.79063366e-01 -7.06194534e-03 -3.45861887e+01] [-3.41975282e-02 1.03060963e-04 9.99415088e-01 -9.24205641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71587156000004 meters 0.013895019618677128 Centerline is valid? [True, True] Translation: X:210.67, Y:-34.60, Z:-9.24 [[ 9.78904354e-01 2.01509783e-01 3.37649649e-02 2.10674024e+02] [-2.01383871e-01 9.79486486e-01 -7.12459860e-03 -3.45954044e+01] [-3.45080031e-02 1.74581275e-04 9.99404406e-01 -9.24410945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74587156000004 meters 0.014765548438507263 Centerline is valid? [True, True] Translation: X:210.70, Y:-34.60, Z:-9.24 [[ 9.79255062e-01 1.99763131e-01 3.39737365e-02 2.10701548e+02] [-1.99634683e-01 9.79844190e-01 -7.16638410e-03 -3.46049397e+01] [-3.47205477e-02 2.35381772e-04 9.99397032e-01 -9.24495477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77587156000004 meters 0.01587176345053379 Centerline is valid? [True, True] Translation: X:210.73, Y:-34.61, Z:-9.25 [[ 9.79547059e-01 1.98326519e-01 3.39727998e-02 2.10728438e+02] [-1.98197272e-01 9.80135966e-01 -7.16452418e-03 -3.46138299e+01] [-3.47188780e-02 2.84672347e-04 9.99397077e-01 -9.24623309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80587156000004 meters 0.016205082459484904 Centerline is valid? [True, True] Translation: X:210.76, Y:-34.62, Z:-9.25 [[ 9.79840352e-01 1.96840039e-01 3.41596738e-02 2.10757704e+02] [-1.96708538e-01 9.80435559e-01 -7.20178030e-03 -3.46226164e+01] [-3.49089576e-02 3.37095472e-04 9.99390440e-01 -9.24598627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83587156000004 meters 0.01640978926255071 Centerline is valid? [True, True] Translation: X:210.79, Y:-34.63, Z:-9.25 [[ 9.79827860e-01 1.96829337e-01 3.45771128e-02 2.10786029e+02] [-1.96694599e-01 9.80437706e-01 -7.28965764e-03 -3.46297691e+01] [-3.53355237e-02 3.41478291e-04 9.99375447e-01 -9.24729417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86587156000002 meters 0.016060604457031624 Centerline is valid? [True, True] Translation: X:210.82, Y:-34.64, Z:-9.25 [[ 9.79760694e-01 1.97111598e-01 3.48712072e-02 2.10815345e+02] [-1.96974707e-01 9.80381000e-01 -7.35249733e-03 -3.46363593e+01] [-3.56363315e-02 3.34942067e-04 9.99364768e-01 -9.24793040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89587156000002 meters 0.01459240438995649 Centerline is valid? [True, True] Translation: X:210.84, Y:-34.64, Z:-9.25 [[ 9.79379419e-01 1.98964234e-01 3.50597780e-02 2.10844679e+02] [-1.98827075e-01 9.80006715e-01 -7.39138245e-03 -3.46409316e+01] [-3.58294386e-02 2.68134723e-04 9.99357884e-01 -9.24857889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92587156000002 meters 0.013516123466941456 Centerline is valid? [True, True] Translation: X:210.87, Y:-34.65, Z:-9.25 [[ 9.79077556e-01 2.00448888e-01 3.50340320e-02 2.10874693e+02] [-2.00312920e-01 9.79704138e-01 -7.38484605e-03 -3.46453355e+01] [-3.58032703e-02 2.12567774e-04 9.99358835e-01 -9.24954106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95587156000002 meters 0.012881750006286611 Centerline is valid? [True, True] Translation: X:210.90, Y:-34.65, Z:-9.25 [[ 9.78414579e-01 2.03774414e-01 3.43642299e-02 2.10903598e+02] [-2.03645638e-01 9.79017865e-01 -7.24389288e-03 -3.46471123e+01] [-3.51193150e-02 8.94048781e-05 9.99383123e-01 -9.25361630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98587156000002 meters 0.012689421431154153 Centerline is valid? [True, True] Translation: X:210.93, Y:-34.65, Z:-9.26 [[ 9.78083372e-01 2.05414905e-01 3.40240252e-02 2.10932123e+02] [-2.05289679e-01 9.78674980e-01 -7.17161066e-03 -3.46501430e+01] [-3.47716179e-02 2.96519202e-05 9.99395284e-01 -9.25560218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01587156000002 meters 0.012689421431154153 Centerline is valid? [True, True] Translation: X:210.96, Y:-34.66, Z:-9.26 [[ 9.78092914e-01 2.05369411e-01 3.40243593e-02 2.10959835e+02] [-2.05244212e-01 9.78684527e-01 -7.17002538e-03 -3.46558910e+01] [-3.47716179e-02 2.96482036e-05 9.99395284e-01 -9.25687805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04587156000002 meters 0.012688597770495524 Centerline is valid? [True, True] Translation: X:210.99, Y:-34.66, Z:-9.26 [[ 9.77800445e-01 2.06783378e-01 3.38662617e-02 2.10988144e+02] [-2.06660244e-01 9.78386751e-01 -7.13507774e-03 -3.46591895e+01] [-3.46097172e-02 -2.21277148e-05 9.99400904e-01 -9.25833325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07587156000002 meters 0.0128168268356422 Centerline is valid? [True, True] Translation: X:211.02, Y:-34.66, Z:-9.26 [[ 9.77477460e-01 2.08229126e-01 3.43285183e-02 2.11015520e+02] [-2.08103553e-01 9.78080071e-01 -7.23087966e-03 -3.46622709e+01] [-3.50817193e-02 -7.58647526e-05 9.99384444e-01 -9.25940214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10587156000003 meters 0.013732259342327411 Centerline is valid? [True, True] Translation: X:211.05, Y:-34.66, Z:-9.26 [[ 9.76851991e-01 2.11049772e-01 3.49024661e-02 2.11045191e+02] [-2.10921844e-01 9.77475299e-01 -7.34949823e-03 -3.46633800e+01] [-3.56674084e-02 -1.82320532e-04 9.99363699e-01 -9.25931491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13587156000003 meters 0.014169684646868333 Centerline is valid? [True, True] Translation: X:211.07, Y:-34.67, Z:-9.26 [[ 9.76540047e-01 2.12483873e-01 3.49305096e-02 2.11073692e+02] [-2.12356717e-01 9.77164545e-01 -7.35370019e-03 -3.46674454e+01] [-3.56953982e-02 -2.36545593e-04 9.99362688e-01 -9.26001531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16587156000003 meters 0.01650467516792864 Centerline is valid? [True, True] Translation: X:211.10, Y:-34.67, Z:-9.26 [[ 9.75988857e-01 2.14975278e-01 3.50910485e-02 2.11102298e+02] [-2.14848620e-01 9.76619435e-01 -7.38581027e-03 -3.46670023e+01] [-3.58583666e-02 -3.30794821e-04 9.99356827e-01 -9.26150191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19587156000003 meters 0.017145215033430822 Centerline is valid? [True, True] Translation: X:211.13, Y:-34.67, Z:-9.26 [[ 9.75797828e-01 2.15760088e-01 3.55834565e-02 2.11129563e+02] [-2.15630451e-01 9.76446337e-01 -7.48724303e-03 -3.46700704e+01] [-3.63607840e-02 -3.66841296e-04 9.99338661e-01 -9.26231450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22587156000003 meters 0.01677914624114882 Centerline is valid? [True, True] Translation: X:211.16, Y:-34.68, Z:-9.26 [[ 9.75734001e-01 2.16038298e-01 3.56456641e-02 2.11157566e+02] [-2.15908495e-01 9.76384816e-01 -7.49753119e-03 -3.46751381e+01] [-3.64236391e-02 -3.80605572e-04 9.99336367e-01 -9.26262884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25587156000003 meters 0.01678748010035119 Centerline is valid? [True, True] Translation: X:211.18, Y:-34.68, Z:-9.26 [[ 9.75842060e-01 2.15550685e-01 3.56395386e-02 2.11184708e+02] [-2.15420662e-01 9.76492586e-01 -7.49455274e-03 -3.46787478e+01] [-3.64172012e-02 -3.63993235e-04 9.99336607e-01 -9.26420011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28587156000003 meters 0.016049225759130807 Centerline is valid? [True, True] Translation: X:211.21, Y:-34.68, Z:-9.27 [[ 9.75934555e-01 2.15090768e-01 3.58846228e-02 2.11212610e+02] [-2.14958727e-01 9.76593998e-01 -7.54372414e-03 -3.46847289e+01] [-3.66672927e-02 -3.51531798e-04 9.99327467e-01 -9.26501743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31587156000003 meters 0.015720833464224485 Centerline is valid? [True, True] Translation: X:211.24, Y:-34.69, Z:-9.27 [[ 9.76073092e-01 2.14446260e-01 3.59738987e-02 2.11239650e+02] [-2.14313184e-01 9.76735733e-01 -7.56085232e-03 -3.46898001e+01] [-3.67583889e-02 -3.29736263e-04 9.99324128e-01 -9.26567157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34587156000003 meters 0.014796346201087399 Centerline is valid? [True, True] Translation: X:211.27, Y:-34.70, Z:-9.27 [[ 9.76274838e-01 2.13349438e-01 3.70061759e-02 2.11267711e+02] [-2.13207936e-01 9.76975909e-01 -7.77487153e-03 -3.46951359e+01] [-3.78129068e-02 -2.99598922e-04 9.99284791e-01 -9.26551848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37587156000004 meters 0.014788369333752284 Centerline is valid? [True, True] Translation: X:211.29, Y:-34.70, Z:-9.27 [[ 9.76345779e-01 2.13036680e-01 3.69363366e-02 2.11294560e+02] [-2.12895547e-01 9.77044160e-01 -7.75862746e-03 -3.46995684e+01] [-3.77413042e-02 -2.88478419e-04 9.99287502e-01 -9.26639876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40587156000004 meters 0.02403863511834809 Centerline is valid? [True, True] Translation: X:211.32, Y:-34.70, Z:-9.27 [[ 9.76459119e-01 2.12497074e-01 3.70483670e-02 2.11322649e+02] [-2.12354827e-01 9.77161665e-01 -7.77867196e-03 -3.47047290e+01] [-3.78551890e-02 -2.71844403e-04 9.99283198e-01 -9.26582755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43587156000004 meters 0.014018686831073737 Centerline is valid? [True, True] Translation: X:211.35, Y:-34.71, Z:-9.27 [[ 9.76554998e-01 2.11968995e-01 3.75430624e-02 2.11349905e+02] [-2.11822602e-01 9.77276358e-01 -7.88073525e-03 -3.47086616e+01] [-3.83604188e-02 -2.56497761e-04 9.99263935e-01 -9.26822007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46587156000004 meters 0.013948718650223558 Centerline is valid? [True, True] Translation: X:211.38, Y:-34.71, Z:-9.27 [[ 9.76606841e-01 2.11774944e-01 3.72887613e-02 2.11377528e+02] [-2.11630470e-01 9.77318429e-01 -7.82517116e-03 -3.47132976e+01] [-3.81001687e-02 -2.49322388e-04 9.99273894e-01 -9.27034734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49587156000004 meters 0.018035801510486393 Centerline is valid? [True, True] Translation: X:211.40, Y:-34.72, Z:-9.27 [[ 9.76734192e-01 2.11257328e-01 3.68871274e-02 2.11404768e+02] [-2.11115686e-01 9.77430452e-01 -7.73810766e-03 -3.47180348e+01] [-3.76893336e-02 -2.29376902e-04 9.99289478e-01 -9.27121626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52587156000004 meters 0.012945127175670154 Centerline is valid? [True, True] Translation: X:211.43, Y:-34.72, Z:-9.27 [[ 9.77067849e-01 2.09728109e-01 3.67768823e-02 2.11432076e+02] [-2.09586311e-01 9.77759731e-01 -7.71279376e-03 -3.47243736e+01] [-3.75765442e-02 -1.72008301e-04 9.99293737e-01 -9.27496877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55587156000004 meters 0.012233654449674562 Centerline is valid? [True, True] Translation: X:211.46, Y:-34.73, Z:-9.28 [[ 9.77354093e-01 2.08390939e-01 3.67721814e-02 2.11459805e+02] [-2.08248333e-01 9.78045603e-01 -7.70910775e-03 -3.47321434e+01] [-3.75713786e-02 -1.23217466e-04 9.99293939e-01 -9.27554244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58587156000004 meters 0.011630342837239531 Centerline is valid? [True, True] Translation: X:211.49, Y:-34.74, Z:-9.28 [[ 9.77967809e-01 2.05440400e-01 3.70568088e-02 2.11486334e+02] [-2.05293525e-01 9.78669629e-01 -7.76701594e-03 -3.47407664e+01] [-3.78620322e-02 -1.16313647e-05 9.99282976e-01 -9.27668922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61587156000002 meters 0.011779780298400601 Centerline is valid? [True, True] Translation: X:211.51, Y:-34.75, Z:-9.28 [[ 9.78277836e-01 2.03973752e-01 3.69754489e-02 2.11513302e+02] [-2.03826560e-01 9.78976357e-01 -7.74770065e-03 -3.47480340e+01] [-3.77784179e-02 4.28252696e-05 9.99286140e-01 -9.27859459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64587156000002 meters 0.011649799801798125 Centerline is valid? [True, True] Translation: X:211.54, Y:-34.75, Z:-9.28 [[ 9.78527403e-01 2.02732379e-01 3.71981673e-02 2.11541133e+02] [-2.02582600e-01 9.79234178e-01 -7.79202510e-03 -3.47545460e+01] [-3.80054126e-02 8.90086513e-05 9.99277529e-01 -9.27795956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67587156000002 meters 0.012303870425687521 Centerline is valid? [True, True] Translation: X:211.57, Y:-34.76, Z:-9.28 [[ 9.78734404e-01 2.01753072e-01 3.70764650e-02 2.11568015e+02] [-2.01603637e-01 9.79436411e-01 -7.76472812e-03 -3.47610337e+01] [-3.78805976e-02 1.24856349e-04 9.99282265e-01 -9.28092249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70587156000002 meters 0.012306437141087196 Centerline is valid? [True, True] Translation: X:211.60, Y:-34.77, Z:-9.28 [[ 9.78819767e-01 2.01303597e-01 3.72656147e-02 2.11595882e+02] [-2.01152403e-01 9.79528888e-01 -7.80184355e-03 -3.47667624e+01] [-3.80732853e-02 1.40530744e-04 9.99274940e-01 -9.28100947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73587156000002 meters 0.012344556062558866 Centerline is valid? [True, True] Translation: X:211.62, Y:-34.77, Z:-9.28 [[ 9.78739782e-01 2.01699024e-01 3.72282569e-02 2.11623568e+02] [-2.01548485e-01 9.79447542e-01 -7.79230814e-03 -3.47720361e+01] [-3.80348257e-02 1.23343213e-04 9.99276407e-01 -9.28266451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76587156000002 meters 0.011778864252649804 Centerline is valid? [True, True] Translation: X:211.65, Y:-34.77, Z:-9.28 [[ 9.78419989e-01 2.03097494e-01 3.80227914e-02 2.11652348e+02] [-2.02941607e-01 9.79158518e-01 -7.95618836e-03 -3.47740989e+01] [-3.88462220e-02 6.80873607e-05 9.99245198e-01 -9.28273072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79587156000002 meters 0.011309977990930677 Centerline is valid? [True, True] Translation: X:211.68, Y:-34.78, Z:-9.28 [[ 9.78245914e-01 2.03848831e-01 3.84783833e-02 2.11681117e+02] [-2.03689836e-01 9.79002376e-01 -8.04972802e-03 -3.47775309e+01] [-3.93113563e-02 3.69579667e-05 9.99227009e-01 -9.28247970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82587156000002 meters 0.011109049637321726 Centerline is valid? [True, True] Translation: X:211.71, Y:-34.78, Z:-9.28 [[ 9.78087065e-01 2.04508869e-01 3.90104589e-02 2.11710220e+02] [-2.04346045e-01 9.78864711e-01 -8.15913705e-03 -3.47816676e+01] [-3.98545775e-02 8.71341511e-06 9.99205491e-01 -9.28271966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85587156000003 meters 0.011447673479452912 Centerline is valid? [True, True] Translation: X:211.74, Y:-34.78, Z:-9.29 [[ 9.77712599e-01 2.06408786e-01 3.83860164e-02 2.11738142e+02] [-2.06252670e-01 9.78465844e-01 -8.02669711e-03 -3.47837587e+01] [-3.92161867e-02 -6.94154854e-05 9.99230747e-01 -9.28533568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88587156000003 meters 0.011900685208481645 Centerline is valid? [True, True] Translation: X:211.77, Y:-34.79, Z:-9.29 [[ 9.77514721e-01 2.07414627e-01 3.80018743e-02 2.11765599e+02] [-2.07262472e-01 9.78253117e-01 -7.94401428e-03 -3.47870765e+01] [-3.88231568e-02 -1.10971505e-04 9.99246091e-01 -9.28771224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91587156000003 meters 0.01195554193288059 Centerline is valid? [True, True] Translation: X:211.79, Y:-34.79, Z:-9.29 [[ 9.77378296e-01 2.08064098e-01 3.79604839e-02 2.11793856e+02] [-2.07912857e-01 9.78115183e-01 -7.93298480e-03 -3.47903726e+01] [-3.87802950e-02 -1.38945493e-04 9.99247752e-01 -9.28902510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94587156000003 meters 0.01311975973403778 Centerline is valid? [True, True] Translation: X:211.82, Y:-34.79, Z:-9.29 [[ 9.77037199e-01 2.09836533e-01 3.69721600e-02 2.11822355e+02] [-2.09694400e-01 9.77736461e-01 -7.72473488e-03 -3.47902327e+01] [-3.77699605e-02 -2.05501574e-04 9.99286439e-01 -9.29280785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97587156000003 meters 0.01376643146223045 Centerline is valid? [True, True] Translation: X:211.85, Y:-34.79, Z:-9.29 [[ 9.76861553e-01 2.10715330e-01 3.66136079e-02 2.11851038e+02] [-2.10576646e-01 9.77547437e-01 -7.64747231e-03 -3.47939986e+01] [-3.74029783e-02 -2.39449091e-04 9.99300235e-01 -9.29483263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00587156000003 meters 0.015018119894722919 Centerline is valid? [True, True] Translation: X:211.88, Y:-34.79, Z:-9.30 [[ 9.76584317e-01 2.12066440e-01 3.62062994e-02 2.11879300e+02] [-2.11931815e-01 9.77255208e-01 -7.56071685e-03 -3.47944245e+01] [-3.69861690e-02 -2.89589242e-04 9.99315736e-01 -9.29717104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03587156000003 meters 0.015368722852854158 Centerline is valid? [True, True] Translation: X:211.91, Y:-34.80, Z:-9.30 [[ 9.76528725e-01 2.12268581e-01 3.65198463e-02 2.11905797e+02] [-2.12131834e-01 9.77211317e-01 -7.62407900e-03 -3.47976273e+01] [-3.73059595e-02 -3.01889817e-04 9.99303845e-01 -9.29828817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06587156000003 meters 0.014872682106127789 Centerline is valid? [True, True] Translation: X:211.93, Y:-34.80, Z:-9.30 [[ 9.76526570e-01 2.12189415e-01 3.70339095e-02 2.11934187e+02] [-2.12048863e-01 9.77228509e-01 -7.72794994e-03 -3.48025311e+01] [-3.78303813e-02 -3.06449964e-04 9.99284128e-01 -9.29861024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09587156000003 meters 0.013701530245497865 Centerline is valid? [True, True] Translation: X:211.96, Y:-34.81, Z:-9.30 [[ 9.76749366e-01 2.10872957e-01 3.86428795e-02 2.11963092e+02] [-2.10718972e-01 9.77513439e-01 -8.06169645e-03 -3.48076957e+01] [-3.94739278e-02 -2.68530927e-04 9.99220565e-01 -9.29695836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12587156000004 meters 0.012956728334335857 Centerline is valid? [True, True] Translation: X:211.99, Y:-34.81, Z:-9.30 [[ 9.76965788e-01 2.09753207e-01 3.92611881e-02 2.11991462e+02] [-2.09593427e-01 9.77754335e-01 -8.18872315e-03 -3.48142070e+01] [-4.01054078e-02 -2.28784608e-04 9.99195428e-01 -9.29704029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15587156000004 meters 0.011492739049814406 Centerline is valid? [True, True] Translation: X:212.02, Y:-34.82, Z:-9.30 [[ 9.77579327e-01 2.06789920e-01 3.97062752e-02 2.12018475e+02] [-2.06624131e-01 9.78385362e-01 -8.27959766e-03 -3.48233882e+01] [-4.05601758e-02 -1.10311101e-04 9.99177091e-01 -9.29754855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18587156000004 meters 0.01092952742458905 Centerline is valid? [True, True] Translation: X:212.05, Y:-34.83, Z:-9.30 [[ 9.77947412e-01 2.04961132e-01 4.01222361e-02 2.12045942e+02] [-2.04790391e-01 9.78770112e-01 -8.36436389e-03 -3.48313765e+01] [-4.09848150e-02 -3.67404020e-05 9.99159769e-01 -9.29848595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21587156000004 meters 0.011246978918726903 Centerline is valid? [True, True] Translation: X:212.07, Y:-34.84, Z:-9.30 [[ 9.78642174e-01 2.01653900e-01 3.99399435e-02 2.12072516e+02] [-2.01482031e-01 9.79456837e-01 -8.32444225e-03 -3.48413199e+01] [-4.07981069e-02 9.94693142e-05 9.99167406e-01 -9.30003118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24587156000004 meters 0.01175050047706205 Centerline is valid? [True, True] Translation: X:212.10, Y:-34.85, Z:-9.30 [[ 9.79009259e-01 1.99901501e-01 3.97524885e-02 2.12100323e+02] [-1.99729899e-01 9.79815983e-01 -8.28289174e-03 -3.48494463e+01] [-4.06058861e-02 1.69267177e-04 9.99175227e-01 -9.30168132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27587156000004 meters 0.022584197899557405 Centerline is valid? [True, True] Translation: X:212.13, Y:-34.86, Z:-9.30 [[ 9.79444774e-01 1.97898216e-01 3.90413899e-02 2.12126350e+02] [-1.97731181e-01 9.80222544e-01 -8.13293675e-03 -3.48584309e+01] [-3.98787442e-02 2.46062266e-04 9.99204496e-01 -9.30287957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30587156000004 meters 0.014440227927103394 Centerline is valid? [True, True] Translation: X:212.15, Y:-34.87, Z:-9.31 [[ 9.79754428e-01 1.96428708e-01 3.86913976e-02 2.12153084e+02] [-1.96263626e-01 9.80518063e-01 -8.05709761e-03 -3.48675731e+01] [-3.95202595e-02 3.00263088e-04 9.99218724e-01 -9.30703397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33587156000004 meters 0.016189663320908595 Centerline is valid? [True, True] Translation: X:212.18, Y:-34.88, Z:-9.31 [[ 9.80396089e-01 1.93448591e-01 3.74319585e-02 2.12181208e+02] [-1.93292005e-01 9.81110330e-01 -7.79242121e-03 -3.48777270e+01] [-3.82323141e-02 4.04360979e-04 9.99268796e-01 -9.31002413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36587156000002 meters 0.01735543546085551 Centerline is valid? [True, True] Translation: X:212.21, Y:-34.89, Z:-9.31 [[ 9.80642729e-01 1.92224951e-01 3.72747424e-02 2.12207885e+02] [-1.92068820e-01 9.81350786e-01 -7.75902398e-03 -3.48862510e+01] [-3.80710758e-02 4.49514662e-04 9.99274933e-01 -9.31175513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39587156000002 meters 0.021449779802743537 Centerline is valid? [True, True] Translation: X:212.23, Y:-34.90, Z:-9.31 [[ 9.80902234e-01 1.90855847e-01 3.74813700e-02 2.12234174e+02] [-1.90697071e-01 9.81617946e-01 -7.79964137e-03 -3.48982536e+01] [-3.82809926e-02 5.03098166e-04 9.99266888e-01 -9.31257668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42587156000002 meters 0.019107359129004138 Centerline is valid? [True, True] Translation: X:212.26, Y:-34.90, Z:-9.31 [[ 9.80945081e-01 1.90510820e-01 3.81100462e-02 2.12262420e+02] [-1.90346485e-01 9.81684956e-01 -7.92856569e-03 -3.49040197e+01] [-3.89225366e-02 5.23374158e-04 9.99242094e-01 -9.31295996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45587156000002 meters 0.017945763262897138 Centerline is valid? [True, True] Translation: X:212.29, Y:-34.91, Z:-9.31 [[ 9.80894896e-01 1.90738351e-01 3.82633453e-02 2.12291794e+02] [-1.90572941e-01 9.81640778e-01 -7.95848209e-03 -3.49092174e+01] [-3.90788478e-02 5.14476216e-04 9.99235998e-01 -9.31376250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48587156000002 meters 0.018726810475153365 Centerline is valid? [True, True] Translation: X:212.32, Y:-34.92, Z:-9.32 [[ 9.80713523e-01 1.91658312e-01 3.83154827e-02 2.12319223e+02] [-1.91493187e-01 9.81461595e-01 -7.96844510e-03 -3.49180410e+01] [-3.91323935e-02 4.77607973e-04 9.99233920e-01 -9.31618105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51587156000002 meters 0.017939593858263797 Centerline is valid? [True, True] Translation: X:212.35, Y:-34.92, Z:-9.32 [[ 9.80591511e-01 1.92310036e-01 3.81724789e-02 2.12347257e+02] [-1.92146687e-01 9.81334117e-01 -7.93735507e-03 -3.49237156e+01] [-3.89863889e-02 4.48587640e-04 9.99239641e-01 -9.31751037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54587156000002 meters 0.016652600485858746 Centerline is valid? [True, True] Translation: X:212.38, Y:-34.93, Z:-9.32 [[ 9.80508454e-01 1.92777230e-01 3.79487899e-02 2.12376064e+02] [-1.92616209e-01 9.81242456e-01 -7.88909628e-03 -3.49284421e+01] [-3.87578020e-02 4.25773569e-04 9.99248543e-01 -9.31905308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57587156000002 meters 0.01693137270821216 Centerline is valid? [True, True] Translation: X:212.40, Y:-34.94, Z:-9.32 [[ 9.80341069e-01 1.93735603e-01 3.73885662e-02 2.12403244e+02] [-1.93580064e-01 9.81053705e-01 -7.77093384e-03 -3.49354180e+01] [-3.81856980e-02 3.80484563e-04 9.99270588e-01 -9.32231481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60587156000003 meters 0.015208966120675077 Centerline is valid? [True, True] Translation: X:212.43, Y:-34.94, Z:-9.32 [[ 9.79977153e-01 1.95637673e-01 3.70227087e-02 2.12431832e+02] [-1.95486607e-01 9.80676201e-01 -7.69259228e-03 -3.49402694e+01] [-3.78122501e-02 3.01120966e-04 9.99284816e-01 -9.32449194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63587156000003 meters 0.0144131185455647 Centerline is valid? [True, True] Translation: X:212.46, Y:-34.95, Z:-9.33 [[ 9.79783003e-01 1.96628554e-01 3.69117705e-02 2.12458722e+02] [-1.96479157e-01 9.80478018e-01 -7.66791633e-03 -3.49453307e+01] [-3.76989109e-02 2.60500532e-04 9.99289109e-01 -9.32571611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66587156000003 meters 0.012799104771130079 Centerline is valid? [True, True] Translation: X:212.49, Y:-34.95, Z:-9.33 [[ 9.79327268e-01 1.98880189e-01 3.69428365e-02 2.12487462e+02] [-1.98732225e-01 9.80023796e-01 -7.67215312e-03 -3.49496784e+01] [-3.77306981e-02 1.71816682e-04 9.99287929e-01 -9.32687681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69587156000003 meters 0.012176018585315782 Centerline is valid? [True, True] Translation: X:212.51, Y:-34.95, Z:-9.33 [[ 9.79011804e-01 2.00388272e-01 3.71541125e-02 2.12514976e+02] [-2.00239759e-01 9.79716555e-01 -7.71437075e-03 -3.49537012e+01] [-3.79463685e-02 1.12729502e-04 9.99279771e-01 -9.32806796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72587156000003 meters 0.021367303822465867 Centerline is valid? [True, True] Translation: X:212.54, Y:-34.96, Z:-9.33 [[ 9.78696351e-01 2.01904813e-01 3.72545139e-02 2.12543571e+02] [-2.01756681e-01 9.79405148e-01 -7.73290655e-03 -3.49572924e+01] [-3.80485737e-02 5.18203497e-05 9.99275890e-01 -9.32541728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75587156000003 meters 0.01149727611474676 Centerline is valid? [True, True] Translation: X:212.57, Y:-34.96, Z:-9.33 [[ 9.77904776e-01 2.05578165e-01 3.79455771e-02 2.12572787e+02] [-2.05427299e-01 9.78640695e-01 -7.87499249e-03 -3.49597559e+01] [-3.87540124e-02 -9.40646551e-05 9.99248777e-01 -9.32735965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78587156000003 meters 0.012579117888048849 Centerline is valid? [True, True] Translation: X:212.60, Y:-34.96, Z:-9.33 [[ 9.77517064e-01 2.07441610e-01 3.77937495e-02 2.12600195e+02] [-2.07293412e-01 9.78247387e-01 -7.84166930e-03 -3.49627689e+01] [-3.85983252e-02 -1.69029728e-04 9.99254793e-01 -9.32948348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81587156000003 meters 0.01321369922051143 Centerline is valid? [True, True] Translation: X:212.63, Y:-34.97, Z:-9.33 [[ 9.77132418e-01 2.09220780e-01 3.79328694e-02 2.12629125e+02] [-2.09072923e-01 9.77868399e-01 -7.86806246e-03 -3.49672192e+01] [-3.87395165e-02 -2.42596982e-04 9.99249314e-01 -9.32959976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84587156000003 meters 0.015925800490987733 Centerline is valid? [True, True] Translation: X:212.66, Y:-34.97, Z:-9.33 [[ 9.76426086e-01 2.12515765e-01 3.78040735e-02 2.12657493e+02] [-2.12371447e-01 9.77157567e-01 -7.83956309e-03 -3.49689136e+01] [-3.86065672e-02 -3.73751876e-04 9.99254419e-01 -9.33174837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87587156000004 meters 0.029669610688924614 Centerline is valid? [True, True] Translation: X:212.69, Y:-34.97, Z:-9.33 [[ 9.76181548e-01 2.13685973e-01 3.75218614e-02 2.12685074e+02] [-2.13544754e-01 9.76902313e-01 -7.77874597e-03 -3.49729515e+01] [-3.83174021e-02 -4.19128366e-04 9.99265531e-01 -9.33168620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90587156000004 meters 0.029669610688924614 Centerline is valid? [True, True] Translation: X:212.71, Y:-34.98, Z:-9.33 [[ 9.76196559e-01 2.13617310e-01 3.75222991e-02 2.12711995e+02] [-2.13476121e-01 9.76917330e-01 -7.77663365e-03 -3.49783918e+01] [-3.83174078e-02 -4.18591860e-04 9.99265531e-01 -9.33292448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93587156000004 meters 0.026533718827913864 Centerline is valid? [True, True] Translation: X:212.74, Y:-34.98, Z:-9.34 [[ 9.75747888e-01 2.15724656e-01 3.71339836e-02 2.12740773e+02] [-2.15588008e-01 9.76454107e-01 -7.69329443e-03 -3.49825892e+01] [-3.79192641e-02 -4.98925788e-04 9.99280682e-01 -9.33568600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96587156000004 meters 0.022320538362181678 Centerline is valid? [True, True] Translation: X:212.77, Y:-34.98, Z:-9.34 [[ 9.75513793e-01 2.16770445e-01 3.71942612e-02 2.12768947e+02] [-2.16634179e-01 9.76222454e-01 -7.70404073e-03 -3.49849285e+01] [-3.79798813e-02 -5.42150270e-04 9.99278357e-01 -9.33980378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99587156000004 meters 0.020878388807694544 Centerline is valid? [True, True] Translation: X:212.80, Y:-34.99, Z:-9.34 [[ 9.75388505e-01 2.17367179e-01 3.69969505e-02 2.12796368e+02] [-2.17232872e-01 9.76089745e-01 -7.66085746e-03 -3.49930820e+01] [-3.77775629e-02 -5.64641503e-04 9.99286014e-01 -9.34001778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02587156000004 meters 0.022936567175403606 Centerline is valid? [True, True] Translation: X:212.82, Y:-35.00, Z:-9.34 [[ 9.75076776e-01 2.18787529e-01 3.68415181e-02 2.12824451e+02] [-2.18655418e-01 9.75772327e-01 -7.62714978e-03 -3.49951155e+01] [-3.76176591e-02 -6.18540942e-04 9.99292014e-01 -9.34216509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05587156000004 meters 0.02266150357761072 Centerline is valid? [True, True] Translation: X:212.85, Y:-35.00, Z:-9.34 [[ 9.74935723e-01 2.19420261e-01 3.68114806e-02 2.12852849e+02] [-2.19288949e-01 9.75630223e-01 -7.61741732e-03 -3.50005580e+01] [-3.75858088e-02 -6.45858643e-04 9.99293195e-01 -9.34259147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08587156000004 meters 0.02380469495649821 Centerline is valid? [True, True] Translation: X:212.88, Y:-35.00, Z:-9.34 [[ 9.74816641e-01 2.19950495e-01 3.68007667e-02 2.12880516e+02] [-2.19819703e-01 9.75510807e-01 -7.61345221e-03 -3.50038236e+01] [-3.75741282e-02 -6.67813676e-04 9.99293620e-01 -9.34447816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11587156000002 meters 0.02421597719763627 Centerline is valid? [True, True] Translation: X:212.91, Y:-35.01, Z:-9.35 [[ 9.74723602e-01 2.20372212e-01 3.67421765e-02 2.12909021e+02] [-2.20242224e-01 9.75415613e-01 -7.59896073e-03 -3.50079780e+01] [-3.75134924e-02 -6.85292273e-04 9.99295886e-01 -9.34602497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14587156000002 meters 0.03389607633155804 Centerline is valid? [True, True] Translation: X:212.94, Y:-35.01, Z:-9.35 [[ 9.74877750e-01 2.19616815e-01 3.71729367e-02 2.12936318e+02] [-2.19483278e-01 9.75585984e-01 -7.68628258e-03 -3.50143172e+01] [-3.79534329e-02 -6.65652152e-04 9.99279287e-01 -9.34530275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17587156000002 meters 0.02193791050202003 Centerline is valid? [True, True] Translation: X:212.96, Y:-35.02, Z:-9.35 [[ 9.75210773e-01 2.17983736e-01 3.80399621e-02 2.12963836e+02] [-2.17842750e-01 9.75952206e-01 -7.86308366e-03 -3.50225455e+01] [-3.88392093e-02 -6.18566043e-04 9.99245282e-01 -9.34695668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20587156000002 meters 0.020509903887379027 Centerline is valid? [True, True] Translation: X:212.99, Y:-35.03, Z:-9.35 [[ 9.75550385e-01 2.16480995e-01 3.79133878e-02 2.12991342e+02] [-2.16339882e-01 9.76286672e-01 -7.83508128e-03 -3.50304660e+01] [-3.87104814e-02 -5.58661293e-04 9.99250312e-01 -9.34861746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23587156000002 meters 0.01907573701181143 Centerline is valid? [True, True] Translation: X:213.02, Y:-35.04, Z:-9.35 [[ 9.75941261e-01 2.14760238e-01 3.76390158e-02 2.13019438e+02] [-2.14619951e-01 9.76666679e-01 -7.77656159e-03 -3.50385818e+01] [-3.84308688e-02 -4.88616413e-04 9.99261142e-01 -9.35052576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26587156000002 meters 0.015575199760439556 Centerline is valid? [True, True] Translation: X:213.05, Y:-35.05, Z:-9.35 [[ 9.76817490e-01 2.10821331e-01 3.71746943e-02 2.13045536e+02] [-2.10681697e-01 9.77524556e-01 -7.67893746e-03 -3.50493354e+01] [-3.79580604e-02 -3.31107266e-04 9.99279278e-01 -9.35236635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29587156000002 meters 0.013937739958884431 Centerline is valid? [True, True] Translation: X:213.07, Y:-35.06, Z:-9.35 [[ 9.77307537e-01 2.08554692e-01 3.70798841e-02 2.13073500e+02] [-2.08414225e-01 9.78010675e-01 -7.65703719e-03 -3.50577595e+01] [-3.78614335e-02 -2.44695159e-04 9.99282969e-01 -9.35362791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32587156000002 meters 0.022515388204539542 Centerline is valid? [True, True] Translation: X:213.10, Y:-35.07, Z:-9.35 [[ 9.77803988e-01 2.06322957e-01 3.64719015e-02 2.13101172e+02] [-2.06185571e-01 9.78483936e-01 -7.52977697e-03 -3.50668015e+01] [-3.72407356e-02 -1.57333890e-04 9.99306311e-01 -9.35387875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35587156000003 meters 0.011283867550622556 Centerline is valid? [True, True] Translation: X:213.13, Y:-35.08, Z:-9.36 [[ 9.78567997e-01 2.02525082e-01 3.72594521e-02 2.13128007e+02] [-2.02379012e-01 9.79277076e-01 -7.69054969e-03 -3.50805275e+01] [-3.80448565e-02 -1.48053117e-05 9.99276032e-01 -9.35569731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38587156000003 meters 0.011346990540965168 Centerline is valid? [True, True] Translation: X:213.15, Y:-35.09, Z:-9.36 [[ 9.78902843e-01 2.00823833e-01 3.76697706e-02 2.13154850e+02] [-2.00673336e-01 9.79627371e-01 -7.77345318e-03 -3.50897980e+01] [-3.84634330e-02 5.01368902e-05 9.99260007e-01 -9.35692306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41587156000003 meters 0.011493384927901118 Centerline is valid? [True, True] Translation: X:213.18, Y:-35.10, Z:-9.36 [[ 9.79209859e-01 1.99272649e-01 3.79270906e-02 2.13182925e+02] [-1.99119018e-01 9.79944080e-01 -7.82415343e-03 -3.50984988e+01] [-3.87255677e-02 1.09483135e-04 9.99249878e-01 -9.35642641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44587156000003 meters 0.01245589829938828 Centerline is valid? [True, True] Translation: X:213.21, Y:-35.11, Z:-9.36 [[ 9.79589701e-01 1.97253771e-01 3.86648079e-02 2.13209761e+02] [-1.97092602e-01 9.80352443e-01 -7.97450823e-03 -3.51079190e+01] [-3.94781407e-02 1.91198525e-04 9.99220416e-01 -9.35673303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47587156000003 meters 0.01262716709366214 Centerline is valid? [True, True] Translation: X:213.24, Y:-35.11, Z:-9.36 [[ 9.79769879e-01 1.96297643e-01 3.89643443e-02 2.13238463e+02] [-1.96133322e-01 9.80544330e-01 -8.03349436e-03 -3.51149732e+01] [-3.97832229e-02 2.28769507e-04 9.99208308e-01 -9.35680266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50587156000003 meters 0.013608274110758382 Centerline is valid? [True, True] Translation: X:213.27, Y:-35.12, Z:-9.36 [[ 9.79910861e-01 1.95616789e-01 3.88429606e-02 2.13266213e+02] [-1.95452990e-01 9.80680380e-01 -8.00759430e-03 -3.51232201e+01] [-3.96589492e-02 2.54755840e-04 9.99213242e-01 -9.35919826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53587156000003 meters 0.015008265734680854 Centerline is valid? [True, True] Translation: X:213.29, Y:-35.13, Z:-9.36 [[ 9.80232214e-01 1.94086251e-01 3.84100816e-02 2.13294321e+02] [-1.93924966e-01 9.80984419e-01 -7.91691031e-03 -3.51336767e+01] [-3.92162550e-02 3.11736763e-04 9.99230698e-01 -9.36248296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56587156000003 meters 0.015794553861522034 Centerline is valid? [True, True] Translation: X:213.32, Y:-35.14, Z:-9.37 [[ 9.80387683e-01 1.93427351e-01 3.77604304e-02 2.13321218e+02] [-1.93271029e-01 9.81114545e-01 -7.78197911e-03 -3.51423333e+01] [-3.85525551e-02 3.31359223e-04 9.99256519e-01 -9.36536871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59587156000003 meters 0.01646730274829325 Centerline is valid? [True, True] Translation: X:213.35, Y:-35.15, Z:-9.37 [[ 9.80553442e-01 1.92675775e-01 3.72960322e-02 2.13349637e+02] [-1.92522718e-01 9.81262411e-01 -7.68665124e-03 -3.51506864e+01] [-3.80782259e-02 3.56838830e-04 9.99274698e-01 -9.36780991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62587156000004 meters 0.025729497912263314 Centerline is valid? [True, True] Translation: X:213.38, Y:-35.16, Z:-9.37 [[ 9.80637515e-01 1.92486848e-01 3.60399533e-02 2.13379591e+02] [-1.92343840e-01 9.81299490e-01 -7.42679879e-03 -3.51569162e+01] [-3.67955489e-02 3.50934517e-04 9.99322753e-01 -9.36749261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65587156000004 meters 0.016858157394201923 Centerline is valid? [True, True] Translation: X:213.41, Y:-35.16, Z:-9.37 [[ 9.80562306e-01 1.92804105e-01 3.63887576e-02 2.13408213e+02] [-1.92658529e-01 9.81237209e-01 -7.49877126e-03 -3.51641732e+01] [-3.71517968e-02 3.42407932e-04 9.99309575e-01 -9.37210234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68587156000004 meters 0.016569719117708114 Centerline is valid? [True, True] Translation: X:213.44, Y:-35.17, Z:-9.37 [[ 9.80493257e-01 1.93158356e-01 3.63706392e-02 2.13435220e+02] [-1.93013171e-01 9.81167540e-01 -7.49493422e-03 -3.51693381e+01] [-3.71333998e-02 3.28720034e-04 9.99310263e-01 -9.37280210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71587156000004 meters 0.014005466955303544 Centerline is valid? [True, True] Translation: X:213.47, Y:-35.17, Z:-9.37 [[ 9.80259864e-01 1.94132865e-01 3.74570329e-02 2.13465539e+02] [-1.93979683e-01 9.80975199e-01 -7.71626509e-03 -3.51732675e+01] [-3.82424010e-02 2.98041591e-04 9.99268447e-01 -9.36962593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74587156000004 meters 0.013542645503584869 Centerline is valid? [True, True] Translation: X:213.49, Y:-35.18, Z:-9.37 [[ 9.80083903e-01 1.94907783e-01 3.80328660e-02 2.13494618e+02] [-1.94750433e-01 9.80821534e-01 -7.83496334e-03 -3.51788273e+01] [-3.88305493e-02 2.72004336e-04 9.99245773e-01 -9.37006873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77587156000004 meters 0.012927221769867414 Centerline is valid? [True, True] Translation: X:213.52, Y:-35.18, Z:-9.37 [[ 9.79726642e-01 1.96665826e-01 3.81871666e-02 2.13522809e+02] [-1.96508544e-01 9.80470556e-01 -7.86641918e-03 -3.51843918e+01] [-3.89884483e-02 2.02835958e-04 9.99239641e-01 -9.37194351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80587156000004 meters 0.012351450269994594 Centerline is valid? [True, True] Translation: X:213.55, Y:-35.19, Z:-9.37 [[ 9.79533545e-01 1.97587491e-01 3.83825212e-02 2.13549969e+02] [-1.97429352e-01 9.80285242e-01 -7.90538088e-03 -3.51891705e+01] [-3.91878235e-02 1.65749465e-04 9.99231848e-01 -9.37322723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83587156000004 meters 0.01143152112399993 Centerline is valid? [True, True] Translation: X:213.58, Y:-35.19, Z:-9.37 [[ 9.79381140e-01 1.98339921e-01 3.83908727e-02 2.13579874e+02] [-1.98182384e-01 9.80133286e-01 -7.90471513e-03 -3.51929441e+01] [-3.91959928e-02 1.33334234e-04 9.99231533e-01 -9.37272065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86587156000002 meters 0.01158441064481229 Centerline is valid? [True, True] Translation: X:213.61, Y:-35.20, Z:-9.38 [[ 9.79219578e-01 1.99157948e-01 3.82770195e-02 2.13608112e+02] [-1.99002004e-01 9.79967398e-01 -7.88039086e-03 -3.51979033e+01] [-3.90796737e-02 9.94294275e-05 9.99236093e-01 -9.37597301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89587156000002 meters 0.011631880747902114 Centerline is valid? [True, True] Translation: X:213.64, Y:-35.20, Z:-9.38 [[ 9.79158616e-01 1.99613495e-01 3.74547374e-02 2.13636507e+02] [-1.99464565e-01 9.79874710e-01 -7.70979241e-03 -3.52043618e+01] [-3.82399286e-02 7.82167637e-05 9.99268583e-01 -9.37931637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92587156000002 meters 0.011819431275247828 Centerline is valid? [True, True] Translation: X:213.66, Y:-35.21, Z:-9.38 [[ 9.79221382e-01 1.99321150e-01 3.73706236e-02 2.13662939e+02] [-1.99172737e-01 9.79934218e-01 -7.69085570e-03 -3.52118642e+01] [-3.81537030e-02 8.78409478e-05 9.99271879e-01 -9.38127905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95587156000002 meters 0.01223137358973305 Centerline is valid? [True, True] Translation: X:213.69, Y:-35.22, Z:-9.38 [[ 9.79386406e-01 1.98599011e-01 3.68876735e-02 2.13689013e+02] [-1.98453976e-01 9.80080823e-01 -7.58941857e-03 -3.52218042e+01] [-3.76601524e-02 1.12467898e-04 9.99290599e-01 -9.38356218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98587156000002 meters 0.012498282115350368 Centerline is valid? [True, True] Translation: X:213.72, Y:-35.23, Z:-9.39 [[ 9.79473544e-01 1.98186361e-01 3.67932525e-02 2.13716544e+02] [-1.98041861e-01 9.80164349e-01 -7.56772877e-03 -3.52291232e+01] [-3.75632550e-02 1.25785918e-04 9.99294244e-01 -9.38505299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01587156000002 meters 0.012249190336406786 Centerline is valid? [True, True] Translation: X:213.75, Y:-35.24, Z:-9.38 [[ 9.79566604e-01 1.97680893e-01 3.70342159e-02 2.13745364e+02] [-1.97534202e-01 9.80266415e-01 -7.61547876e-03 -3.52375573e+01] [-3.78088327e-02 1.44344387e-04 9.99284980e-01 -9.38413201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04587156000002 meters 0.018672868041776796 Centerline is valid? [True, True] Translation: X:213.77, Y:-35.25, Z:-9.38 [[ 9.79590131e-01 1.97544664e-01 3.71386680e-02 2.13774417e+02] [-1.97397080e-01 9.80293876e-01 -7.63605358e-03 -3.52451268e+01] [-3.79152704e-02 1.49138129e-04 9.99280946e-01 -9.38473364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07587156000002 meters 0.012998397838293718 Centerline is valid? [True, True] Translation: X:213.80, Y:-35.25, Z:-9.39 [[ 9.79616752e-01 1.97422227e-01 3.70875225e-02 2.13802622e+02] [-1.97274999e-01 9.80318541e-01 -7.62455932e-03 -3.52536555e+01] [-3.78628434e-02 1.52705081e-04 9.99282934e-01 -9.38904954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10587156000003 meters 0.012567864176026603 Centerline is valid? [True, True] Translation: X:213.83, Y:-35.26, Z:-9.39 [[ 9.79716558e-01 1.96916476e-01 3.71398314e-02 2.13832399e+02] [-1.96768492e-01 9.80420253e-01 -7.63469803e-03 -3.52609946e+01] [-3.79160407e-02 1.71891465e-04 9.99280914e-01 -9.38887910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13587156000003 meters 0.012174073163600788 Centerline is valid? [True, True] Translation: X:213.86, Y:-35.27, Z:-9.39 [[ 9.79690622e-01 1.96957592e-01 3.76030857e-02 2.13862052e+02] [-1.96805908e-01 9.80411994e-01 -7.73030022e-03 -3.52707553e+01] [-3.83890576e-02 1.72793211e-04 9.99262854e-01 -9.38885447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16587156000003 meters 0.01231152224327357 Centerline is valid? [True, True] Translation: X:213.89, Y:-35.28, Z:-9.39 [[ 9.79608069e-01 1.97402477e-01 3.74205028e-02 2.13892245e+02] [-1.97252586e-01 9.80322517e-01 -7.69278465e-03 -3.52788704e+01] [-3.82027362e-02 1.54622950e-04 9.99269997e-01 -9.39058806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19587156000003 meters 0.011977689806621259 Centerline is valid? [True, True] Translation: X:213.92, Y:-35.29, Z:-9.39 [[ 9.79419371e-01 1.98377539e-01 3.72027976e-02 2.13922138e+02] [-1.98229834e-01 9.80125674e-01 -7.65480804e-03 -3.52863613e+01] [-3.79819590e-02 1.22562885e-04 9.99278418e-01 -9.39221318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22587156000003 meters 0.023085441076049543 Centerline is valid? [True, True] Translation: X:213.95, Y:-35.29, Z:-9.39 [[ 9.79283192e-01 1.99081882e-01 3.70247845e-02 2.13952771e+02] [-1.98936002e-01 9.79982854e-01 -7.62051504e-03 -3.52929441e+01] [-3.78007605e-02 9.70796788e-05 9.99285291e-01 -9.39246549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25587156000003 meters 0.011440115058922631 Centerline is valid? [True, True] Translation: X:213.98, Y:-35.30, Z:-9.40 [[ 9.79100483e-01 2.00003212e-01 3.68911797e-02 2.13983383e+02] [-1.99859003e-01 9.79795240e-01 -7.59391109e-03 -3.52997780e+01] [-3.76646088e-02 6.21676205e-05 9.99290435e-01 -9.39518261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28587156000003 meters 0.02023224295005507 Centerline is valid? [True, True] Translation: X:214.01, Y:-35.31, Z:-9.40 [[ 9.78724243e-01 2.01923815e-01 3.64091994e-02 2.14012894e+02] [-2.01784642e-01 9.79401232e-01 -7.49570560e-03 -3.53064455e+01] [-3.71727762e-02 -1.05884705e-05 9.99308853e-01 -9.39651243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31587156000003 meters 0.023463191409648327 Centerline is valid? [True, True] Translation: X:214.04, Y:-35.31, Z:-9.40 [[ 9.78515410e-01 2.02987751e-01 3.61049254e-02 2.14042414e+02] [-2.02851599e-01 9.79181275e-01 -7.43361703e-03 -3.53118892e+01] [-3.68622001e-02 -5.00330171e-05 9.99320357e-01 -9.39769801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34587156000003 meters 0.011948193424209674 Centerline is valid? [True, True] Translation: X:214.07, Y:-35.32, Z:-9.40 [[ 9.78279750e-01 2.04104943e-01 3.61925689e-02 2.14071470e+02] [-2.03968889e-01 9.78949010e-01 -7.45176110e-03 -3.53168108e+01] [-3.69516208e-02 -9.22510637e-05 9.99317051e-01 -9.40135758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37587156000004 meters 0.01705015518619951 Centerline is valid? [True, True] Translation: X:214.10, Y:-35.32, Z:-9.40 [[ 9.78058263e-01 2.05169797e-01 3.61578366e-02 2.14100499e+02] [-2.05034748e-01 9.78726385e-01 -7.44415609e-03 -3.53234031e+01] [-3.69159447e-02 -1.32794544e-04 9.99318365e-01 -9.40181947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40587156000004 meters 0.012183101650007707 Centerline is valid? [True, True] Translation: X:214.13, Y:-35.33, Z:-9.40 [[ 9.78049971e-01 2.05100102e-01 3.67722944e-02 2.14129602e+02] [-2.04960394e-01 9.78740992e-01 -7.57010524e-03 -3.53327680e+01] [-3.75431813e-02 -1.32922733e-04 9.99294997e-01 -9.40371110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43587156000004 meters 0.012445903826684824 Centerline is valid? [True, True] Translation: X:214.16, Y:-35.34, Z:-9.41 [[ 9.78085924e-01 2.04896405e-01 3.69511743e-02 2.14159376e+02] [-2.04755204e-01 9.78783657e-01 -7.60651322e-03 -3.53402833e+01] [-3.77257528e-02 -1.26121722e-04 9.99288122e-01 -9.40631652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46587156000004 meters 0.012050229384753067 Centerline is valid? [True, True] Translation: X:214.19, Y:-35.35, Z:-9.41 [[ 9.78115657e-01 2.04793004e-01 3.67367115e-02 2.14189468e+02] [-2.04653276e-01 9.78805298e-01 -7.56473967e-03 -3.53487431e+01] [-3.75072937e-02 -1.19098064e-04 9.99296347e-01 -9.40656394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49587156000004 meters 0.028899003255052236 Centerline is valid? [True, True] Translation: X:214.22, Y:-35.36, Z:-9.41 [[ 9.78097058e-01 2.04905090e-01 3.66066874e-02 2.14219585e+02] [-2.04766395e-01 9.78781839e-01 -7.53885433e-03 -3.53564295e+01] [-3.73747105e-02 -1.22088181e-04 9.99301314e-01 -9.40551985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52587156000004 meters 0.012598631481330717 Centerline is valid? [True, True] Translation: X:214.25, Y:-35.36, Z:-9.41 [[ 9.77803715e-01 2.06263277e-01 3.68151406e-02 2.14250349e+02] [-2.06123924e-01 9.78496515e-01 -7.58272029e-03 -3.53628557e+01] [-3.75875236e-02 -1.74069191e-04 9.99293324e-01 -9.40871650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55587156000004 meters 0.013814065292166836 Centerline is valid? [True, True] Translation: X:214.28, Y:-35.37, Z:-9.41 [[ 9.77344630e-01 2.08517990e-01 3.63004426e-02 2.14280978e+02] [-2.08384028e-01 9.78018498e-01 -7.47760419e-03 -3.53681924e+01] [-3.70617193e-02 -2.56236151e-04 9.99312946e-01 -9.41077184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58587156000004 meters 0.01462568333006416 Centerline is valid? [True, True] Translation: X:214.31, Y:-35.37, Z:-9.41 [[ 9.77110820e-01 2.09664702e-01 3.59883006e-02 2.14311441e+02] [-2.09533772e-01 9.77773299e-01 -7.41441077e-03 -3.53729970e+01] [-3.67429397e-02 -2.96063379e-04 9.99324706e-01 -9.41234733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61587156000002 meters 0.015627084138956807 Centerline is valid? [True, True] Translation: X:214.34, Y:-35.38, Z:-9.41 [[ 9.76857649e-01 2.10868720e-01 3.58261968e-02 2.14340387e+02] [-2.10739772e-01 9.77514331e-01 -7.38111810e-03 -3.53774904e+01] [-3.65770677e-02 -3.39702876e-04 9.99330777e-01 -9.41435937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64587156000002 meters 0.016283031786483174 Centerline is valid? [True, True] Translation: X:214.37, Y:-35.38, Z:-9.42 [[ 9.76651618e-01 2.11816449e-01 3.58525997e-02 2.14369302e+02] [-2.11687962e-01 9.77309394e-01 -7.38620908e-03 -3.53827003e+01] [-3.66036030e-02 -3.75810707e-04 9.99329793e-01 -9.41561662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67587156000002 meters 0.02036309134958606 Centerline is valid? [True, True] Translation: X:214.40, Y:-35.39, Z:-9.41 [[ 9.76327720e-01 2.13218327e-01 3.63610757e-02 2.14399384e+02] [-2.13087181e-01 9.77004481e-01 -7.48983651e-03 -3.53871319e+01] [-3.71219043e-02 -4.35544138e-04 9.99310650e-01 -9.41448986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70587156000002 meters 0.018359448541024264 Centerline is valid? [True, True] Translation: X:214.43, Y:-35.39, Z:-9.42 [[ 9.76172077e-01 2.13888979e-01 3.66002870e-02 2.14428564e+02] [-2.13756569e-01 9.76857866e-01 -7.53920692e-03 -3.53900113e+01] [-3.73658315e-02 -4.63988501e-04 9.99301546e-01 -9.41727903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73587156000002 meters 0.018518852592801716 Centerline is valid? [True, True] Translation: X:214.46, Y:-35.40, Z:-9.42 [[ 9.76004246e-01 2.14540076e-01 3.72594535e-02 2.14458029e+02] [-2.14403342e-01 9.76715060e-01 -7.67458160e-03 -3.53952673e+01] [-3.80383747e-02 -4.98127118e-04 9.99276155e-01 -9.41750414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76587156000002 meters 0.018444977769465028 Centerline is valid? [True, True] Translation: X:214.49, Y:-35.40, Z:-9.42 [[ 9.75922102e-01 2.14928179e-01 3.71743077e-02 2.14487328e+02] [-2.14792386e-01 9.76629723e-01 -7.65611668e-03 -3.54016552e+01] [-3.79510490e-02 -5.12984755e-04 9.99279468e-01 -9.41844269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79587156000002 meters 0.0186433609707407 Centerline is valid? [True, True] Translation: X:214.52, Y:-35.41, Z:-9.42 [[ 9.75896271e-01 2.15134200e-01 3.66571198e-02 2.14515916e+02] [-2.15002340e-01 9.76584359e-01 -7.54869699e-03 -3.54071574e+01] [-3.74227528e-02 -5.14621286e-04 9.99299391e-01 -9.42059153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82587156000002 meters 0.0186433609707407 Centerline is valid? [True, True] Translation: X:214.54, Y:-35.41, Z:-9.42 [[ 9.75901505e-01 2.15110424e-01 3.66573157e-02 2.14544465e+02] [-2.14978583e-01 9.76589597e-01 -7.54774553e-03 -3.54129914e+01] [-3.74227519e-02 -5.14681564e-04 9.99299391e-01 -9.42190511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85587156000003 meters 0.019797933367272025 Centerline is valid? [True, True] Translation: X:214.57, Y:-35.42, Z:-9.43 [[ 9.75871553e-01 2.15409246e-01 3.56871073e-02 2.14573166e+02] [-2.15284521e-01 9.76523729e-01 -7.34720873e-03 -3.54160509e+01] [-3.64319638e-02 -5.12949799e-04 9.99336004e-01 -9.42562493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88587156000003 meters 0.019359698348603988 Centerline is valid? [True, True] Translation: X:214.60, Y:-35.42, Z:-9.43 [[ 9.75877317e-01 2.15329590e-01 3.60087610e-02 2.14601384e+02] [-2.15202598e-01 9.76541295e-01 -7.41215059e-03 -3.54200442e+01] [-3.67600974e-02 -5.15829287e-04 9.99323986e-01 -9.42541757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91587156000003 meters 0.02292630025456961 Centerline is valid? [True, True] Translation: X:214.63, Y:-35.42, Z:-9.43 [[ 9.75913769e-01 2.15112777e-01 3.63154027e-02 2.14628844e+02] [-2.14983526e-01 9.76589079e-01 -7.47356162e-03 -3.54227921e+01] [-3.70728842e-02 -5.13661630e-04 9.99312432e-01 -9.42574864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94587156000003 meters 0.018875957316905 Centerline is valid? [True, True] Translation: X:214.66, Y:-35.43, Z:-9.43 [[ 9.75883344e-01 2.15220615e-01 3.64936430e-02 2.14657804e+02] [-2.15090270e-01 9.76565314e-01 -7.50749454e-03 -3.54286846e+01] [-3.72541936e-02 -5.22988660e-04 9.99305685e-01 -9.42680240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97587156000003 meters 0.01991903252804804 Centerline is valid? [True, True] Translation: X:214.69, Y:-35.43, Z:-9.43 [[ 9.75887979e-01 2.15156342e-01 3.67477970e-02 2.14686284e+02] [-2.15024165e-01 9.76579476e-01 -7.55882263e-03 -3.54315836e+01] [-3.75134730e-02 -5.25100222e-04 9.99295984e-01 -9.42856003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00587156000003 meters 0.02333411092279837 Centerline is valid? [True, True] Translation: X:214.71, Y:-35.43, Z:-9.43 [[ 9.75845934e-01 2.15158045e-01 3.78381985e-02 2.14714025e+02] [-2.15017936e-01 9.76579092e-01 -7.78234295e-03 -3.54336181e+01] [-3.86264272e-02 -5.41523633e-04 9.99253574e-01 -9.42641136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03587156000003 meters 0.01944555421995583 Centerline is valid? [True, True] Translation: X:214.74, Y:-35.44, Z:-9.43 [[ 9.75894610e-01 2.14819030e-01 3.85031738e-02 2.14742359e+02] [-2.14673784e-01 9.76653722e-01 -7.91665348e-03 -3.54382206e+01] [-3.93049158e-02 -5.39802556e-04 9.99227117e-01 -9.42705236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06587156000003 meters 0.019257355098707206 Centerline is valid? [True, True] Translation: X:214.77, Y:-35.44, Z:-9.43 [[ 9.75941992e-01 2.14442369e-01 3.93916094e-02 2.14770378e+02] [-2.14290112e-01 9.76736495e-01 -8.09739189e-03 -3.54424090e+01] [-4.02116464e-02 -5.38647625e-04 9.99191039e-01 -9.42726820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09587156000003 meters 0.017522601731453296 Centerline is valid? [True, True] Translation: X:214.80, Y:-35.45, Z:-9.43 [[ 9.76171969e-01 2.13334187e-01 3.97090805e-02 2.14798785e+02] [-2.13178649e-01 9.76979158e-01 -8.16015360e-03 -3.54481748e+01] [-4.05357837e-02 -4.99414932e-04 9.99177963e-01 -9.42700867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12587156000004 meters 0.016283124185696538 Centerline is valid? [True, True] Translation: X:214.83, Y:-35.45, Z:-9.43 [[ 9.76385114e-01 2.12418520e-01 3.93761608e-02 2.14827587e+02] [-2.12264920e-01 9.77178674e-01 -8.08965334e-03 -3.54541486e+01] [-4.01959368e-02 -4.59560533e-04 9.99191711e-01 -9.42867038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15587156000004 meters 0.019794906801186066 Centerline is valid? [True, True] Translation: X:214.86, Y:-35.46, Z:-9.43 [[ 9.76739326e-01 2.10948967e-01 3.84814687e-02 2.14856358e+02] [-2.10801165e-01 9.77496998e-01 -7.90494147e-03 -3.54565470e+01] [-3.92830594e-02 -3.90871254e-04 9.99228046e-01 -9.43105894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18587156000004 meters 0.02072407504444489 Centerline is valid? [True, True] Translation: X:214.88, Y:-35.46, Z:-9.43 [[ 9.76918044e-01 2.10165682e-01 3.82298358e-02 2.14884897e+02] [-2.10019263e-01 9.77665719e-01 -7.85185541e-03 -3.54625465e+01] [-3.90261904e-02 -3.58382694e-04 9.99238124e-01 -9.43259161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21587156000004 meters 0.03375190611078981 Centerline is valid? [True, True] Translation: X:214.91, Y:-35.47, Z:-9.43 [[ 9.77061391e-01 2.09574604e-01 3.78090470e-02 2.14913310e+02] [-2.09431022e-01 9.77792603e-01 -7.76353698e-03 -3.54675321e+01] [-3.85964466e-02 -3.32935111e-04 9.99254824e-01 -9.43371499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24587156000004 meters 0.015306183474307258 Centerline is valid? [True, True] Translation: X:214.94, Y:-35.47, Z:-9.44 [[ 9.77280556e-01 2.08621491e-01 3.74137426e-02 2.14941778e+02] [-2.08480267e-01 9.77996415e-01 -7.68057891e-03 -3.54680936e+01] [-3.81928399e-02 -2.93946624e-04 9.99270344e-01 -9.43977333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27587156000004 meters 0.02014514578678207 Centerline is valid? [True, True] Translation: X:214.97, Y:-35.47, Z:-9.44 [[ 9.77353980e-01 2.08370687e-01 3.68897647e-02 2.14970261e+02] [-2.08233303e-01 9.78049885e-01 -7.57062948e-03 -3.54730761e+01] [-3.76575274e-02 -2.82492691e-04 9.99290664e-01 -9.43934677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30587156000004 meters 0.014595670349761065 Centerline is valid? [True, True] Translation: X:215.00, Y:-35.48, Z:-9.44 [[ 9.77396121e-01 2.08201335e-01 3.67291138e-02 2.14999122e+02] [-2.08065094e-01 9.78085951e-01 -7.53585340e-03 -3.54770921e+01] [-3.74932049e-02 -2.76532626e-04 9.99296844e-01 -9.44260453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33587156000004 meters 0.022076700594037314 Centerline is valid? [True, True] Translation: X:215.03, Y:-35.48, Z:-9.44 [[ 9.77488361e-01 2.07858407e-01 3.62130736e-02 2.15027535e+02] [-2.07725794e-01 9.78158890e-01 -7.42831927e-03 -3.54773568e+01] [-3.69661785e-02 -2.61293856e-04 9.99316483e-01 -9.44304119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36587156000004 meters 0.014400799169239805 Centerline is valid? [True, True] Translation: X:215.06, Y:-35.48, Z:-9.45 [[ 9.77512104e-01 2.07700651e-01 3.64763719e-02 2.15056685e+02] [-2.07566080e-01 9.78192400e-01 -7.47998577e-03 -3.54805836e+01] [-3.72345077e-02 -2.59480911e-04 9.99306522e-01 -9.44542238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39587156000002 meters 0.014521086098839082 Centerline is valid? [True, True] Translation: X:215.09, Y:-35.48, Z:-9.45 [[ 9.77464754e-01 2.07837975e-01 3.69598583e-02 2.15085385e+02] [-2.07699976e-01 9.78163229e-01 -7.57739519e-03 -3.54799206e+01] [-3.77276448e-02 -2.69924936e-04 9.99288023e-01 -9.44636447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42587156000002 meters 0.014513609253077939 Centerline is valid? [True, True] Translation: X:215.11, Y:-35.48, Z:-9.45 [[ 9.77442307e-01 2.07904301e-01 3.71798097e-02 2.15114682e+02] [-2.07764799e-01 9.78149132e-01 -7.61991354e-03 -3.54823260e+01] [-3.79516114e-02 -2.76629810e-04 9.99279540e-01 -9.44677970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45587156000002 meters 0.020359267319418832 Centerline is valid? [True, True] Translation: X:215.14, Y:-35.48, Z:-9.45 [[ 9.77395127e-01 2.08119030e-01 3.72187510e-02 2.15142213e+02] [-2.07979451e-01 9.78103464e-01 -7.62631641e-03 -3.54839210e+01] [-3.79909708e-02 -2.86810911e-04 9.99278041e-01 -9.44653172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48587156000002 meters 0.015321650734376548 Centerline is valid? [True, True] Translation: X:215.17, Y:-35.48, Z:-9.45 [[ 9.77304749e-01 2.08576218e-01 3.70322720e-02 2.15171869e+02] [-2.08438492e-01 9.78006067e-01 -7.58469916e-03 -3.54827707e+01] [-3.77997746e-02 -3.06388409e-04 9.99285286e-01 -9.44978996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51587156000002 meters 0.01536335761445968 Centerline is valid? [True, True] Translation: X:215.20, Y:-35.49, Z:-9.45 [[ 9.77343884e-01 2.08487287e-01 3.64963412e-02 2.15200779e+02] [-2.08353522e-01 9.78025031e-01 -7.47319697e-03 -3.54857425e+01] [-3.72524018e-02 -3.00257868e-04 9.99305843e-01 -9.45190283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54587156000002 meters 0.015545186868850008 Centerline is valid? [True, True] Translation: X:215.23, Y:-35.48, Z:-9.46 [[ 9.77397027e-01 2.08399307e-01 3.55637581e-02 2.15230557e+02] [-2.08272296e-01 9.78043784e-01 -7.28056422e-03 -3.54846744e+01] [-3.63001771e-02 -2.90943745e-04 9.99340889e-01 -9.45514561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57587156000002 meters 0.01555308993486251 Centerline is valid? [True, True] Translation: X:215.26, Y:-35.49, Z:-9.46 [[ 9.77441235e-01 2.08196802e-01 3.55348323e-02 2.15258596e+02] [-2.08069919e-01 9.78086914e-01 -7.27313287e-03 -3.54865866e+01] [-3.62703975e-02 -2.84669693e-04 9.99341972e-01 -9.45748344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60587156000003 meters 0.014574015831151494 Centerline is valid? [True, True] Translation: X:215.29, Y:-35.49, Z:-9.46 [[ 9.77677856e-01 2.06956993e-01 3.62603543e-02 2.15288215e+02] [-2.06824128e-01 9.78350010e-01 -7.41876589e-03 -3.54860144e+01] [-3.70106835e-02 -2.46353020e-04 9.99314840e-01 -9.45717811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63587156000003 meters 0.02782444013013263 Centerline is valid? [True, True] Translation: X:215.32, Y:-35.49, Z:-9.46 [[ 9.77910559e-01 2.05832576e-01 3.63853003e-02 2.15316932e+02] [-2.05698078e-01 9.78587200e-01 -7.44259512e-03 -3.54901047e+01] [-3.71381176e-02 -2.06193994e-04 9.99310121e-01 -9.45517308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66587156000003 meters 0.01279409252657223 Centerline is valid? [True, True] Translation: X:215.34, Y:-35.49, Z:-9.46 [[ 9.78206150e-01 2.04347754e-01 3.68065570e-02 2.15344573e+02] [-2.04209139e-01 9.78898346e-01 -7.52699752e-03 -3.54939268e+01] [-3.75680028e-02 -1.53280065e-04 9.99294062e-01 -9.45795503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69587156000003 meters 0.018383553256828448 Centerline is valid? [True, True] Translation: X:215.37, Y:-35.50, Z:-9.46 [[ 9.78655327e-01 2.02167225e-01 3.69074943e-02 2.15371831e+02] [-2.02026377e-01 9.79351014e-01 -7.54553919e-03 -3.54990486e+01] [-3.76708526e-02 -7.18052151e-05 9.99290199e-01 -9.45808535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72587156000003 meters 0.026148680732118193 Centerline is valid? [True, True] Translation: X:215.40, Y:-35.51, Z:-9.46 [[ 9.79685654e-01 1.97064871e-01 3.71679474e-02 2.15398532e+02] [-1.96918480e-01 9.80390443e-01 -7.59542400e-03 -3.55061861e+01] [-3.79358917e-02 1.22072217e-04 9.99280168e-01 -9.45775593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75587156000003 meters 0.013456767485539537 Centerline is valid? [True, True] Translation: X:215.43, Y:-35.51, Z:-9.46 [[ 9.80200727e-01 1.94410747e-01 3.75632429e-02 2.15425246e+02] [-1.94259383e-01 9.80920186e-01 -7.67339466e-03 -3.55133815e+01] [-3.83383336e-02 2.24454636e-04 9.99264791e-01 -9.46097622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78587156000003 meters 0.026803517797555413 Centerline is valid? [True, True] Translation: X:215.45, Y:-35.52, Z:-9.46 [[ 9.81208836e-01 1.89212395e-01 3.77874216e-02 2.15451607e+02] [-1.89055469e-01 9.81936091e-01 -7.71640349e-03 -3.55225522e+01] [-3.85648722e-02 4.27484577e-04 9.99256007e-01 -9.46018637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81587156000003 meters 0.017880281910247035 Centerline is valid? [True, True] Translation: X:215.48, Y:-35.53, Z:-9.46 [[ 9.81622765e-01 1.86954107e-01 3.82741393e-02 2.15480574e+02] [-1.86791486e-01 9.82368511e-01 -7.81343874e-03 -3.55260092e+01] [-3.90600637e-02 5.20565981e-04 9.99236729e-01 -9.46088359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84587156000003 meters 0.021483575021722275 Centerline is valid? [True, True] Translation: X:215.51, Y:-35.53, Z:-9.46 [[ 9.82077107e-01 1.84620416e-01 3.79454624e-02 2.15507299e+02] [-1.84458903e-01 9.82809714e-01 -7.74459880e-03 -3.55322041e+01] [-3.87229801e-02 6.06414822e-04 9.99249800e-01 -9.46153800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87587156000004 meters 0.0242580819924296 Centerline is valid? [True, True] Translation: X:215.53, Y:-35.54, Z:-9.46 [[ 9.82794602e-01 1.80743311e-01 3.80345287e-02 2.15534480e+02] [-1.80578259e-01 9.83530010e-01 -7.75957804e-03 -3.55404619e+01] [-3.88105923e-02 7.57862428e-04 9.99246298e-01 -9.46361393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90587156000004 meters 0.027411333943509378 Centerline is valid? [True, True] Translation: X:215.56, Y:-35.55, Z:-9.47 [[ 9.83165862e-01 1.78652890e-01 3.83149157e-02 2.15561519e+02] [-1.78483835e-01 9.83911800e-01 -7.81610714e-03 -3.55487355e+01] [-3.90948678e-02 8.45936636e-04 9.99235145e-01 -9.46513671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93587156000004 meters 0.043478955726132085 Centerline is valid? [True, True] Translation: X:215.59, Y:-35.56, Z:-9.46 [[ 9.84092743e-01 1.73528393e-01 3.80705846e-02 2.15591145e+02] [-1.73357736e-01 9.84828317e-01 -7.76414522e-03 -3.55572535e+01] [-3.88402894e-02 1.04080862e-03 9.99244889e-01 -9.46484841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96587156000004 meters 0.03431661252055129 Centerline is valid? [True, True] Translation: X:215.62, Y:-35.57, Z:-9.47 [[ 9.84595153e-01 1.70637072e-01 3.81493709e-02 2.15618820e+02] [-1.70463553e-01 9.85333269e-01 -7.77984269e-03 -3.55696869e+01] [-3.89173739e-02 1.15691808e-03 9.99241762e-01 -9.46889690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99587156000004 meters 0.03745813152613867 Centerline is valid? [True, True] Translation: X:215.65, Y:-35.58, Z:-9.47 [[ 9.85086589e-01 1.67876272e-01 3.77090163e-02 2.15647178e+02] [-1.67704612e-01 9.85807276e-01 -7.69274309e-03 -3.55799890e+01] [-3.84652517e-02 1.25404209e-03 9.99259151e-01 -9.47111799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02587156000004 meters 0.03803372353878469 Centerline is valid? [True, True] Translation: X:215.68, Y:-35.59, Z:-9.47 [[ 9.85520505e-01 1.65505552e-01 3.68408239e-02 2.15677475e+02] [-1.65340062e-01 9.86207981e-01 -7.51544961e-03 -3.55870050e+01] [-3.75765632e-02 1.31536559e-03 9.99292886e-01 -9.47275024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05587156000004 meters 0.04482953545999269 Centerline is valid? [True, True] Translation: X:215.70, Y:-35.60, Z:-9.48 [[ 9.86238198e-01 1.61435001e-01 3.56785367e-02 2.15704422e+02] [-1.61277091e-01 9.86882318e-01 -7.27947982e-03 -3.56020203e+01] [-3.63856798e-02 1.42517046e-03 9.99336806e-01 -9.47733343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08587156000004 meters 0.0444067697317188 Centerline is valid? [True, True] Translation: X:215.74, Y:-35.61, Z:-9.48 [[ 9.86414900e-01 1.60353442e-01 3.56709785e-02 2.15735083e+02] [-1.60194935e-01 9.87058575e-01 -7.27678098e-03 -3.56096566e+01] [-3.63762021e-02 1.46361511e-03 9.99337095e-01 -9.47880205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11587156000004 meters 0.0510900345419138 Centerline is valid? [True, True] Translation: X:215.76, Y:-35.62, Z:-9.48 [[ 9.86515915e-01 1.59816690e-01 3.52842005e-02 2.15763754e+02] [-1.59661172e-01 9.87145615e-01 -7.20033185e-03 -3.56237494e+01] [-3.59813770e-02 1.46972516e-03 9.99351380e-01 -9.47876009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14587156000002 meters 0.05204184802983896 Centerline is valid? [True, True] Translation: X:215.80, Y:-35.63, Z:-9.48 [[ 9.86405210e-01 1.60438993e-01 3.55540623e-02 2.15795817e+02] [-1.60281288e-01 9.87044674e-01 -7.26093588e-03 -3.56294255e+01] [-3.62583850e-02 1.46357410e-03 9.99341377e-01 -9.47962578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17587156000002 meters 0.0480368254615651 Centerline is valid? [True, True] Translation: X:215.83, Y:-35.64, Z:-9.48 [[ 9.86199155e-01 1.61639458e-01 3.58317168e-02 2.15826855e+02] [-1.61479848e-01 9.86848835e-01 -7.32368547e-03 -3.56367527e+01] [-3.65442845e-02 1.43651222e-03 9.99331002e-01 -9.48051764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20587156000002 meters 0.04348985585732635 Centerline is valid? [True, True] Translation: X:215.86, Y:-35.64, Z:-9.48 [[ 9.85700177e-01 1.64456220e-01 3.67329786e-02 2.15855909e+02] [-1.64290146e-01 9.86383428e-01 -7.51543502e-03 -3.56442367e+01] [-3.74687614e-02 1.37309922e-03 9.99296856e-01 -9.48089064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23587156000002 meters 0.03756170185727324 Centerline is valid? [True, True] Translation: X:215.89, Y:-35.65, Z:-9.48 [[ 9.85369551e-01 1.66433261e-01 3.66990227e-02 2.15887734e+02] [-1.66268869e-01 9.86051869e-01 -7.50830284e-03 -3.56452481e+01] [-3.74367713e-02 1.29654799e-03 9.99298157e-01 -9.48150763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26587156000002 meters 0.035949586166311075 Centerline is valid? [True, True] Translation: X:215.92, Y:-35.65, Z:-9.48 [[ 9.84512261e-01 1.71585070e-01 3.59745937e-02 2.15917214e+02] [-1.71430498e-01 9.85168715e-01 -7.36118201e-03 -3.56510174e+01] [-3.67041132e-02 1.08003142e-03 9.99325593e-01 -9.48490084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29587156000002 meters 0.03331915640588846 Centerline is valid? [True, True] Translation: X:215.95, Y:-35.65, Z:-9.49 [[ 9.84021435e-01 1.74466452e-01 3.55425540e-02 2.15945725e+02] [-1.74317450e-01 9.84662650e-01 -7.27275923e-03 -3.56548427e+01] [-3.62662779e-02 9.60863608e-04 9.99341700e-01 -9.48726824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32587156000002 meters 0.026254821066295415 Centerline is valid? [True, True] Translation: X:215.98, Y:-35.65, Z:-9.49 [[ 9.83452746e-01 1.77570718e-01 3.59073243e-02 2.15976460e+02] [-1.77420709e-01 9.84107671e-01 -7.34733338e-03 -3.56531541e+01] [-3.66413445e-02 8.55052268e-04 9.99328115e-01 -9.48599394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35587156000003 meters 0.021964896875663803 Centerline is valid? [True, True] Translation: X:216.01, Y:-35.65, Z:-9.49 [[ 9.82456591e-01 1.82941791e-01 3.62125301e-02 2.16005482e+02] [-1.82792892e-01 9.83123525e-01 -7.40895333e-03 -3.56548339e+01] [-3.69567975e-02 6.59581923e-04 9.99316647e-01 -9.48715405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38587156000003 meters 0.020009480459396062 Centerline is valid? [True, True] Translation: X:216.03, Y:-35.66, Z:-9.49 [[ 9.82028777e-01 1.85248597e-01 3.60893042e-02 2.16034375e+02] [-1.85102313e-01 9.82691525e-01 -7.38246705e-03 -3.56584465e+01] [-3.68322450e-02 5.69581413e-04 9.99321300e-01 -9.48911678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41587156000003 meters 0.031073709527666707 Centerline is valid? [True, True] Translation: X:216.06, Y:-35.66, Z:-9.49 [[ 9.81263619e-01 1.89410482e-01 3.52899261e-02 2.16062607e+02] [-1.89273359e-01 9.81897911e-01 -7.21721448e-03 -3.56621660e+01] [-3.60181208e-02 4.02547152e-04 9.99351056e-01 -9.49035764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44587156000003 meters 0.016104598148257914 Centerline is valid? [True, True] Translation: X:216.09, Y:-35.67, Z:-9.49 [[ 9.80996306e-01 1.90819067e-01 3.51330595e-02 2.16089435e+02] [-1.90684122e-01 9.81625164e-01 -7.18349448e-03 -3.56674604e+01] [-3.58582430e-02 3.47664945e-04 9.99356826e-01 -9.49394284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47587156000003 meters 0.015247731713523529 Centerline is valid? [True, True] Translation: X:216.12, Y:-35.67, Z:-9.50 [[ 9.80723404e-01 1.92238549e-01 3.50134950e-02 2.16117102e+02] [-1.92105503e-01 9.81348182e-01 -7.15687984e-03 -3.56724408e+01] [-3.57362579e-02 2.92634465e-04 9.99361213e-01 -9.49550823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50587156000003 meters 0.013898219160504308 Centerline is valid? [True, True] Translation: X:216.15, Y:-35.68, Z:-9.50 [[ 9.80477713e-01 1.93431640e-01 3.53221606e-02 2.16145986e+02] [-1.93297094e-01 9.81113724e-01 -7.21769154e-03 -3.56773406e+01] [-3.60511864e-02 2.49114704e-04 9.99349914e-01 -9.49584012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53587156000003 meters 0.013085111727397382 Centerline is valid? [True, True] Translation: X:216.17, Y:-35.68, Z:-9.50 [[ 9.79999874e-01 1.95849593e-01 3.52588213e-02 2.16172988e+02] [-1.95717157e-01 9.80633934e-01 -7.20296985e-03 -3.56827198e+01] [-3.59866953e-02 1.58153298e-04 9.99352257e-01 -9.49755716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56587156000003 meters 0.012734544294452194 Centerline is valid? [True, True] Translation: X:216.20, Y:-35.69, Z:-9.50 [[ 9.79748234e-01 1.97160782e-01 3.49431500e-02 2.16200348e+02] [-1.97031597e-01 9.80371162e-01 -7.13688352e-03 -3.56877977e+01] [-3.56643700e-02 1.07444368e-04 9.99363818e-01 -9.49963875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59587156000003 meters 0.012534116438951706 Centerline is valid? [True, True] Translation: X:216.23, Y:-35.69, Z:-9.50 [[ 9.79554635e-01 1.98133278e-01 3.48700621e-02 2.16227398e+02] [-1.98005328e-01 9.80175086e-01 -7.11974675e-03 -3.56926659e+01] [-3.55894248e-02 6.97228725e-05 9.99366493e-01 -9.50089123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62587156000004 meters 0.016668934581073998 Centerline is valid? [True, True] Translation: X:216.26, Y:-35.70, Z:-9.50 [[ 9.79094480e-01 2.00318629e-01 3.53050382e-02 2.16255620e+02] [-2.00188988e-01 9.79730803e-01 -7.20572805e-03 -3.56965904e+01] [-3.60328750e-02 -1.25913019e-05 9.99350605e-01 -9.49948057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65587156000004 meters 0.012065772852819448 Centerline is valid? [True, True] Translation: X:216.28, Y:-35.70, Z:-9.50 [[ 9.79021663e-01 2.00657450e-01 3.54001539e-02 2.16283315e+02] [-2.00527385e-01 9.79661466e-01 -7.22361231e-03 -3.57024157e+01] [-3.61296382e-02 -2.66273506e-05 9.99347111e-01 -9.50158198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68587156000004 meters 0.01458812975989676 Centerline is valid? [True, True] Translation: X:216.31, Y:-35.71, Z:-9.50 [[ 9.78971625e-01 2.00903484e-01 3.53885171e-02 2.16310548e+02] [-2.00773767e-01 9.79611040e-01 -7.21843147e-03 -3.57092278e+01] [-3.61171900e-02 -3.84462885e-05 9.99347561e-01 -9.50320711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71587156000004 meters 0.01458812975989676 Centerline is valid? [True, True] Translation: X:216.34, Y:-35.71, Z:-9.50 [[ 9.78985697e-01 2.00834828e-01 3.53889374e-02 2.16337485e+02] [-2.00705141e-01 9.79625117e-01 -7.21636997e-03 -3.57145829e+01] [-3.61171904e-02 -3.80187009e-05 9.99347561e-01 -9.50444533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74587156000004 meters 0.012267222253980302 Centerline is valid? [True, True] Translation: X:216.37, Y:-35.72, Z:-9.51 [[ 9.78978295e-01 2.00921452e-01 3.51008266e-02 2.16365705e+02] [-2.00794023e-01 9.79607354e-01 -7.15487724e-03 -3.57210347e+01] [-3.58225962e-02 -4.35666459e-05 9.99358164e-01 -9.50589875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77587156000004 meters 0.012397016438848451 Centerline is valid? [True, True] Translation: X:216.39, Y:-35.73, Z:-9.51 [[ 9.78926562e-01 2.01241449e-01 3.47082968e-02 2.16392637e+02] [-2.01117109e-01 9.79541666e-01 -7.07336878e-03 -3.57266182e+01] [-3.54216778e-02 -5.61237239e-05 9.99372454e-01 -9.50827110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80587156000004 meters 0.027610544381035825 Centerline is valid? [True, True] Translation: X:216.42, Y:-35.73, Z:-9.51 [[ 9.78691571e-01 2.02383794e-01 3.46930577e-02 2.16421390e+02] [-2.02260379e-01 9.79306280e-01 -7.06747256e-03 -3.57320435e+01] [-3.54054712e-02 -1.00155163e-04 9.99373025e-01 -9.50757218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83587156000004 meters 0.017282384087073128 Centerline is valid? [True, True] Translation: X:216.45, Y:-35.74, Z:-9.51 [[ 9.78514351e-01 2.03244789e-01 3.46586230e-02 2.16449986e+02] [-2.03122219e-01 9.79127948e-01 -7.05874748e-03 -3.57370021e+01] [-3.53698801e-02 -1.32850708e-04 9.99374281e-01 -9.50926243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86587156000004 meters 0.013505333165209106 Centerline is valid? [True, True] Translation: X:216.48, Y:-35.74, Z:-9.51 [[ 9.78339967e-01 2.04082760e-01 3.46574115e-02 2.16477525e+02] [-2.03960781e-01 9.78953625e-01 -7.05688596e-03 -3.57413071e+01] [-3.53681874e-02 -1.64719158e-04 9.99374336e-01 -9.51222838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89587156000002 meters 0.014053284612568216 Centerline is valid? [True, True] Translation: X:216.51, Y:-35.75, Z:-9.51 [[ 9.78080585e-01 2.05313680e-01 3.47082481e-02 2.16506555e+02] [-2.05192198e-01 9.78696198e-01 -7.06496819e-03 -3.57452809e+01] [-3.54193650e-02 -2.11753494e-04 9.99372515e-01 -9.51310037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92587156000002 meters 0.01616486030545291 Centerline is valid? [True, True] Translation: X:216.53, Y:-35.74, Z:-9.52 [[ 9.77562599e-01 2.07801798e-01 3.44931447e-02 2.16534481e+02] [-2.07683417e-01 9.78170906e-01 -7.01972043e-03 -3.57449965e+01] [-3.51989012e-02 -3.01438012e-04 9.99380281e-01 -9.51509264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95587156000002 meters 0.017166039230503 Centerline is valid? [True, True] Translation: X:216.56, Y:-35.75, Z:-9.52 [[ 9.77283999e-01 2.09084506e-01 3.46360311e-02 2.16563537e+02] [-2.08966047e-01 9.77897513e-01 -7.04595892e-03 -3.57475977e+01] [-3.53436895e-02 -3.51851607e-04 9.99375155e-01 -9.51565107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98587156000002 meters 0.019833865529416364 Centerline is valid? [True, True] Translation: X:216.59, Y:-35.75, Z:-9.52 [[ 9.76641549e-01 2.12018216e-01 3.49222249e-02 2.16593044e+02] [-2.11899725e-01 9.77265604e-01 -7.10245444e-03 -3.57469926e+01] [-3.56341389e-02 -4.63457761e-04 9.99364795e-01 -9.51662073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01587156000002 meters 0.020782775867626776 Centerline is valid? [True, True] Translation: X:216.62, Y:-35.75, Z:-9.52 [[ 9.76418144e-01 2.13032215e-01 3.49983344e-02 2.16622106e+02] [-2.12913919e-01 9.77045046e-01 -7.11623102e-03 -3.57503720e+01] [-3.57109357e-02 -5.03215443e-04 9.99362034e-01 -9.51801789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04587156000002 meters 0.021678528942373237 Centerline is valid? [True, True] Translation: X:216.65, Y:-35.75, Z:-9.52 [[ 9.76259051e-01 2.13789398e-01 3.48189522e-02 2.16650557e+02] [-2.13672853e-01 9.76879631e-01 -7.07806624e-03 -3.57535527e+01] [-3.55271407e-02 -5.29838628e-04 9.99368571e-01 -9.51903839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07587156000002 meters 0.02186396360077376 Centerline is valid? [True, True] Translation: X:216.68, Y:-35.76, Z:-9.52 [[ 9.76030850e-01 2.14784169e-01 3.50933187e-02 2.16679474e+02] [-2.14666485e-01 9.76661371e-01 -7.13212327e-03 -3.57564280e+01] [-3.58061559e-02 -5.72187009e-04 9.99358590e-01 -9.51935310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10587156000003 meters 0.023257367046343652 Centerline is valid? [True, True] Translation: X:216.71, Y:-35.76, Z:-9.52 [[ 9.76043429e-01 2.14734801e-01 3.50455508e-02 2.16706429e+02] [-2.14617440e-01 9.76672227e-01 -7.12143482e-03 -3.57580483e+01] [-3.57572360e-02 -5.70556734e-04 9.99360343e-01 -9.52208314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13587156000003 meters 0.023635785981734037 Centerline is valid? [True, True] Translation: X:216.73, Y:-35.76, Z:-9.52 [[ 9.76110788e-01 2.14525059e-01 3.44489378e-02 2.16734497e+02] [-2.14411715e-01 9.76718325e-01 -6.99494651e-03 -3.57589656e+01] [-3.51475002e-02 -5.58413097e-04 9.99381980e-01 -9.52429451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16587156000003 meters 0.023415784773699835 Centerline is valid? [True, True] Translation: X:216.76, Y:-35.76, Z:-9.53 [[ 9.76192834e-01 2.14191139e-01 3.42009845e-02 2.16762274e+02] [-2.14079283e-01 9.76791615e-01 -6.94268028e-03 -3.57635415e+01] [-3.48942955e-02 -5.44327495e-04 9.99390860e-01 -9.52628644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19587156000003 meters 0.02398600890870582 Centerline is valid? [True, True] Translation: X:216.79, Y:-35.77, Z:-9.53 [[ 9.76392226e-01 2.13341135e-01 3.38198395e-02 2.16789095e+02] [-2.13231335e-01 9.76977635e-01 -6.86280871e-03 -3.57689404e+01] [-3.45053462e-02 -5.10656470e-04 9.99404383e-01 -9.52763168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22587156000003 meters 0.021115740350177443 Centerline is valid? [True, True] Translation: X:216.82, Y:-35.78, Z:-9.53 [[ 9.76819747e-01 2.11488934e-01 3.31000520e-02 2.16817281e+02] [-2.11382766e-01 9.77380294e-01 -6.71470264e-03 -3.57750358e+01] [-3.37714239e-02 -4.37726415e-04 9.99429487e-01 -9.53106747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25587156000003 meters 0.018106088972917347 Centerline is valid? [True, True] Translation: X:216.84, Y:-35.78, Z:-9.53 [[ 9.77122986e-01 2.10093932e-01 3.30334647e-02 2.16844524e+02] [-2.09987444e-01 9.77681128e-01 -6.69968890e-03 -3.57840010e+01] [-3.37037590e-02 -3.90192799e-04 9.99431791e-01 -9.53002356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28587156000003 meters 0.020633306246317786 Centerline is valid? [True, True] Translation: X:216.87, Y:-35.79, Z:-9.53 [[ 9.77438828e-01 2.08615831e-01 3.30571141e-02 2.16872847e+02] [-2.08508401e-01 9.77997607e-01 -6.70281278e-03 -3.57906120e+01] [-3.37280914e-02 -3.41096553e-04 9.99430988e-01 -9.52983841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31587156000003 meters 0.01591481997057145 Centerline is valid? [True, True] Translation: X:216.90, Y:-35.80, Z:-9.53 [[ 9.78143323e-01 2.05258395e-01 3.32359947e-02 2.16899451e+02] [-2.05147903e-01 9.78707791e-01 -6.73784232e-03 -3.57975803e+01] [-3.39113257e-02 -2.27719137e-04 9.99424820e-01 -9.53408794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34587156000003 meters 0.023341214404935216 Centerline is valid? [True, True] Translation: X:216.93, Y:-35.81, Z:-9.53 [[ 9.78480079e-01 2.03521275e-01 3.39974427e-02 2.16927276e+02] [-2.03404739e-01 9.79070508e-01 -6.88856077e-03 -3.58058233e+01] [-3.46878622e-02 -1.74921470e-04 9.99398180e-01 -9.53276665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37587156000004 meters 0.012589896428543365 Centerline is valid? [True, True] Translation: X:216.95, Y:-35.82, Z:-9.53 [[ 9.79340517e-01 1.99231778e-01 3.46244318e-02 2.16953421e+02] [-1.99108276e-01 9.79952396e-01 -7.01399290e-03 -3.58203871e+01] [-3.53277052e-02 -2.49234993e-05 9.99375781e-01 -9.53332162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40587156000004 meters 0.012608619100261051 Centerline is valid? [True, True] Translation: X:216.98, Y:-35.83, Z:-9.53 [[ 9.79737045e-01 1.97240683e-01 3.48056785e-02 2.16979937e+02] [-1.97114682e-01 9.80355094e-01 -7.04922114e-03 -3.58295674e+01] [-3.55123174e-02 4.56728517e-05 9.99369238e-01 -9.53372007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43587156000004 meters 0.013215893126566345 Centerline is valid? [True, True] Translation: X:217.01, Y:-35.84, Z:-9.54 [[ 9.80081066e-01 1.95530561e-01 3.47692913e-02 2.17007059e+02] [-1.95403841e-01 9.80697603e-01 -7.03918197e-03 -3.58379963e+01] [-3.54745358e-02 1.04915907e-04 9.99370575e-01 -9.53558524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46587156000004 meters 0.014328179894084015 Centerline is valid? [True, True] Translation: X:217.03, Y:-35.85, Z:-9.54 [[ 9.80646142e-01 1.92769026e-01 3.42526921e-02 2.17033999e+02] [-1.92644436e-01 9.81244140e-01 -6.93243430e-03 -3.58483469e+01] [-3.49466120e-02 1.99674418e-04 9.99389161e-01 -9.53756929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49587156000004 meters 0.015057632506326066 Centerline is valid? [True, True] Translation: X:217.06, Y:-35.86, Z:-9.54 [[ 9.80891797e-01 1.91580038e-01 3.38876352e-02 2.17061777e+02] [-1.91457437e-01 9.81476965e-01 -6.85693102e-03 -3.58570782e+01] [-3.45735844e-02 2.37867603e-04 9.99402127e-01 -9.53929083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52587156000004 meters 0.015722615477515967 Centerline is valid? [True, True] Translation: X:217.09, Y:-35.87, Z:-9.54 [[ 9.81203011e-01 1.89994016e-01 3.38071883e-02 2.17089474e+02] [-1.89871114e-01 9.81785205e-01 -6.83891962e-03 -3.58665758e+01] [-3.44907511e-02 2.91360007e-04 9.99404975e-01 -9.53946598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55587156000004 meters 0.016373559545456547 Centerline is valid? [True, True] Translation: X:217.12, Y:-35.87, Z:-9.54 [[ 9.81350979e-01 1.89226924e-01 3.38146026e-02 2.17116739e+02] [-1.89103548e-01 9.81933333e-01 -6.83942169e-03 -3.58741489e+01] [-3.44978882e-02 3.17411848e-04 9.99404720e-01 -9.54067504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58587156000004 meters 0.021147381198650735 Centerline is valid? [True, True] Translation: X:217.14, Y:-35.88, Z:-9.54 [[ 9.81387339e-01 1.88988323e-01 3.40925864e-02 2.17144886e+02] [-1.88862844e-01 9.81979281e-01 -6.89340231e-03 -3.58809703e+01] [-3.47809860e-02 3.26274934e-04 9.99394905e-01 -9.53933516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61587156000004 meters 0.016156398109440136 Centerline is valid? [True, True] Translation: X:217.17, Y:-35.89, Z:-9.54 [[ 9.81313133e-01 1.89425461e-01 3.38013260e-02 2.17171169e+02] [-1.89302430e-01 9.81895056e-01 -6.83296305e-03 -3.58906935e+01] [-3.44836921e-02 3.06603223e-04 9.99405214e-01 -9.54281429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64587156000002 meters 0.015371780678765962 Centerline is valid? [True, True] Translation: X:217.20, Y:-35.90, Z:-9.54 [[ 9.81161859e-01 1.90228829e-01 3.36808450e-02 2.17199178e+02] [-1.90107228e-01 9.81739740e-01 -6.80624681e-03 -3.58961140e+01] [-3.43605683e-02 2.75057717e-04 9.99409463e-01 -9.54403938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67587156000002 meters 0.024945946352262483 Centerline is valid? [True, True] Translation: X:217.23, Y:-35.90, Z:-9.54 [[ 9.80883546e-01 1.91633345e-01 3.38249891e-02 2.17226802e+02] [-1.91511569e-01 9.81466561e-01 -6.83436511e-03 -3.59009523e+01] [-3.45077879e-02 2.25839548e-04 9.99404403e-01 -9.54352922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70587156000002 meters 0.013259777973141304 Centerline is valid? [True, True] Translation: X:217.25, Y:-35.90, Z:-9.55 [[ 9.80242829e-01 1.94843354e-01 3.40597078e-02 2.17254777e+02] [-1.94721891e-01 9.80834367e-01 -6.87967320e-03 -3.59025058e+01] [-3.47473906e-02 1.11579595e-04 9.99396121e-01 -9.54629103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73587156000002 meters 0.023628870427706616 Centerline is valid? [True, True] Translation: X:217.28, Y:-35.91, Z:-9.54 [[ 9.79883752e-01 1.96677605e-01 3.38489495e-02 2.17284037e+02] [-1.96558814e-01 9.80468214e-01 -6.83482619e-03 -3.59056329e+01] [-3.45320763e-02 4.40257454e-05 9.99403589e-01 -9.54456251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76587156000002 meters 0.01298588141196901 Centerline is valid? [True, True] Translation: X:217.31, Y:-35.91, Z:-9.55 [[ 9.79313047e-01 1.99558441e-01 3.35019952e-02 2.17311771e+02] [-1.99443811e-01 9.79885925e-01 -6.76322350e-03 -3.59087954e+01] [-3.41777919e-02 -5.84525802e-05 9.99415767e-01 -9.54954757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79587156000002 meters 0.013186012319702088 Centerline is valid? [True, True] Translation: X:217.34, Y:-35.91, Z:-9.55 [[ 9.79096650e-01 2.00570822e-01 3.37800944e-02 2.17338908e+02] [-2.00454953e-01 9.79679201e-01 -6.81732702e-03 -3.59143526e+01] [-3.44610127e-02 -9.65651693e-05 9.99406038e-01 -9.55032145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82587156000002 meters 0.013030867991148151 Centerline is valid? [True, True] Translation: X:217.37, Y:-35.92, Z:-9.55 [[ 9.79001419e-01 2.00981452e-01 3.40980671e-02 2.17366155e+02] [-2.00863728e-01 9.79595040e-01 -6.87896574e-03 -3.59204668e+01] [-3.47848419e-02 -1.14547638e-04 9.99394818e-01 -9.55002017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85587156000003 meters 0.013294121683691507 Centerline is valid? [True, True] Translation: X:217.39, Y:-35.93, Z:-9.55 [[ 9.78941354e-01 2.01144822e-01 3.48509076e-02 2.17393691e+02] [-2.01022045e-01 9.79561506e-01 -7.02797225e-03 -3.59253227e+01] [-3.55522478e-02 -1.25828063e-04 9.99367811e-01 -9.55142993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88587156000003 meters 0.013143370229569167 Centerline is valid? [True, True] Translation: X:217.42, Y:-35.93, Z:-9.55 [[ 9.79025836e-01 2.00763024e-01 3.46788333e-02 2.17421080e+02] [-2.00641293e-01 9.79639829e-01 -6.99116751e-03 -3.59312620e+01] [-3.53763343e-02 -1.13472332e-04 9.99374055e-01 -9.55270820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91587156000003 meters 0.013096635786857418 Centerline is valid? [True, True] Translation: X:217.45, Y:-35.94, Z:-9.55 [[ 9.79131105e-01 2.00284520e-01 3.44730395e-02 2.17448605e+02] [-2.00164020e-01 9.79737772e-01 -6.94718623e-03 -3.59380065e+01] [-3.51659527e-02 -9.80560457e-05 9.99381482e-01 -9.55468396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94587156000003 meters 0.01301097003739033 Centerline is valid? [True, True] Translation: X:217.48, Y:-35.95, Z:-9.56 [[ 9.79405599e-01 1.99074284e-01 3.36764364e-02 2.17475840e+02] [-1.98958667e-01 9.79984401e-01 -6.78399087e-03 -3.59468985e+01] [-3.43529004e-02 -5.59402495e-05 9.99409763e-01 -9.55752478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97587156000003 meters 0.012950279528282871 Centerline is valid? [True, True] Translation: X:217.50, Y:-35.95, Z:-9.56 [[ 9.79533546e-01 1.98431256e-01 3.37501009e-02 2.17502491e+02] [-1.98314799e-01 9.80114807e-01 -6.79742269e-03 -3.59539137e+01] [-3.44277948e-02 -3.48409256e-05 9.99407187e-01 -9.55915740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00587156000003 meters 0.01283723966073519 Centerline is valid? [True, True] Translation: X:217.53, Y:-35.96, Z:-9.56 [[ 9.79667848e-01 1.97760564e-01 3.37885683e-02 2.17530222e+02] [-1.97643536e-01 9.80250355e-01 -6.80245974e-03 -3.59614006e+01] [-3.44665144e-02 -1.39410381e-05 9.99405853e-01 -9.55982684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03587156000003 meters 0.012864258446877726 Centerline is valid? [True, True] Translation: X:217.56, Y:-35.97, Z:-9.56 [[ 9.79790584e-01 1.97157830e-01 3.37520523e-02 2.17556846e+02] [-1.97040750e-01 9.80371761e-01 -6.79361285e-03 -3.59694025e+01] [-3.44289729e-02 5.78822382e-06 9.99407147e-01 -9.56121777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06587156000003 meters 0.02367408517114646 Centerline is valid? [True, True] Translation: X:217.59, Y:-35.98, Z:-9.56 [[ 9.79784988e-01 1.97211687e-01 3.35995071e-02 2.17585553e+02] [-1.97095776e-01 9.80360929e-01 -6.76052084e-03 -3.59757426e+01] [-3.42728977e-02 1.53591138e-06 9.99412512e-01 -9.56030649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09587156000003 meters 0.012964636988322188 Centerline is valid? [True, True] Translation: X:217.61, Y:-35.98, Z:-9.56 [[ 9.79825544e-01 1.97038405e-01 3.34330865e-02 2.17613058e+02] [-1.96923594e-01 9.80395771e-01 -6.72541711e-03 -3.59823494e+01] [-3.41028221e-02 5.97192318e-06 9.99418330e-01 -9.56335976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12587156000004 meters 0.01288044316486769 Centerline is valid? [True, True] Translation: X:217.64, Y:-35.99, Z:-9.56 [[ 9.79698801e-01 1.97606638e-01 3.37916693e-02 2.17640566e+02] [-1.97489742e-01 9.80281397e-01 -6.79597992e-03 -3.59875134e+01] [-3.44682755e-02 -1.54946681e-05 9.99405792e-01 -9.56356135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15587156000004 meters 0.01273967936740991 Centerline is valid? [True, True] Translation: X:217.67, Y:-35.99, Z:-9.56 [[ 9.79565225e-01 1.98208043e-01 3.41400418e-02 2.17668649e+02] [-1.98089167e-01 9.80159972e-01 -6.86378567e-03 -3.59922650e+01] [-3.48231599e-02 -3.92466899e-05 9.99393489e-01 -9.56376175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18587156000004 meters 0.012946671600285637 Centerline is valid? [True, True] Translation: X:217.70, Y:-36.00, Z:-9.57 [[ 9.79431060e-01 1.98811573e-01 3.44783539e-02 2.17696192e+02] [-1.98690758e-01 9.80037731e-01 -6.93023381e-03 -3.59970830e+01] [-3.51678985e-02 -6.28440266e-05 9.99381416e-01 -9.56546379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21587156000004 meters 0.013027031276166905 Centerline is valid? [True, True] Translation: X:217.72, Y:-36.00, Z:-9.56 [[ 9.79045917e-01 2.00540230e-01 3.53936304e-02 2.17724858e+02] [-2.00414135e-01 9.79685459e-01 -7.11163278e-03 -3.60022713e+01] [-3.61007935e-02 -1.30768784e-04 9.99348145e-01 -9.56420560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24587156000004 meters 0.01415146540005074 Centerline is valid? [True, True] Translation: X:217.75, Y:-36.01, Z:-9.57 [[ 9.78776343e-01 2.01782465e-01 3.57869768e-02 2.17752566e+02] [-2.01654442e-01 9.79430347e-01 -7.18899235e-03 -3.60055069e+01] [-3.65014637e-02 -1.80187190e-04 9.99333583e-01 -9.56603170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27587156000004 meters 0.014982610080065555 Centerline is valid? [True, True] Translation: X:217.78, Y:-36.01, Z:-9.56 [[ 9.78235578e-01 2.04371848e-01 3.58789973e-02 2.17781436e+02] [-2.04244989e-01 9.78893288e-01 -7.20520797e-03 -3.60076038e+01] [-3.65942513e-02 -2.79714610e-04 9.99330167e-01 -9.56496455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30587156000004 meters 0.016156744459878924 Centerline is valid? [True, True] Translation: X:217.81, Y:-36.01, Z:-9.57 [[ 9.78018094e-01 2.05407480e-01 3.58939303e-02 2.17809216e+02] [-2.05281274e-01 9.78676486e-01 -7.20651954e-03 -3.60105376e+01] [-3.66088186e-02 -3.20245228e-04 9.99329621e-01 -9.56723343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33587156000004 meters 0.017574330166302 Centerline is valid? [True, True] Translation: X:217.84, Y:-36.01, Z:-9.57 [[ 9.77722913e-01 2.06911540e-01 3.52919377e-02 2.17837687e+02] [-2.06790594e-01 9.78359584e-01 -7.08339593e-03 -3.60131785e+01] [-3.59938418e-02 -3.72442254e-04 9.99351942e-01 -9.56952081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36587156000004 meters 0.018080106721924102 Centerline is valid? [True, True] Translation: X:217.87, Y:-36.02, Z:-9.57 [[ 9.77615559e-01 2.07425721e-01 3.52475436e-02 2.17866241e+02] [-2.07305475e-01 9.78250692e-01 -7.07277173e-03 -3.60173078e+01] [-3.59480087e-02 -3.92557068e-04 9.99353584e-01 -9.57056233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39587156000002 meters 0.019005573884799714 Centerline is valid? [True, True] Translation: X:217.89, Y:-36.02, Z:-9.57 [[ 9.77506643e-01 2.07937212e-01 3.52544725e-02 2.17893555e+02] [-2.07817309e-01 9.78142088e-01 -7.07255676e-03 -3.60208834e+01] [-3.59545311e-02 -4.13018383e-04 9.99353341e-01 -9.57196709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42587156000002 meters 0.0188916491813016 Centerline is valid? [True, True] Translation: X:217.92, Y:-36.03, Z:-9.57 [[ 9.77386396e-01 2.08595084e-01 3.46976032e-02 2.17921802e+02] [-2.08479430e-01 9.78001996e-01 -6.95869168e-03 -3.60272825e+01] [-3.53858740e-02 -4.32405943e-04 9.99373630e-01 -9.57358227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45587156000002 meters 0.01984878032436688 Centerline is valid? [True, True] Translation: X:217.95, Y:-36.03, Z:-9.58 [[ 9.77293582e-01 2.09052850e-01 3.45566284e-02 2.17949217e+02] [-2.08938476e-01 9.77904241e-01 -6.92883250e-03 -3.60315159e+01] [-3.52415656e-02 -4.48705730e-04 9.99378722e-01 -9.57567782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48587156000002 meters 0.020183505400608093 Centerline is valid? [True, True] Translation: X:217.98, Y:-36.03, Z:-9.58 [[ 9.77049915e-01 2.10225015e-01 3.43352081e-02 2.17977898e+02] [-2.10112903e-01 9.77652905e-01 -6.88222212e-03 -3.60348541e+01] [-3.50147312e-02 -4.89995721e-04 9.99386676e-01 -9.57532638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51587156000002 meters 0.021686546429511892 Centerline is valid? [True, True] Translation: X:218.01, Y:-36.04, Z:-9.58 [[ 9.76938400e-01 2.10681163e-01 3.47103771e-02 2.18005930e+02] [-2.10566933e-01 9.77554696e-01 -6.95577129e-03 -3.60366511e+01] [-3.53967421e-02 -5.13497565e-04 9.99373207e-01 -9.57752336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54587156000002 meters 0.021047579955626124 Centerline is valid? [True, True] Translation: X:218.03, Y:-36.04, Z:-9.58 [[ 9.76813065e-01 2.11257631e-01 3.47339895e-02 2.18034337e+02] [-2.11143691e-01 9.77430266e-01 -6.95821686e-03 -3.60419213e+01] [-3.54200290e-02 -5.36985601e-04 9.99372370e-01 -9.57670165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57587156000002 meters 0.022604158770799517 Centerline is valid? [True, True] Translation: X:218.06, Y:-36.04, Z:-9.58 [[ 9.76690061e-01 2.11766530e-01 3.50921938e-02 2.18062549e+02] [-2.11650606e-01 9.77320122e-01 -7.02855042e-03 -3.60427199e+01] [-3.57847189e-02 -5.62568756e-04 9.99359363e-01 -9.57841388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60587156000003 meters 0.021756654596447808 Centerline is valid? [True, True] Translation: X:218.09, Y:-36.05, Z:-9.58 [[ 9.76667523e-01 2.11871336e-01 3.50868545e-02 2.18091385e+02] [-2.11755641e-01 9.77297402e-01 -7.02395748e-03 -3.60480906e+01] [-3.57784670e-02 -5.69768221e-04 9.99359583e-01 -9.57882695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63587156000003 meters 0.021756654596447808 Centerline is valid? [True, True] Translation: X:218.12, Y:-36.05, Z:-9.58 [[ 9.76682756e-01 2.11801052e-01 3.50871500e-02 2.18118344e+02] [-2.11685365e-01 9.77312637e-01 -7.02248128e-03 -3.60533499e+01] [-3.57784840e-02 -5.68699784e-04 9.99359583e-01 -9.58006529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66587156000003 meters 0.022399795993174227 Centerline is valid? [True, True] Translation: X:218.15, Y:-36.05, Z:-9.58 [[ 9.76680376e-01 2.11775186e-01 3.53088173e-02 2.18145561e+02] [-2.11658108e-01 9.77318239e-01 -7.06428953e-03 -3.60537199e+01] [-3.60039924e-02 -5.73844505e-04 9.99351481e-01 -9.58107649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69587156000003 meters 0.022514969261579754 Centerline is valid? [True, True] Translation: X:218.17, Y:-36.06, Z:-9.58 [[ 9.76769466e-01 2.11346325e-01 3.54138663e-02 2.18172812e+02] [-2.11228386e-01 9.77411077e-01 -7.08199353e-03 -3.60568332e+01] [-3.61106585e-02 -5.62938798e-04 9.99347639e-01 -9.58266118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72587156000003 meters 0.021828596244403975 Centerline is valid? [True, True] Translation: X:218.20, Y:-36.06, Z:-9.58 [[ 9.76896173e-01 2.10745055e-01 3.55019505e-02 2.18201240e+02] [-2.10626215e-01 9.77540907e-01 -7.09732443e-03 -3.60615185e+01] [-3.62003349e-02 -5.44292395e-04 9.99344405e-01 -9.58378192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75587156000003 meters 0.02069561724928618 Centerline is valid? [True, True] Translation: X:218.23, Y:-36.07, Z:-9.59 [[ 9.77138602e-01 2.09666030e-01 3.52180090e-02 2.18229654e+02] [-2.09548443e-01 9.77772931e-01 -7.03887598e-03 -3.60673355e+01] [-3.59110291e-02 -5.01921535e-04 9.99354865e-01 -9.58517440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78587156000003 meters 0.01825754252197341 Centerline is valid? [True, True] Translation: X:218.26, Y:-36.07, Z:-9.59 [[ 9.77746009e-01 2.06915089e-01 3.46249741e-02 2.18257388e+02] [-2.06799764e-01 9.78358824e-01 -6.91869307e-03 -3.60742885e+01] [-3.53072310e-02 -3.95711934e-04 9.99376427e-01 -9.58728972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81587156000003 meters 0.01719482865349971 Centerline is valid? [True, True] Translation: X:218.28, Y:-36.08, Z:-9.59 [[ 9.78083764e-01 2.05369665e-01 3.42848476e-02 2.18284622e+02] [-2.05255700e-01 9.78684416e-01 -6.84919146e-03 -3.60806130e+01] [-3.49606623e-02 -3.38077420e-04 9.99388632e-01 -9.58942929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84587156000003 meters 0.014131384884901406 Centerline is valid? [True, True] Translation: X:218.31, Y:-36.09, Z:-9.59 [[ 9.78847882e-01 2.01697077e-01 3.42799303e-02 2.18312604e+02] [-2.01580968e-01 9.79447929e-01 -6.84602719e-03 -3.60886919e+01] [-3.49562304e-02 -2.08962326e-04 9.99388822e-01 -9.58919368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87587156000004 meters 0.013561885770280164 Centerline is valid? [True, True] Translation: X:218.34, Y:-36.09, Z:-9.59 [[ 9.79246267e-01 1.99726579e-01 3.44389733e-02 2.18340074e+02] [-1.99608227e-01 9.79851659e-01 -6.87617042e-03 -3.60948973e+01] [-3.51184391e-02 -1.40838201e-04 9.99383147e-01 -9.59147209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90587156000004 meters 0.023617611448039758 Centerline is valid? [True, True] Translation: X:218.37, Y:-36.10, Z:-9.59 [[ 9.79619505e-01 1.97900332e-01 3.43668906e-02 2.18368254e+02] [-1.97781432e-01 9.80222145e-01 -6.85949935e-03 -3.61019856e+01] [-3.50446844e-02 -7.74334657e-05 9.99385743e-01 -9.59030613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93587156000004 meters 0.012449984483504394 Centerline is valid? [True, True] Translation: X:218.40, Y:-36.11, Z:-9.59 [[ 9.80531842e-01 1.93102986e-01 3.56166362e-02 2.18395286e+02] [-1.92972175e-01 9.81178489e-01 -7.10716551e-03 -3.61119545e+01] [-3.63186922e-02 9.57823196e-05 9.99340254e-01 -9.59135045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96587156000004 meters 0.023984142628993812 Centerline is valid? [True, True] Translation: X:218.42, Y:-36.12, Z:-9.59 [[ 9.80933505e-01 1.91052926e-01 3.56123339e-02 2.18423453e+02] [-1.90920859e-01 9.81579722e-01 -7.10456066e-03 -3.61202672e+01] [-3.63136919e-02 1.69964196e-04 9.99340426e-01 -9.59077412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99587156000004 meters 0.0211033203492601 Centerline is valid? [True, True] Translation: X:218.45, Y:-36.13, Z:-9.59 [[ 9.81742356e-01 1.86999121e-01 3.48320923e-02 2.18449406e+02] [-1.86870282e-01 9.82360032e-01 -6.94735332e-03 -3.61308457e+01] [-3.55168043e-02 3.11428092e-04 9.99369031e-01 -9.59366187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02587156000004 meters 0.022121043267020676 Centerline is valid? [True, True] Translation: X:218.48, Y:-36.14, Z:-9.60 [[ 9.82015697e-01 1.85637867e-01 3.44057069e-02 2.18477287e+02] [-1.85511406e-01 9.82618164e-01 -6.86013110e-03 -3.61379924e+01] [-3.50811726e-02 3.54105372e-04 9.99384403e-01 -9.59523456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05587156000004 meters 0.01783058195552397 Centerline is valid? [True, True] Translation: X:218.51, Y:-36.14, Z:-9.60 [[ 9.82237379e-01 1.84439419e-01 3.45229123e-02 2.18505202e+02] [-1.84311413e-01 9.82843804e-01 -6.88181771e-03 -3.61440444e+01] [-3.51999089e-02 3.96611842e-04 9.99380212e-01 -9.59787166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08587156000004 meters 0.019458881682755638 Centerline is valid? [True, True] Translation: X:218.53, Y:-36.15, Z:-9.60 [[ 9.82320689e-01 1.83890210e-01 3.50778512e-02 2.18532597e+02] [-1.83757761e-01 9.82946699e-01 -6.99086350e-03 -3.61512985e+01] [-3.57652094e-02 4.21442446e-04 9.99360131e-01 -9.59880307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11587156000004 meters 0.019188716247016534 Centerline is valid? [True, True] Translation: X:218.56, Y:-36.16, Z:-9.60 [[ 9.82294779e-01 1.83972117e-01 3.53726856e-02 2.18560956e+02] [-1.83837574e-01 9.82931373e-01 -7.04714460e-03 -3.61567666e+01] [-3.60654005e-02 4.19544630e-04 9.99349344e-01 -9.59919424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14587156000002 meters 0.01793141315224545 Centerline is valid? [True, True] Translation: X:218.59, Y:-36.16, Z:-9.60 [[ 9.82255185e-01 1.84154499e-01 3.55228529e-02 2.18590002e+02] [-1.84018988e-01 9.82897223e-01 -7.07545508e-03 -3.61606768e+01] [-3.62182904e-02 4.13023003e-04 9.99343817e-01 -9.59886700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17587156000002 meters 0.01545974322836274 Centerline is valid? [True, True] Translation: X:218.62, Y:-36.16, Z:-9.60 [[ 9.81814514e-01 1.86376948e-01 3.61094495e-02 2.18619615e+02] [-1.86238496e-01 9.82478255e-01 -7.19036603e-03 -3.61621167e+01] [-3.68168674e-02 3.34636150e-04 9.99321973e-01 -9.59791187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20587156000002 meters 0.01428431415259159 Centerline is valid? [True, True] Translation: X:218.65, Y:-36.17, Z:-9.60 [[ 9.81570278e-01 1.87619914e-01 3.63119554e-02 2.18647955e+02] [-1.87480780e-01 9.82241663e-01 -7.22999257e-03 -3.61656193e+01] [-3.70236060e-02 2.88952095e-04 9.99314349e-01 -9.59830025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23587156000002 meters 0.013289389539704901 Centerline is valid? [True, True] Translation: X:218.68, Y:-36.17, Z:-9.60 [[ 9.81020722e-01 1.90527628e-01 3.60217286e-02 2.18676162e+02] [-1.90392735e-01 9.81681818e-01 -7.17039705e-03 -3.61682129e+01] [-3.67280348e-02 1.76032661e-04 9.99325283e-01 -9.60172195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26587156000002 meters 0.012899296109851093 Centerline is valid? [True, True] Translation: X:218.70, Y:-36.17, Z:-9.60 [[ 9.80792412e-01 1.91768666e-01 3.56514008e-02 2.18703395e+02] [-1.91637408e-01 9.81440147e-01 -7.09517539e-03 -3.61713088e+01] [-3.63503483e-02 1.26752164e-04 9.99339100e-01 -9.60396178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29587156000002 meters 0.01279350876403622 Centerline is valid? [True, True] Translation: X:218.73, Y:-36.17, Z:-9.61 [[ 9.80557799e-01 1.93009058e-01 3.54105411e-02 2.18731291e+02] [-1.92880484e-01 9.81196972e-01 -7.04425478e-03 -3.61745566e+01] [-3.61043206e-02 7.72966811e-05 9.99348023e-01 -9.60694034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32587156000002 meters 0.0127278890631819 Centerline is valid? [True, True] Translation: X:218.76, Y:-36.18, Z:-9.61 [[ 9.80108898e-01 1.95356653e-01 3.49617690e-02 2.18759583e+02] [-1.95232898e-01 9.80732266e-01 -6.95251800e-03 -3.61754593e+01] [-3.56463555e-02 -1.14627185e-05 9.99364467e-01 -9.60937251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35587156000003 meters 0.014798359890727347 Centerline is valid? [True, True] Translation: X:218.79, Y:-36.18, Z:-9.61 [[ 9.79861356e-01 1.96623669e-01 3.47973584e-02 2.18788291e+02] [-1.96501944e-01 9.80479031e-01 -6.91785012e-03 -3.61790009e+01] [-3.54782933e-02 -5.92145842e-05 9.99370445e-01 -9.60758080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38587156000003 meters 0.020931250968199165 Centerline is valid? [True, True] Translation: X:218.82, Y:-36.18, Z:-9.61 [[ 9.79581635e-01 1.98073838e-01 3.44466871e-02 2.18816957e+02] [-1.97955508e-01 9.80187095e-01 -6.84651308e-03 -3.61822288e+01] [-3.51203133e-02 -1.12192966e-04 9.99383085e-01 -9.60791024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41587156000003 meters 0.023426607147654342 Centerline is valid? [True, True] Translation: X:218.85, Y:-36.18, Z:-9.61 [[ 9.79017478e-01 2.00879336e-01 3.42384304e-02 2.18845203e+02] [-2.00764192e-01 9.79615969e-01 -6.80384491e-03 -3.61819884e+01] [-3.49072650e-02 -2.12767728e-04 9.99390533e-01 -9.61164745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44587156000003 meters 0.026059484170757756 Centerline is valid? [True, True] Translation: X:218.87, Y:-36.18, Z:-9.62 [[ 9.78745747e-01 2.02254151e-01 3.39119553e-02 2.18872741e+02] [-2.02142130e-01 9.79333033e-01 -6.73571119e-03 -3.61838979e+01] [-3.45734236e-02 -2.62486208e-04 9.99402126e-01 -9.61516866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47587156000003 meters 0.016888182221624626 Centerline is valid? [True, True] Translation: X:218.90, Y:-36.19, Z:-9.61 [[ 9.78248069e-01 2.04599802e-01 3.41999390e-02 2.18901207e+02] [-2.04487374e-01 9.78845646e-01 -6.79085824e-03 -3.61871403e+01] [-3.48658696e-02 -3.50311752e-04 9.99391939e-01 -9.61374970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50587156000003 meters 0.017997017886513603 Centerline is valid? [True, True] Translation: X:218.93, Y:-36.19, Z:-9.62 [[ 9.77998792e-01 2.05762268e-01 3.43547956e-02 2.18930527e+02] [-2.05649595e-01 9.78601928e-01 -6.81990054e-03 -3.61891892e+01] [-3.50229474e-02 -3.95195321e-04 9.99386430e-01 -9.61507228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53587156000003 meters 0.020584582011134216 Centerline is valid? [True, True] Translation: X:218.96, Y:-36.19, Z:-9.62 [[ 9.77766243e-01 2.06845581e-01 3.44685407e-02 2.18958508e+02] [-2.06732889e-01 9.78373505e-01 -6.84089310e-03 -3.61889075e+01] [-3.51381155e-02 -4.36986654e-04 9.99382370e-01 -9.61776674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56587156000003 meters 0.023753955284029557 Centerline is valid? [True, True] Translation: X:218.99, Y:-36.19, Z:-9.62 [[ 9.77625479e-01 2.07439796e-01 3.48877256e-02 2.18986938e+02] [-2.07324803e-01 9.78247675e-01 -6.92188252e-03 -3.61885670e+01] [-3.55647104e-02 -4.66082115e-04 9.99367267e-01 -9.62105887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59587156000003 meters 0.019680559616890744 Centerline is valid? [True, True] Translation: X:219.01, Y:-36.20, Z:-9.62 [[ 9.77667836e-01 2.07210171e-01 3.50648992e-02 2.19013938e+02] [-2.07093934e-01 9.78296341e-01 -6.95492336e-03 -3.61995343e+01] [-3.57449934e-02 -4.62123050e-04 9.99360837e-01 -9.61822968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62587156000004 meters 0.019281748753022847 Centerline is valid? [True, True] Translation: X:219.04, Y:-36.21, Z:-9.62 [[ 9.77778637e-01 2.06710874e-01 3.49220672e-02 2.19042468e+02] [-2.06595325e-01 9.78401971e-01 -6.92489459e-03 -3.62055407e+01] [-3.55992704e-02 -4.43721827e-04 9.99366047e-01 -9.61953806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65587156000004 meters 0.017112428751339087 Centerline is valid? [True, True] Translation: X:219.07, Y:-36.21, Z:-9.62 [[ 9.78185788e-01 2.04763122e-01 3.49946863e-02 2.19070797e+02] [-2.04645906e-01 9.78811485e-01 -6.93758473e-03 -3.62127362e+01] [-3.56737624e-02 -3.75272491e-04 9.99363418e-01 -9.61949845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68587156000004 meters 0.016781113424678838 Centerline is valid? [True, True] Translation: X:219.10, Y:-36.22, Z:-9.62 [[ 9.78332060e-01 2.03990643e-01 3.54146712e-02 2.19097860e+02] [-2.03870150e-01 9.78972775e-01 -7.01916388e-03 -3.62177121e+01] [-3.61018427e-02 -3.52921289e-04 9.99348054e-01 -9.62054608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71587156000004 meters 0.015789936897752335 Centerline is valid? [True, True] Translation: X:219.13, Y:-36.22, Z:-9.62 [[ 9.78612203e-01 2.02654305e-01 3.53466919e-02 2.19125793e+02] [-2.02533486e-01 9.79250295e-01 -7.00340023e-03 -3.62229361e+01] [-3.60325276e-02 -3.05275784e-04 9.99350571e-01 -9.62154571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74587156000004 meters 0.015190072130729433 Centerline is valid? [True, True] Translation: X:219.15, Y:-36.23, Z:-9.62 [[ 9.78827684e-01 2.01607429e-01 3.53668000e-02 2.19152785e+02] [-2.01485838e-01 9.79466371e-01 -7.00602861e-03 -3.62282301e+01] [-3.60530587e-02 -2.68214563e-04 9.99349841e-01 -9.62346221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77587156000004 meters 0.013913925274364088 Centerline is valid? [True, True] Translation: X:219.18, Y:-36.24, Z:-9.62 [[ 9.79121596e-01 2.00229073e-01 3.50602047e-02 2.19180602e+02] [-2.00108824e-01 9.79749085e-01 -6.94176225e-03 -3.62357701e+01] [-3.57401462e-02 -2.19027008e-04 9.99361093e-01 -9.62449466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80587156000004 meters 0.013265222036624032 Centerline is valid? [True, True] Translation: X:219.21, Y:-36.24, Z:-9.63 [[ 9.79489195e-01 1.98477151e-01 3.47525207e-02 2.19207040e+02] [-1.98357959e-01 9.80105503e-01 -6.87922605e-03 -3.62430644e+01] [-3.54265060e-02 -1.55311472e-04 9.99372272e-01 -9.62690601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83587156000004 meters 0.020089526162981892 Centerline is valid? [True, True] Translation: X:219.23, Y:-36.25, Z:-9.63 [[ 9.80182307e-01 1.95085630e-01 3.44128307e-02 2.19233183e+02] [-1.94966742e-01 9.80786213e-01 -6.80983940e-03 -3.62526424e+01] [-3.50801317e-02 -3.44733835e-05 9.99384502e-01 -9.62672702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86587156000004 meters 0.012546439572857617 Centerline is valid? [True, True] Translation: X:219.26, Y:-36.26, Z:-9.63 [[ 9.80895517e-01 1.91360005e-01 3.50047713e-02 2.19258947e+02] [-1.91234688e-01 9.81519913e-01 -6.92498484e-03 -3.62631205e+01] [-3.56830452e-02 9.85600710e-05 9.99363152e-01 -9.62949377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89587156000002 meters 0.01301256989752436 Centerline is valid? [True, True] Translation: X:219.29, Y:-36.27, Z:-9.63 [[ 9.81283992e-01 1.89350056e-01 3.50468860e-02 2.19286740e+02] [-1.89223273e-01 9.81909633e-01 -6.93002386e-03 -3.62710244e+01] [-3.57250754e-02 1.68635014e-04 9.99361642e-01 -9.62974125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92587156000002 meters 0.013895837360066877 Centerline is valid? [True, True] Translation: X:219.31, Y:-36.28, Z:-9.63 [[ 9.81588741e-01 1.87767400e-01 3.50277901e-02 2.19313061e+02] [-1.87639806e-01 9.82213497e-01 -6.92460777e-03 -3.62788928e+01] [-3.57049838e-02 2.24509298e-04 9.99362349e-01 -9.63124107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95587156000002 meters 0.020704841192623925 Centerline is valid? [True, True] Translation: X:219.34, Y:-36.29, Z:-9.63 [[ 9.82073082e-01 1.85330878e-01 3.44227657e-02 2.19340271e+02] [-1.85206236e-01 9.82676128e-01 -6.80279306e-03 -3.62895295e+01] [-3.50871977e-02 3.05529085e-04 9.99384208e-01 -9.63167902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98587156000002 meters 0.016249034152870934 Centerline is valid? [True, True] Translation: X:219.37, Y:-36.30, Z:-9.64 [[ 9.82260493e-01 1.84391326e-01 3.41198256e-02 2.19366896e+02] [-1.84268356e-01 9.82852851e-01 -6.74136939e-03 -3.62981034e+01] [-3.47778179e-02 3.34576674e-04 9.99395013e-01 -9.63616358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01587156000002 meters 0.016180450964815966 Centerline is valid? [True, True] Translation: X:219.40, Y:-36.30, Z:-9.64 [[ 9.82361946e-01 1.83919214e-01 3.37450859e-02 2.19395357e+02] [-1.83798727e-01 9.82941302e-01 -6.66514616e-03 -3.63048324e+01] [-3.43952871e-02 3.45282106e-04 9.99408247e-01 -9.63689968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04587156000002 meters 0.01647974596302552 Centerline is valid? [True, True] Translation: X:219.42, Y:-36.31, Z:-9.64 [[ 9.82219701e-01 1.84604484e-01 3.41415123e-02 2.19422086e+02] [-1.84481618e-01 9.82812841e-01 -6.74184697e-03 -3.63112238e+01] [-3.47992919e-02 3.23493479e-04 9.99394269e-01 -9.63877539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07587156000002 meters 0.014785883898343424 Centerline is valid? [True, True] Translation: X:219.45, Y:-36.31, Z:-9.64 [[ 9.82096035e-01 1.85249887e-01 3.42031918e-02 2.19450927e+02] [-1.85127046e-01 9.82691401e-01 -6.75180096e-03 -3.63141236e+01] [-3.48619529e-02 2.98981073e-04 9.99392093e-01 -9.63801589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10587156000003 meters 0.014254144575274082 Centerline is valid? [True, True] Translation: X:219.48, Y:-36.32, Z:-9.64 [[ 9.81681983e-01 1.87444353e-01 3.41335523e-02 2.19478114e+02] [-1.87323393e-01 9.82275199e-01 -6.73645427e-03 -3.63190283e+01] [-3.47912522e-02 2.19042936e-04 9.99394577e-01 -9.64143191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13587156000003 meters 0.014129691714303947 Centerline is valid? [True, True] Translation: X:219.51, Y:-36.32, Z:-9.65 [[ 9.81475186e-01 1.88580544e-01 3.38206664e-02 2.19505015e+02] [-1.88462540e-01 9.82057711e-01 -6.67256057e-03 -3.63237624e+01] [-3.44721614e-02 1.75023920e-04 9.99405643e-01 -9.64502509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16587156000003 meters 0.026814811525049158 Centerline is valid? [True, True] Translation: X:219.53, Y:-36.33, Z:-9.64 [[ 9.81254691e-01 1.89820707e-01 3.32765894e-02 2.19532443e+02] [-1.89707246e-01 9.81818763e-01 -6.56338164e-03 -3.63274123e+01] [-3.39174456e-02 1.27538902e-04 9.99424630e-01 -9.64491666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19587156000003 meters 0.01889290765832666 Centerline is valid? [True, True] Translation: X:219.56, Y:-36.33, Z:-9.65 [[ 9.80854615e-01 1.91951089e-01 3.28481788e-02 2.19560682e+02] [-1.91841800e-01 9.81404492e-01 -6.47666261e-03 -3.63296142e+01] [-3.34805526e-02 5.10106747e-05 9.99439368e-01 -9.64698037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22587156000003 meters 0.012656928020079651 Centerline is valid? [True, True] Translation: X:219.59, Y:-36.33, Z:-9.65 [[ 9.80709236e-01 1.92658128e-01 3.30490465e-02 2.19588959e+02] [-1.92547989e-01 9.81265940e-01 -6.51358516e-03 -3.63333501e+01] [-3.36847988e-02 2.44056864e-05 9.99432506e-01 -9.64929774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25587156000003 meters 0.012768041025471412 Centerline is valid? [True, True] Translation: X:219.62, Y:-36.34, Z:-9.65 [[ 9.80443410e-01 1.94026048e-01 3.29334416e-02 2.19615910e+02] [-1.93917490e-01 9.80996377e-01 -6.48961021e-03 -3.63368598e+01] [-3.35667403e-02 -2.36747599e-05 9.99436478e-01 -9.65110191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28587156000003 meters 0.02077820144885166 Centerline is valid? [True, True] Translation: X:219.64, Y:-36.34, Z:-9.65 [[ 9.80295107e-01 1.94783715e-01 3.28756378e-02 2.19643833e+02] [-1.94676061e-01 9.80846217e-01 -6.47532931e-03 -3.63415062e+01] [-3.35072337e-02 -5.23660221e-05 9.99438474e-01 -9.64979412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31587156000003 meters 0.012878094602817206 Centerline is valid? [True, True] Translation: X:219.67, Y:-36.35, Z:-9.65 [[ 9.80155871e-01 1.95398450e-01 3.33753613e-02 2.19671145e+02] [-1.95287947e-01 9.80723937e-01 -6.57097394e-03 -3.63457382e+01] [-3.40159739e-02 -7.72271161e-05 9.99421286e-01 -9.65261714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34587156000003 meters 0.012936543103535151 Centerline is valid? [True, True] Translation: X:219.70, Y:-36.35, Z:-9.65 [[ 9.79948543e-01 1.96439593e-01 3.33517447e-02 2.19699621e+02] [-1.96329905e-01 9.80515922e-01 -6.56471455e-03 -3.63505987e+01] [-3.39914866e-02 -1.14862399e-04 9.99422116e-01 -9.65304254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37587156000004 meters 0.013899565634990552 Centerline is valid? [True, True] Translation: X:219.73, Y:-36.35, Z:-9.66 [[ 9.79850459e-01 1.96909790e-01 3.34606011e-02 2.19725804e+02] [-1.96799694e-01 9.80421602e-01 -6.58506730e-03 -3.63543409e+01] [-3.41021603e-02 -1.32654850e-04 9.99418343e-01 -9.65697998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40587156000004 meters 0.013683689379831148 Centerline is valid? [True, True] Translation: X:219.75, Y:-36.36, Z:-9.66 [[ 9.79683541e-01 1.97674967e-01 3.38343896e-02 2.19753677e+02] [-1.97562997e-01 9.80267606e-01 -6.65450573e-03 -3.63583311e+01] [-3.44821853e-02 -1.65113661e-04 9.99405299e-01 -9.65554800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43587156000004 meters 0.013588866063606613 Centerline is valid? [True, True] Translation: X:219.78, Y:-36.36, Z:-9.66 [[ 9.79661970e-01 1.97782670e-01 3.38295807e-02 2.19781663e+02] [-1.97670881e-01 9.80245880e-01 -6.65107639e-03 -3.63632900e+01] [-3.44767748e-02 -1.71316427e-04 9.99405485e-01 -9.65647158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46587156000004 meters 0.03233107372215931 Centerline is valid? [True, True] Translation: X:219.81, Y:-36.37, Z:-9.66 [[ 9.79675075e-01 1.97740832e-01 3.36943671e-02 2.19809288e+02] [-1.97629996e-01 9.80254321e-01 -6.62197295e-03 -3.63694538e+01] [-3.43384834e-02 -1.71635788e-04 9.99410246e-01 -9.65565546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49587156000004 meters 0.01318439656865325 Centerline is valid? [True, True] Translation: X:219.84, Y:-36.38, Z:-9.66 [[ 9.79767499e-01 1.97145109e-01 3.44884470e-02 2.19837046e+02] [-1.97028719e-01 9.80374307e-01 -6.77516007e-03 -3.63768562e+01] [-3.51472770e-02 -1.57132872e-04 9.99382131e-01 -9.65869573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52587156000004 meters 0.01318439656865325 Centerline is valid? [True, True] Translation: X:219.86, Y:-36.38, Z:-9.66 [[ 9.79781572e-01 1.97075113e-01 3.44887237e-02 2.19864019e+02] [-1.96958728e-01 9.80388380e-01 -6.77375105e-03 -3.63820175e+01] [-3.51472817e-02 -1.56058711e-04 9.99382131e-01 -9.65993391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55587156000004 meters 0.01260739555932374 Centerline is valid? [True, True] Translation: X:219.89, Y:-36.39, Z:-9.66 [[ 9.79978007e-01 1.95985786e-01 3.51095036e-02 2.19891263e+02] [-1.95864577e-01 9.80606729e-01 -6.89278704e-03 -3.63906864e+01] [-3.57795038e-02 -1.21928370e-04 9.99359701e-01 -9.65994373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58587156000004 meters 0.012566000775707683 Centerline is valid? [True, True] Translation: X:219.92, Y:-36.40, Z:-9.66 [[ 9.80111433e-01 1.95377145e-01 3.47757122e-02 2.19917492e+02] [-1.95257896e-01 9.80728179e-01 -6.82589929e-03 -3.63971330e+01] [-3.54391457e-02 -1.00090465e-04 9.99371831e-01 -9.66176080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61587156000004 meters 0.012224354038429149 Centerline is valid? [True, True] Translation: X:219.94, Y:-36.41, Z:-9.66 [[ 9.80284239e-01 1.94529079e-01 3.46590214e-02 2.19944097e+02] [-1.94410208e-01 9.80896749e-01 -6.79991701e-03 -3.64055958e+01] [-3.53197030e-02 -7.22160691e-05 9.99376062e-01 -9.66302209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64587156000002 meters 0.020421774361435448 Centerline is valid? [True, True] Translation: X:219.97, Y:-36.41, Z:-9.66 [[ 9.80309464e-01 1.94451442e-01 3.43801116e-02 2.19972458e+02] [-1.94334527e-01 9.80912143e-01 -6.74241021e-03 -3.64123651e+01] [-3.50349404e-02 -7.15941980e-05 9.99386085e-01 -9.66214529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67587156000002 meters 0.023254823576589843 Centerline is valid? [True, True] Translation: X:220.00, Y:-36.42, Z:-9.66 [[ 9.80169938e-01 1.95075899e-01 3.48179037e-02 2.19998457e+02] [-1.94956432e-01 9.80788144e-01 -6.82682604e-03 -3.64174937e+01] [-3.54807364e-02 -9.65246075e-05 9.99370356e-01 -9.66326279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70587156000002 meters 0.012579145510207522 Centerline is valid? [True, True] Translation: X:220.03, Y:-36.42, Z:-9.67 [[ 9.80075450e-01 1.95532996e-01 3.49135913e-02 2.20025618e+02] [-1.95413275e-01 9.80697116e-01 -6.84238248e-03 -3.64222266e+01] [-3.55775698e-02 -1.16528116e-04 9.99366911e-01 -9.66607224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73587156000002 meters 0.029107753008654112 Centerline is valid? [True, True] Translation: X:220.05, Y:-36.43, Z:-9.67 [[ 9.79916243e-01 1.96377755e-01 3.46400617e-02 2.20053216e+02] [-1.96260524e-01 9.80528304e-01 -6.78609671e-03 -3.64262371e+01] [-3.52981994e-02 -1.48670279e-04 9.99376813e-01 -9.66567404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76587156000002 meters 0.014341150646954202 Centerline is valid? [True, True] Translation: X:220.08, Y:-36.43, Z:-9.67 [[ 9.79373697e-01 1.98958461e-01 3.52518511e-02 2.20082328e+02] [-1.98838806e-01 9.80007892e-01 -6.90362223e-03 -3.64289925e+01] [-3.59206263e-02 -2.48209951e-04 9.99354615e-01 -9.66803987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79587156000002 meters 0.023983686517897854 Centerline is valid? [True, True] Translation: X:220.11, Y:-36.43, Z:-9.67 [[ 9.79005759e-01 2.00764845e-01 3.52306779e-02 2.20110537e+02] [-2.00646562e-01 9.79639412e-01 -6.89783708e-03 -3.64311004e+01] [-3.58982038e-02 -3.15892174e-04 9.99355402e-01 -9.66772594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82587156000002 meters 0.019068661711738443 Centerline is valid? [True, True] Translation: X:220.14, Y:-36.43, Z:-9.67 [[ 9.78314744e-01 2.04162125e-01 3.49011219e-02 2.20138829e+02] [-2.04048271e-01 9.78936992e-01 -6.83144823e-03 -3.64288370e+01] [-3.55607223e-02 -4.38207052e-04 9.99367421e-01 -9.67233710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85587156000003 meters 0.02073139478840382 Centerline is valid? [True, True] Translation: X:220.17, Y:-36.43, Z:-9.67 [[ 9.78002943e-01 2.05755294e-01 3.42782972e-02 2.20167594e+02] [-2.05646567e-01 9.78603351e-01 -6.70606083e-03 -3.64311769e+01] [-3.49246640e-02 -4.90666931e-04 9.99389827e-01 -9.67465601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88587156000003 meters 0.022294382989442585 Centerline is valid? [True, True] Translation: X:220.19, Y:-36.43, Z:-9.68 [[ 9.77754932e-01 2.06970276e-01 3.40381911e-02 2.20194905e+02] [-2.06863852e-01 9.78347087e-01 -6.65768652e-03 -3.64336042e+01] [-3.46791083e-02 -5.31685495e-04 9.99398357e-01 -9.67678100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91587156000003 meters 0.021653945276587695 Centerline is valid? [True, True] Translation: X:220.22, Y:-36.44, Z:-9.68 [[ 9.77574602e-01 2.07836281e-01 3.39408142e-02 2.20223156e+02] [-2.07731079e-01 9.78163464e-01 -6.63594709e-03 -3.64388667e+01] [-3.45788550e-02 -5.63428642e-04 9.99401814e-01 -9.67697680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94587156000003 meters 0.023389520365107448 Centerline is valid? [True, True] Translation: X:220.25, Y:-36.44, Z:-9.68 [[ 9.77448682e-01 2.08422509e-01 3.39725284e-02 2.20251251e+02] [-2.08317508e-01 9.78038708e-01 -6.64086589e-03 -3.64399482e+01] [-3.46105537e-02 -5.85966868e-04 9.99400704e-01 -9.67903072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97587156000003 meters 0.02298967894630898 Centerline is valid? [True, True] Translation: X:220.28, Y:-36.44, Z:-9.68 [[ 9.77524538e-01 2.07854042e-01 3.52487699e-02 2.20278224e+02] [-2.07740768e-01 9.78159674e-01 -6.88657093e-03 -3.64448853e+01] [-3.59103269e-02 -5.90814471e-04 9.99354842e-01 -9.67868619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00587156000003 meters 0.022287080285491187 Centerline is valid? [True, True] Translation: X:220.31, Y:-36.45, Z:-9.68 [[ 9.77715548e-01 2.06847768e-01 3.58651470e-02 2.20305326e+02] [-2.06729902e-01 9.78372976e-01 -7.00474969e-03 -3.64502679e+01] [-3.65384075e-02 -5.65745660e-04 9.99332089e-01 -9.67911227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03587156000003 meters 0.020936594491782007 Centerline is valid? [True, True] Translation: X:220.33, Y:-36.46, Z:-9.68 [[ 9.77913295e-01 2.05875198e-01 3.60692459e-02 2.20333529e+02] [-2.05755411e-01 9.78578110e-01 -7.04230953e-03 -3.64566516e+01] [-3.67464113e-02 -5.34674386e-04 9.99324480e-01 -9.67959304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06587156000003 meters 0.01869553837248524 Centerline is valid? [True, True] Translation: X:220.36, Y:-36.46, Z:-9.68 [[ 9.78135964e-01 2.04866147e-01 3.57756447e-02 2.20361297e+02] [-2.04747690e-01 9.78789874e-01 -6.98328862e-03 -3.64647153e+01] [-3.64474782e-02 -4.94374847e-04 9.99335448e-01 -9.68013440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09587156000003 meters 0.01704263528738352 Centerline is valid? [True, True] Translation: X:220.39, Y:-36.47, Z:-9.68 [[ 9.78613117e-01 2.02660027e-01 3.52885317e-02 2.20388787e+02] [-2.02543404e-01 9.79249073e-01 -6.88643342e-03 -3.64720754e+01] [-3.59518667e-02 -4.08305248e-04 9.99353439e-01 -9.68323795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12587156000004 meters 0.025119865528685805 Centerline is valid? [True, True] Translation: X:220.42, Y:-36.48, Z:-9.68 [[ 9.78899594e-01 2.01440103e-01 3.43142795e-02 2.20415259e+02] [-2.01329115e-01 9.79500770e-01 -6.69538323e-03 -3.64784936e+01] [-3.49595819e-02 -3.54355595e-04 9.99388664e-01 -9.68381201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15587156000004 meters 0.018313987067861446 Centerline is valid? [True, True] Translation: X:220.44, Y:-36.49, Z:-9.69 [[ 9.79599331e-01 1.98122034e-01 3.36572622e-02 2.20442336e+02] [-1.98013468e-01 9.80177333e-01 -6.56221807e-03 -3.64881384e+01] [-3.42902055e-02 -2.36246777e-04 9.99411890e-01 -9.68686096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18587156000004 meters 0.02165014552089511 Centerline is valid? [True, True] Translation: X:220.47, Y:-36.49, Z:-9.69 [[ 9.79872857e-01 1.96788778e-01 3.35165688e-02 2.20469305e+02] [-1.96680391e-01 9.80445889e-01 -6.53323791e-03 -3.64947346e+01] [-3.41468500e-02 -1.90309355e-04 9.99416808e-01 -9.68880409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21587156000004 meters 0.012746591071767057 Centerline is valid? [True, True] Translation: X:220.50, Y:-36.50, Z:-9.69 [[ 9.80316113e-01 1.94439829e-01 3.42559704e-02 2.20497295e+02] [-1.94325253e-01 9.80914441e-01 -6.67501382e-03 -3.65038297e+01] [-3.49000646e-02 -1.13176515e-04 9.99390801e-01 -9.69048670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24587156000004 meters 0.012363918186542797 Centerline is valid? [True, True] Translation: X:220.53, Y:-36.51, Z:-9.69 [[ 9.80462552e-01 1.93610898e-01 3.47563708e-02 2.20525424e+02] [-1.93492490e-01 9.81078393e-01 -6.77079870e-03 -3.65101164e+01] [-3.54096249e-02 -8.65821555e-05 9.99372879e-01 -9.69073768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27587156000004 meters 0.012146140962073252 Centerline is valid? [True, True] Translation: X:220.55, Y:-36.52, Z:-9.69 [[ 9.80604172e-01 1.92727821e-01 3.56573243e-02 2.20552475e+02] [-1.92602671e-01 9.81252253e-01 -6.94461773e-03 -3.65174845e+01] [-3.63272508e-02 -5.77747617e-05 9.99339946e-01 -9.69248611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30587156000004 meters 0.011735154273698964 Centerline is valid? [True, True] Translation: X:220.58, Y:-36.52, Z:-9.69 [[ 9.80677655e-01 1.92381385e-01 3.55068877e-02 2.20579657e+02] [-1.92257135e-01 9.81320233e-01 -6.91330789e-03 -3.65241252e+01] [-3.61736191e-02 -4.67259117e-05 9.99345519e-01 -9.69216237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33587156000004 meters 0.011834018355343517 Centerline is valid? [True, True] Translation: X:220.61, Y:-36.53, Z:-9.69 [[ 9.80723987e-01 1.92163755e-01 3.54055572e-02 2.20605604e+02] [-1.92040162e-01 9.81362874e-01 -6.89104001e-03 -3.65292471e+01] [-3.60699075e-02 -4.10807187e-05 9.99349268e-01 -9.69394208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36587156000004 meters 0.021608477576475826 Centerline is valid? [True, True] Translation: X:220.63, Y:-36.53, Z:-9.69 [[ 9.80729930e-01 1.92237414e-01 3.48364977e-02 2.20633911e+02] [-1.92117927e-01 9.81348447e-01 -6.77696802e-03 -3.65344439e+01] [-3.54895297e-02 -4.63403551e-05 9.99370047e-01 -9.69366494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39587156000002 meters 0.019905439534187733 Centerline is valid? [True, True] Translation: X:220.66, Y:-36.54, Z:-9.70 [[ 9.80735680e-01 1.92247981e-01 3.46155984e-02 2.20661946e+02] [-1.92130073e-01 9.81346377e-01 -6.73228950e-03 -3.65401945e+01] [-3.52641612e-02 -4.81009380e-05 9.99378025e-01 -9.69557647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42587156000002 meters 0.011989243348199511 Centerline is valid? [True, True] Translation: X:220.69, Y:-36.55, Z:-9.70 [[ 9.80818063e-01 1.91835705e-01 3.45686271e-02 2.20689493e+02] [-1.91717913e-01 9.81427053e-01 -6.72167642e-03 -3.65461169e+01] [-3.52160434e-02 -3.46833916e-05 9.99379722e-01 -9.69866217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45587156000002 meters 0.01262081998404678 Centerline is valid? [True, True] Translation: X:220.72, Y:-36.55, Z:-9.70 [[ 9.80876955e-01 1.91572076e-01 3.43589747e-02 2.20716039e+02] [-1.91455632e-01 9.81478547e-01 -6.67847264e-03 -3.65510774e+01] [-3.50020055e-02 -2.74592985e-05 9.99387242e-01 -9.70278050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48587156000002 meters 0.01226552352677071 Centerline is valid? [True, True] Translation: X:220.74, Y:-36.56, Z:-9.70 [[ 9.80942358e-01 1.91252401e-01 3.42725731e-02 2.20743404e+02] [-1.91136456e-01 9.81540890e-01 -6.65855506e-03 -3.65566569e+01] [-3.49133966e-02 -1.90794724e-05 9.99390341e-01 -9.70244571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51587156000002 meters 0.011983919036961579 Centerline is valid? [True, True] Translation: X:220.77, Y:-36.56, Z:-9.70 [[ 9.80880267e-01 1.91379991e-01 3.53213934e-02 2.20771721e+02] [-1.91257024e-01 9.81516020e-01 -6.85947081e-03 -3.65626836e+01] [-3.59812789e-02 -2.71450277e-05 9.99352464e-01 -9.70154951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54587156000002 meters 0.020089571411509907 Centerline is valid? [True, True] Translation: X:220.80, Y:-36.57, Z:-9.70 [[ 9.80809160e-01 1.91677845e-01 3.56790595e-02 2.20800257e+02] [-1.91552635e-01 9.81457896e-01 -6.92717700e-03 -3.65676435e+01] [-3.63452810e-02 -4.01792151e-05 9.99339291e-01 -9.69958513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57587156000002 meters 0.014681514813341852 Centerline is valid? [True, True] Translation: X:220.83, Y:-36.57, Z:-9.70 [[ 9.80508662e-01 1.93047773e-01 3.65420507e-02 2.20827952e+02] [-1.92917445e-01 9.81189354e-01 -7.09302390e-03 -3.65702422e+01] [-3.72239636e-02 -9.48276770e-05 9.99306944e-01 -9.70007492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60587156000003 meters 0.012205250483809965 Centerline is valid? [True, True] Translation: X:220.86, Y:-36.57, Z:-9.70 [[ 9.80338368e-01 1.93778620e-01 3.72361490e-02 2.20855968e+02] [-1.93643935e-01 9.81045274e-01 -7.22469813e-03 -3.65746083e+01] [-3.79303401e-02 -1.27905651e-04 9.99280378e-01 -9.70121333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63587156000003 meters 0.023544533549433432 Centerline is valid? [True, True] Translation: X:220.88, Y:-36.58, Z:-9.70 [[ 9.80008861e-01 1.95442307e-01 3.72147368e-02 2.20884965e+02] [-1.95309045e-01 9.80715181e-01 -7.21873827e-03 -3.65768483e+01] [-3.79079042e-02 -1.93947228e-04 9.99281218e-01 -9.69969089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66587156000003 meters 0.028149563175120018 Centerline is valid? [True, True] Translation: X:220.91, Y:-36.58, Z:-9.70 [[ 9.79825621e-01 1.96399937e-01 3.69975307e-02 2.20913243e+02] [-1.96268968e-01 9.80523845e-01 -7.17502401e-03 -3.65790929e+01] [-3.76861354e-02 -2.31194799e-04 9.99289599e-01 -9.70204514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69587156000003 meters 0.02356168086256687 Centerline is valid? [True, True] Translation: X:220.94, Y:-36.58, Z:-9.70 [[ 9.79613224e-01 1.97478019e-01 3.68831086e-02 2.20940810e+02] [-1.97348739e-01 9.80307277e-01 -7.14974480e-03 -3.65805223e+01] [-3.75686971e-02 -2.74850400e-04 9.99294010e-01 -9.70461778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72587156000003 meters 0.015464520131373118 Centerline is valid? [True, True] Translation: X:220.97, Y:-36.58, Z:-9.71 [[ 9.79269585e-01 1.99253207e-01 3.64587360e-02 2.20969446e+02] [-1.99128241e-01 9.79947979e-01 -7.06407648e-03 -3.65835284e+01] [-3.71352045e-02 -3.42328734e-04 9.99310192e-01 -9.70707439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75587156000003 meters 0.016515752402405916 Centerline is valid? [True, True] Translation: X:221.00, Y:-36.59, Z:-9.71 [[ 9.79193105e-01 1.99675468e-01 3.62017983e-02 2.20996700e+02] [-1.99552601e-01 9.79862021e-01 -7.01281294e-03 -3.65861276e+01] [-3.68730539e-02 -3.57264931e-04 9.99319894e-01 -9.71014867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78587156000003 meters 0.03017561949815587 Centerline is valid? [True, True] Translation: X:221.03, Y:-36.59, Z:-9.71 [[ 9.79086662e-01 2.00315954e-01 3.55362608e-02 2.21025256e+02] [-2.00198114e-01 9.79731277e-01 -6.88036237e-03 -3.65887390e+01] [-3.61942325e-02 -3.77821367e-04 9.99344703e-01 -9.71134274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81587156000003 meters 0.016953733055638697 Centerline is valid? [True, True] Translation: X:221.05, Y:-36.59, Z:-9.71 [[ 9.79065955e-01 2.00410550e-01 3.55733952e-02 2.21052252e+02] [-2.00292580e-01 9.79711929e-01 -6.88605468e-03 -3.65943332e+01] [-3.62317177e-02 -3.83185405e-04 9.99343342e-01 -9.71352031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84587156000003 meters 0.01683251436572161 Centerline is valid? [True, True] Translation: X:221.08, Y:-36.60, Z:-9.71 [[ 9.79119431e-01 2.00094955e-01 3.58768476e-02 2.21081100e+02] [-1.99974858e-01 9.79776437e-01 -6.94188619e-03 -3.65993684e+01] [-3.65403263e-02 -3.77531834e-04 9.99332108e-01 -9.71429046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87587156000004 meters 0.029120401748269655 Centerline is valid? [True, True] Translation: X:221.11, Y:-36.60, Z:-9.71 [[ 9.79312360e-01 1.98952585e-01 3.69482094e-02 2.21109304e+02] [-1.98824464e-01 9.80009055e-01 -7.14729721e-03 -3.66039712e+01] [-3.76315531e-02 -3.46771441e-04 9.99291622e-01 -9.71171656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90587156000004 meters 0.015489229314024255 Centerline is valid? [True, True] Translation: X:221.14, Y:-36.61, Z:-9.71 [[ 9.79435350e-01 1.98259959e-01 3.74083477e-02 2.21136721e+02] [-1.98128189e-01 9.80149418e-01 -7.23451828e-03 -3.66088777e+01] [-3.81000855e-02 -3.25905244e-04 9.99273875e-01 -9.71403239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93587156000004 meters 0.015220508467330657 Centerline is valid? [True, True] Translation: X:221.16, Y:-36.61, Z:-9.72 [[ 9.79693469e-01 1.97031383e-01 3.71394802e-02 2.21164447e+02] [-1.96900705e-01 9.80397142e-01 -7.18025211e-03 -3.66140000e+01] [-3.78261752e-02 -2.78343723e-04 9.99284295e-01 -9.71681618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96587156000004 meters 0.014142451120760756 Centerline is valid? [True, True] Translation: X:221.19, Y:-36.62, Z:-9.72 [[ 9.79827797e-01 1.96360383e-01 3.71495405e-02 2.21192857e+02] [-1.96229239e-01 9.80531761e-01 -7.17989663e-03 -3.66209255e+01] [-3.78361516e-02 -2.54763753e-04 9.99283924e-01 -9.71740741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99587156000004 meters 0.014315846431802733 Centerline is valid? [True, True] Translation: X:221.22, Y:-36.63, Z:-9.72 [[ 9.79901049e-01 1.95986547e-01 3.71914969e-02 2.21219819e+02] [-1.95854895e-01 9.80606555e-01 -7.18646270e-03 -3.66250030e+01] [-3.78786756e-02 -2.42114385e-04 9.99282316e-01 -9.71928533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02587156000004 meters 0.013677176262535513 Centerline is valid? [True, True] Translation: X:221.25, Y:-36.63, Z:-9.72 [[ 9.79935821e-01 1.95858915e-01 3.69468935e-02 2.21248026e+02] [-1.95729018e-01 9.80632056e-01 -7.13604414e-03 -3.66290247e+01] [-3.76289660e-02 -2.38713929e-04 9.99291751e-01 -9.71967663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05587156000004 meters 0.017710085083083655 Centerline is valid? [True, True] Translation: X:221.28, Y:-36.63, Z:-9.72 [[ 9.79936233e-01 1.95979670e-01 3.62897807e-02 2.21276198e+02] [-1.95854541e-01 9.80607929e-01 -7.00631507e-03 -3.66335435e+01] [-3.69591420e-02 -2.41776337e-04 9.99316748e-01 -9.72105300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08587156000004 meters 0.01399571450664605 Centerline is valid? [True, True] Translation: X:221.30, Y:-36.64, Z:-9.72 [[ 9.79943286e-01 1.96037473e-01 3.57835810e-02 2.21303921e+02] [-1.95915911e-01 9.80596375e-01 -6.90691574e-03 -3.66373607e+01] [-3.64432641e-02 -2.42187164e-04 9.99335694e-01 -9.72407237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11587156000004 meters 0.01443005941227455 Centerline is valid? [True, True] Translation: X:221.33, Y:-36.64, Z:-9.73 [[ 9.79959874e-01 1.96040345e-01 3.53104684e-02 2.21331178e+02] [-1.95922057e-01 9.80595801e-01 -6.81341604e-03 -3.66398998e+01] [-3.59610015e-02 -2.41225282e-04 9.99353165e-01 -9.72713985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14587156000002 meters 0.014419035212649438 Centerline is valid? [True, True] Translation: X:221.36, Y:-36.64, Z:-9.73 [[ 9.80032328e-01 1.95717515e-01 3.50897416e-02 2.21358112e+02] [-1.95600565e-01 9.80660288e-01 -6.76887965e-03 -3.66438826e+01] [-3.57359044e-02 -2.29852385e-04 9.99361242e-01 -9.72923183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17587156000002 meters 0.013654198334666712 Centerline is valid? [True, True] Translation: X:221.39, Y:-36.65, Z:-9.73 [[ 9.80152118e-01 1.95014822e-01 3.56517290e-02 2.21386988e+02] [-1.94893751e-01 9.80800273e-01 -6.87392347e-03 -3.66484053e+01] [-3.63077424e-02 -2.10808560e-04 9.99340634e-01 -9.72877327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20587156000002 meters 0.013406625636594916 Centerline is valid? [True, True] Translation: X:221.41, Y:-36.65, Z:-9.73 [[ 9.80225176e-01 1.94573682e-01 3.60511556e-02 2.21414349e+02] [-1.94449639e-01 9.80887885e-01 -6.94944794e-03 -3.66522611e+01] [-3.67143214e-02 -1.98110361e-04 9.99325782e-01 -9.72961321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23587156000002 meters 0.013342953393980875 Centerline is valid? [True, True] Translation: X:221.44, Y:-36.66, Z:-9.73 [[ 9.80308534e-01 1.94152616e-01 3.60546715e-02 2.21441474e+02] [-1.94028378e-01 9.80971318e-01 -6.94704419e-03 -3.66559872e+01] [-3.67173854e-02 -1.85382700e-04 9.99325672e-01 -9.73094245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26587156000002 meters 0.02359456474850996 Centerline is valid? [True, True] Translation: X:221.47, Y:-36.66, Z:-9.73 [[ 9.80348048e-01 1.93885130e-01 3.64178831e-02 2.21469945e+02] [-1.93758316e-01 9.81024222e-01 -7.01363687e-03 -3.66586539e+01] [-3.70866653e-02 -1.80462485e-04 9.99312037e-01 -9.73059582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29587156000002 meters 0.013254437436660093 Centerline is valid? [True, True] Translation: X:221.50, Y:-36.66, Z:-9.73 [[ 9.80296593e-01 1.94061247e-01 3.68621946e-02 2.21497466e+02] [-1.93931504e-01 9.80989396e-01 -7.09759250e-03 -3.66617071e+01] [-3.75387897e-02 -1.90995101e-04 9.99295153e-01 -9.73286975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32587156000002 meters 0.014316215643490454 Centerline is valid? [True, True] Translation: X:221.53, Y:-36.66, Z:-9.74 [[ 9.80072337e-01 1.95279064e-01 3.63909581e-02 2.21525506e+02] [-1.95153547e-01 9.80747690e-01 -7.00443149e-03 -3.66609872e+01] [-3.70581669e-02 -2.36975000e-04 9.99313082e-01 -9.73519395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35587156000003 meters 0.020319927510673342 Centerline is valid? [True, True] Translation: X:221.55, Y:-36.66, Z:-9.74 [[ 9.79902949e-01 1.96187315e-01 3.60658880e-02 2.21554512e+02] [-1.96064775e-01 9.80566399e-01 -6.93835881e-03 -3.66629238e+01] [-3.67262159e-02 -2.72331961e-04 9.99325328e-01 -9.73564471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38587156000003 meters 0.015750045302398593 Centerline is valid? [True, True] Translation: X:221.58, Y:-36.66, Z:-9.74 [[ 9.79710147e-01 1.97142513e-01 3.60951204e-02 2.21583722e+02] [-1.97020484e-01 9.80374792e-01 -6.94228247e-03 -3.66642837e+01] [-3.67553652e-02 -3.10053527e-04 9.99324245e-01 -9.73789457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41587156000003 meters 0.036790444008608196 Centerline is valid? [True, True] Translation: X:221.61, Y:-36.66, Z:-9.74 [[ 9.79358426e-01 1.98943281e-01 3.57581460e-02 2.21613775e+02] [-1.98824745e-01 9.80010934e-01 -6.87679095e-03 -3.66612863e+01] [-3.64114654e-02 -3.74761092e-04 9.99336812e-01 -9.73861169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44587156000003 meters 0.036790444008608196 Centerline is valid? [True, True] Translation: X:221.64, Y:-36.67, Z:-9.74 [[ 9.79394573e-01 1.98765061e-01 3.57591957e-02 2.21640754e+02] [-1.98646606e-01 9.80047096e-01 -6.87132764e-03 -3.66662684e+01] [-3.64114757e-02 -3.73701836e-04 9.99336812e-01 -9.73984936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47587156000003 meters 0.01821144978605806 Centerline is valid? [True, True] Translation: X:221.67, Y:-36.67, Z:-9.74 [[ 9.79371969e-01 1.98926062e-01 3.54819461e-02 2.21668176e+02] [-1.98809823e-01 9.80014426e-01 -6.81028827e-03 -3.66677623e+01] [-3.61275628e-02 -3.84353994e-04 9.99347113e-01 -9.74383342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50587156000003 meters 0.01820937415238421 Centerline is valid? [True, True] Translation: X:221.70, Y:-36.67, Z:-9.75 [[ 9.79427082e-01 1.98707408e-01 3.51846190e-02 2.21696351e+02] [-1.98593000e-01 9.80058787e-01 -6.75234599e-03 -3.66687058e+01] [-3.58247362e-02 -3.73988527e-04 9.99358018e-01 -9.74604669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53587156000003 meters 0.018089678165440447 Centerline is valid? [True, True] Translation: X:221.72, Y:-36.67, Z:-9.75 [[ 9.79527344e-01 1.98258877e-01 3.49227643e-02 2.21723380e+02] [-1.98146147e-01 9.80149625e-01 -6.69462619e-03 -3.66722293e+01] [-3.55568034e-02 -3.62241757e-04 9.99367591e-01 -9.74816980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56587156000003 meters 0.019402871427144013 Centerline is valid? [True, True] Translation: X:221.75, Y:-36.68, Z:-9.75 [[ 9.79694698e-01 1.97501638e-01 3.45166932e-02 2.21750756e+02] [-1.97391107e-01 9.80302500e-01 -6.61502437e-03 -3.66758885e+01] [-3.51432788e-02 -3.32583973e-04 9.99382229e-01 -9.74895611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59587156000003 meters 0.022694167317930933 Centerline is valid? [True, True] Translation: X:221.78, Y:-36.68, Z:-9.75 [[ 9.79886531e-01 1.96535577e-01 3.45854383e-02 2.21777912e+02] [-1.96424272e-01 9.80496646e-01 -6.62057298e-03 -3.66794915e+01] [-3.52120844e-02 -3.06009253e-04 9.99379815e-01 -9.74966506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62587156000004 meters 0.014438433529159016 Centerline is valid? [True, True] Translation: X:221.81, Y:-36.68, Z:-9.75 [[ 9.80254521e-01 1.94644958e-01 3.48484455e-02 2.21806502e+02] [-1.94530793e-01 9.80873734e-01 -6.66996138e-03 -3.66840545e+01] [-3.54801993e-02 -2.40835937e-04 9.99370351e-01 -9.75017368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65587156000004 meters 0.014080945517288794 Centerline is valid? [True, True] Translation: X:221.83, Y:-36.69, Z:-9.75 [[ 9.80469317e-01 1.93530631e-01 3.50116161e-02 2.21834093e+02] [-1.93414925e-01 9.81094211e-01 -6.69443524e-03 -3.66881343e+01] [-3.56452722e-02 -2.08080750e-04 9.99364484e-01 -9.75184393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68587156000004 meters 0.012171643974352398 Centerline is valid? [True, True] Translation: X:221.86, Y:-36.69, Z:-9.75 [[ 9.80934245e-01 1.90887893e-01 3.64666939e-02 2.21862396e+02] [-1.90760681e-01 9.81611837e-01 -6.96884197e-03 -3.66933065e+01] [-3.71264059e-02 -1.20435627e-04 9.99310570e-01 -9.74997552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71587156000004 meters 0.018250335006260488 Centerline is valid? [True, True] Translation: X:221.89, Y:-36.70, Z:-9.75 [[ 9.81206337e-01 1.89395095e-01 3.69272590e-02 2.21889624e+02] [-1.89263657e-01 9.81900959e-01 -7.05511280e-03 -3.66978388e+01] [-3.75951148e-02 -6.64667047e-05 9.99293052e-01 -9.74907612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74587156000004 meters 0.011449682203541011 Centerline is valid? [True, True] Translation: X:221.92, Y:-36.70, Z:-9.75 [[ 9.81519342e-01 1.87756532e-01 3.69765709e-02 2.21917279e+02] [-1.87623661e-01 9.82215600e-01 -7.06237596e-03 -3.67030910e+01] [-3.76449720e-02 -5.82101121e-06 9.99291177e-01 -9.75106133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77587156000004 meters 0.02866160365031595 Centerline is valid? [True, True] Translation: X:221.95, Y:-36.71, Z:-9.75 [[ 9.82297289e-01 1.83658392e-01 3.69002746e-02 2.21945682e+02] [-1.83523285e-01 9.82990118e-01 -7.04492227e-03 -3.67093126e+01] [-3.75664644e-02 1.48148440e-04 9.99294120e-01 -9.75037247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80587156000004 meters 0.02889176814362759 Centerline is valid? [True, True] Translation: X:221.97, Y:-36.72, Z:-9.75 [[ 9.82750760e-01 1.81190860e-01 3.70245343e-02 2.21972843e+02] [-1.81053155e-01 9.83447921e-01 -7.06688889e-03 -3.67162750e+01] [-3.76921570e-02 2.41581665e-04 9.99289369e-01 -9.75218732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83587156000004 meters 0.017157905008053424 Centerline is valid? [True, True] Translation: X:222.00, Y:-36.73, Z:-9.76 [[ 9.83763474e-01 1.75663121e-01 3.67681245e-02 2.21999551e+02] [-1.75523539e-01 9.84450236e-01 -7.01569901e-03 -3.67269822e+01] [-3.74287884e-02 4.48117098e-04 9.99299197e-01 -9.75538314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86587156000004 meters 0.020421296314000692 Centerline is valid? [True, True] Translation: X:222.03, Y:-36.74, Z:-9.76 [[ 9.84285365e-01 1.72695792e-01 3.68576158e-02 2.22025916e+02] [-1.72553533e-01 9.84975050e-01 -7.03053027e-03 -3.67368086e+01] [-3.75179750e-02 5.60136212e-04 9.99295796e-01 -9.75744819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89587156000002 meters 0.032709693683387026 Centerline is valid? [True, True] Translation: X:222.05, Y:-36.75, Z:-9.76 [[ 9.84808871e-01 1.69739219e-01 3.66071805e-02 2.22052799e+02] [-1.69596920e-01 9.85488789e-01 -6.98077717e-03 -3.67455574e+01] [-3.72608776e-02 6.66266234e-04 9.99305350e-01 -9.75774027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92587156000002 meters 0.02893678395971671 Centerline is valid? [True, True] Translation: X:222.08, Y:-36.76, Z:-9.76 [[ 9.85700264e-01 1.64624182e-01 3.59703801e-02 2.22081043e+02] [-1.64483523e-01 9.86356006e-01 -6.85559262e-03 -3.67587145e+01] [-3.66081968e-02 8.41024595e-04 9.99329341e-01 -9.76242941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95587156000002 meters 0.03197563424939116 Centerline is valid? [True, True] Translation: X:222.11, Y:-36.77, Z:-9.76 [[ 9.86083176e-01 1.62400390e-01 3.55820767e-02 2.22107801e+02] [-1.62261292e-01 9.86724520e-01 -6.78198522e-03 -3.67681795e+01] [-3.62111045e-02 9.14007805e-04 9.99343745e-01 -9.76451491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98587156000002 meters 0.029749670377631297 Centerline is valid? [True, True] Translation: X:222.14, Y:-36.77, Z:-9.76 [[ 9.86365652e-01 1.60765117e-01 3.51763846e-02 2.22136587e+02] [-1.60628191e-01 9.86992225e-01 -6.70308793e-03 -3.67709094e+01] [-3.57964408e-02 9.61376685e-04 9.99358640e-01 -9.76467931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01587156000002 meters 0.03133186162460198 Centerline is valid? [True, True] Translation: X:222.17, Y:-36.78, Z:-9.77 [[ 9.86677711e-01 1.58971943e-01 3.45690035e-02 2.22165017e+02] [-1.58838666e-01 9.87282587e-01 -6.58566041e-03 -3.67781430e+01] [-3.51763105e-02 1.00702994e-03 9.99380615e-01 -9.76647206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04587156000002 meters 0.03580915411554602 Centerline is valid? [True, True] Translation: X:222.19, Y:-36.78, Z:-9.77 [[ 9.86704880e-01 1.58825773e-01 3.44652521e-02 2.22191988e+02] [-1.58693258e-01 9.87306112e-01 -6.56442848e-03 -3.67842759e+01] [-3.50703545e-02 1.00775048e-03 9.99384338e-01 -9.76642016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07587156000002 meters 0.03324885680656698 Centerline is valid? [True, True] Translation: X:222.22, Y:-36.79, Z:-9.77 [[ 9.86598817e-01 1.59492042e-01 3.44247309e-02 2.22219092e+02] [-1.59360316e-01 9.87198727e-01 -6.55462163e-03 -3.67911768e+01] [-3.50294605e-02 9.80845952e-04 9.99385799e-01 -9.77000910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10587156000003 meters 0.03396290696628095 Centerline is valid? [True, True] Translation: X:222.25, Y:-36.80, Z:-9.77 [[ 9.86509185e-01 1.60133657e-01 3.40123372e-02 2.22246365e+02] [-1.60005525e-01 9.87094889e-01 -6.47394177e-03 -3.67978538e+01] [-3.46101002e-02 9.44441140e-04 9.99400445e-01 -9.77220481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13587156000003 meters 0.030114906175365257 Centerline is valid? [True, True] Translation: X:222.28, Y:-36.80, Z:-9.77 [[ 9.86369695e-01 1.60999110e-01 3.39722012e-02 2.22275099e+02] [-1.60871866e-01 9.86954131e-01 -6.46419855e-03 -3.67988708e+01] [-3.45697346e-02 9.10918151e-04 9.99401873e-01 -9.77235471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16587156000003 meters 0.035956884837560835 Centerline is valid? [True, True] Translation: X:222.30, Y:-36.80, Z:-9.77 [[ 9.86009655e-01 1.63036686e-01 3.46986935e-02 2.22302729e+02] [-1.62905257e-01 9.86619636e-01 -6.60081650e-03 -3.68031408e+01] [-3.53105876e-02 8.55869236e-04 9.99376020e-01 -9.77148704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19587156000003 meters 0.025987538739335993 Centerline is valid? [True, True] Translation: X:222.33, Y:-36.80, Z:-9.77 [[ 9.85842709e-01 1.64023199e-01 3.47928535e-02 2.22331384e+02] [-1.63891747e-01 9.86456140e-01 -6.61652140e-03 -3.68049234e+01] [-3.54068870e-02 8.20587827e-04 9.99372643e-01 -9.77201860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22587156000003 meters 0.024349339744775045 Centerline is valid? [True, True] Translation: X:222.36, Y:-36.81, Z:-9.77 [[ 9.85599201e-01 1.65302169e-01 3.56287484e-02 2.22360202e+02] [-1.65165224e-01 9.86242651e-01 -6.77366442e-03 -3.68082106e+01] [-3.62582927e-02 7.91488042e-04 9.99342138e-01 -9.77160463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25587156000003 meters 0.022913070508122458 Centerline is valid? [True, True] Translation: X:222.39, Y:-36.81, Z:-9.77 [[ 9.85301523e-01 1.66988422e-01 3.59968754e-02 2.22389258e+02] [-1.66849825e-01 9.85958583e-01 -6.84172500e-03 -3.68118911e+01] [-3.66339171e-02 7.35089697e-04 9.99328482e-01 -9.77236404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28587156000003 meters 0.03247883498813003 Centerline is valid? [True, True] Translation: X:222.42, Y:-36.82, Z:-9.77 [[ 9.84687203e-01 1.70694567e-01 3.54186084e-02 2.22417239e+02] [-1.70562826e-01 9.85323815e-01 -6.73062083e-03 -3.68156709e+01] [-3.60476788e-02 5.86458246e-04 9.99349899e-01 -9.77442531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31587156000003 meters 0.02028914408742801 Centerline is valid? [True, True] Translation: X:222.45, Y:-36.82, Z:-9.78 [[ 9.84402165e-01 1.72399506e-01 3.50825988e-02 2.22445154e+02] [-1.72271395e-01 9.85026976e-01 -6.66512340e-03 -3.68192728e+01] [-3.57063702e-02 5.17433656e-04 9.99362190e-01 -9.77789952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34587156000003 meters 0.017017328316570497 Centerline is valid? [True, True] Translation: X:222.47, Y:-36.82, Z:-9.78 [[ 9.83754452e-01 1.76217808e-01 3.42704336e-02 2.22474444e+02] [-1.76097949e-01 9.84351131e-01 -6.50873289e-03 -3.68201638e+01] [-3.48810947e-02 3.68041882e-04 9.99391402e-01 -9.78075898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37587156000004 meters 0.022291149893267387 Centerline is valid? [True, True] Translation: X:222.50, Y:-36.82, Z:-9.78 [[ 9.83428063e-01 1.78106206e-01 3.38736479e-02 2.22503734e+02] [-1.77990281e-01 9.84011225e-01 -6.43180423e-03 -3.68224954e+01] [-3.44775940e-02 2.96036665e-04 9.99405427e-01 -9.78124453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40587156000004 meters 0.02641428657662352 Centerline is valid? [True, True] Translation: X:222.53, Y:-36.82, Z:-9.78 [[ 9.82758235e-01 1.81775279e-01 3.38230625e-02 2.22533491e+02] [-1.81661886e-01 9.83340084e-01 -6.42173904e-03 -3.68213962e+01] [-3.44268865e-02 1.66655575e-04 9.99407205e-01 -9.78174588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43587156000004 meters 0.012393485041500006 Centerline is valid? [True, True] Translation: X:222.56, Y:-36.82, Z:-9.78 [[ 9.82466968e-01 1.83326818e-01 3.39106815e-02 2.22562193e+02] [-1.83213982e-01 9.83052016e-01 -6.43198032e-03 -3.68240016e+01] [-3.45151183e-02 1.06297225e-04 9.99404170e-01 -9.78354936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46587156000004 meters 0.012245587464509601 Centerline is valid? [True, True] Translation: X:222.59, Y:-36.83, Z:-9.79 [[ 9.82241523e-01 1.84530538e-01 3.39126908e-02 2.22589213e+02] [-1.84418459e-01 9.82826779e-01 -6.43080899e-03 -3.68278938e+01] [-3.45169813e-02 6.24814418e-05 9.99404110e-01 -9.78591391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49587156000004 meters 0.012138977981742327 Centerline is valid? [True, True] Translation: X:222.62, Y:-36.83, Z:-9.79 [[ 9.82118591e-01 1.85207976e-01 3.37798528e-02 2.22617168e+02] [-1.85097240e-01 9.82699346e-01 -6.40369071e-03 -3.68325882e+01] [-3.43814539e-02 3.66261662e-05 9.99408782e-01 -9.78724639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52587156000004 meters 0.011891785056705908 Centerline is valid? [True, True] Translation: X:222.65, Y:-36.84, Z:-9.79 [[ 9.81920046e-01 1.86213680e-01 3.40218934e-02 2.22645635e+02] [-1.86102050e-01 9.82509270e-01 -6.44681954e-03 -3.68372248e+01] [-3.46273116e-02 -1.28276726e-06 9.99400295e-01 -9.78658747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55587156000004 meters 0.011887815076038243 Centerline is valid? [True, True] Translation: X:222.67, Y:-36.84, Z:-9.79 [[ 9.81883508e-01 1.86355977e-01 3.42961614e-02 2.22672134e+02] [-1.86242676e-01 9.82482290e-01 -6.49739083e-03 -3.68418700e+01] [-3.49061988e-02 -7.72795095e-06 9.99390593e-01 -9.78800479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58587156000004 meters 0.011924986274054998 Centerline is valid? [True, True] Translation: X:222.70, Y:-36.85, Z:-9.79 [[ 9.81860126e-01 1.86348434e-01 3.49993455e-02 2.22699065e+02] [-1.86230555e-01 9.82483720e-01 -6.62716160e-03 -3.68466747e+01] [-3.56212483e-02 -1.10018223e-05 9.99365362e-01 -9.78914108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61587156000004 meters 0.011643118404373848 Centerline is valid? [True, True] Translation: X:222.73, Y:-36.85, Z:-9.79 [[ 9.81881602e-01 1.86143810e-01 3.54824055e-02 2.22727343e+02] [-1.86022605e-01 9.82522510e-01 -6.71627821e-03 -3.68520529e+01] [-3.61124557e-02 -5.93951303e-06 9.99347733e-01 -9.78881784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64587156000002 meters 0.011671155509580835 Centerline is valid? [True, True] Translation: X:222.76, Y:-36.86, Z:-9.79 [[ 9.81906002e-01 1.85950823e-01 3.58175199e-02 2.22755205e+02] [-1.85827254e-01 9.82559052e-01 -6.77792972e-03 -3.68580884e+01] [-3.64531901e-02 -5.81510937e-07 9.99335362e-01 -9.78991859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67587156000002 meters 0.012096622841333666 Centerline is valid? [True, True] Translation: X:222.78, Y:-36.86, Z:-9.79 [[ 9.81998556e-01 1.85651676e-01 3.48179811e-02 2.22782249e+02] [-1.85534776e-01 9.82615619e-01 -6.58725388e-03 -3.68646825e+01] [-3.54356268e-02 8.72746785e-06 9.99371961e-01 -9.79395695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70587156000002 meters 0.012153122878727345 Centerline is valid? [True, True] Translation: X:222.81, Y:-36.87, Z:-9.80 [[ 9.82008304e-01 1.85672318e-01 3.44308196e-02 2.22810487e+02] [-1.85558093e-01 9.82611719e-01 -6.51181849e-03 -3.68698752e+01] [-3.50411912e-02 5.74260274e-06 9.99385869e-01 -9.79533539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73587156000002 meters 0.011916152308034063 Centerline is valid? [True, True] Translation: X:222.84, Y:-36.88, Z:-9.80 [[ 9.82095071e-01 1.85258011e-01 3.41868465e-02 2.22838855e+02] [-1.85145203e-01 9.82689915e-01 -6.46410513e-03 -3.68754286e+01] [-3.47925966e-02 1.88351407e-05 9.99394554e-01 -9.79550721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76587156000002 meters 0.012359828456153516 Centerline is valid? [True, True] Translation: X:222.87, Y:-36.88, Z:-9.80 [[ 9.82220620e-01 1.84634973e-01 3.39496716e-02 2.22866249e+02] [-1.84523408e-01 9.82807166e-01 -6.41768786e-03 -3.68817849e+01] [-3.45509102e-02 3.90762476e-05 9.99402938e-01 -9.79920231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79587156000002 meters 0.012620253396204479 Centerline is valid? [True, True] Translation: X:222.89, Y:-36.89, Z:-9.80 [[ 9.82387149e-01 1.83793340e-01 3.36971500e-02 2.22893132e+02] [-1.83682996e-01 9.82964905e-01 -6.36813689e-03 -3.68887948e+01] [-3.42935370e-02 6.63823800e-05 9.99411801e-01 -9.80148797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82587156000002 meters 0.012402215392419973 Centerline is valid? [True, True] Translation: X:222.92, Y:-36.89, Z:-9.80 [[ 9.82454382e-01 1.83494835e-01 3.33621561e-02 2.22921340e+02] [-1.83386617e-01 9.83020671e-01 -6.30147546e-03 -3.68943345e+01] [-3.39519773e-02 7.27392367e-05 9.99423463e-01 -9.80092825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85587156000003 meters 0.012418571421092667 Centerline is valid? [True, True] Translation: X:222.95, Y:-36.90, Z:-9.80 [[ 9.82516612e-01 1.83239779e-01 3.29285728e-02 2.22949898e+02] [-1.83134266e-01 9.83068246e-01 -6.21799631e-03 -3.69001595e+01] [-3.35104186e-02 7.89346446e-05 9.99438365e-01 -9.80227558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88587156000003 meters 0.012667447629728374 Centerline is valid? [True, True] Translation: X:222.98, Y:-36.91, Z:-9.81 [[ 9.82548577e-01 1.83045621e-01 3.30544057e-02 2.22976050e+02] [-1.82939232e-01 9.83104416e-01 -6.24050962e-03 -3.69059062e+01] [-3.36382302e-02 8.46562526e-05 9.99434071e-01 -9.80529867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91587156000003 meters 0.012822923133614581 Centerline is valid? [True, True] Translation: X:223.00, Y:-36.91, Z:-9.81 [[ 9.82546354e-01 1.83094151e-01 3.28510817e-02 2.23003329e+02] [-1.82989200e-01 9.83095380e-01 -6.19896442e-03 -3.69114048e+01] [-3.34307408e-02 7.93767361e-05 9.99441033e-01 -9.80753019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94587156000003 meters 0.012841780786545147 Centerline is valid? [True, True] Translation: X:223.03, Y:-36.92, Z:-9.81 [[ 9.82596680e-01 1.82857758e-01 3.26619821e-02 2.23031387e+02] [-1.82753951e-01 9.83139376e-01 -6.16119433e-03 -3.69173236e+01] [-3.32379029e-02 8.48628283e-05 9.99447465e-01 -9.80878556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97587156000003 meters 0.012786871504693759 Centerline is valid? [True, True] Translation: X:223.06, Y:-36.92, Z:-9.81 [[ 9.82618636e-01 1.82732947e-01 3.26999587e-02 2.23058657e+02] [-1.82628872e-01 9.83162582e-01 -6.16706091e-03 -3.69228663e+01] [-3.32763010e-02 8.79124146e-05 9.99446187e-01 -9.80964745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00587156000003 meters 0.0124442292521855 Centerline is valid? [True, True] Translation: X:223.09, Y:-36.93, Z:-9.81 [[ 9.82662335e-01 1.82433064e-01 3.30592122e-02 2.23086824e+02] [-1.82326610e-01 9.83218271e-01 -6.23213921e-03 -3.69286031e+01] [-3.36413697e-02 9.65143813e-05 9.99433964e-01 -9.80861833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03587156000003 meters 0.012435536357440696 Centerline is valid? [True, True] Translation: X:223.11, Y:-36.93, Z:-9.81 [[ 9.82634201e-01 1.82572634e-01 3.31249292e-02 2.23113882e+02] [-1.82465878e-01 9.83192364e-01 -6.24327222e-03 -3.69330967e+01] [-3.37080281e-02 9.06835301e-05 9.99431719e-01 -9.80991185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06587156000003 meters 0.012469869264205458 Centerline is valid? [True, True] Translation: X:223.14, Y:-36.94, Z:-9.81 [[ 9.82628644e-01 1.82614763e-01 3.30574658e-02 2.23141635e+02] [-1.82508568e-01 9.83184541e-01 -6.22752135e-03 -3.69374593e+01] [-3.36388267e-02 8.60701360e-05 9.99434051e-01 -9.81116616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09587156000003 meters 0.012459362971490924 Centerline is valid? [True, True] Translation: X:223.17, Y:-36.94, Z:-9.81 [[ 9.82620064e-01 1.82577400e-01 3.35157245e-02 2.23168722e+02] [-1.82468307e-01 9.83191480e-01 -6.31118037e-03 -3.69431010e+01] [-3.41046537e-02 8.59349322e-05 9.99418263e-01 -9.81231693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12587156000004 meters 0.012345655716992966 Centerline is valid? [True, True] Translation: X:223.20, Y:-36.95, Z:-9.81 [[ 9.82649818e-01 1.82352056e-01 3.38683255e-02 2.23196871e+02] [-1.82240599e-01 9.83233298e-01 -6.37533562e-03 -3.69491861e+01] [-3.44630210e-02 9.25384507e-05 9.99405969e-01 -9.81313793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15587156000004 meters 0.01282240648795415 Centerline is valid? [True, True] Translation: X:223.22, Y:-36.96, Z:-9.82 [[ 9.82810811e-01 1.81544796e-01 3.35320408e-02 2.23223481e+02] [-1.81435124e-01 9.83382669e-01 -6.31053374e-03 -3.69564195e+01] [-3.41204724e-02 1.18170802e-04 9.99417720e-01 -9.81536846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18587156000004 meters 0.012714637833910539 Centerline is valid? [True, True] Translation: X:223.25, Y:-36.96, Z:-9.82 [[ 9.82869093e-01 1.81198371e-01 3.36971154e-02 2.23251187e+02] [-1.81087480e-01 9.83446559e-01 -6.33964042e-03 -3.69620798e+01] [-3.42880447e-02 1.28910923e-04 9.99411984e-01 -9.81589078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21587156000004 meters 0.012818908545038402 Centerline is valid? [True, True] Translation: X:223.28, Y:-36.97, Z:-9.82 [[ 9.82922438e-01 1.80892562e-01 3.37840386e-02 2.23277816e+02] [-1.80780982e-01 9.83502853e-01 -6.35411110e-03 -3.69675551e+01] [-3.43761098e-02 1.38086707e-04 9.99408957e-01 -9.81745742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24587156000004 meters 0.012897095522216871 Centerline is valid? [True, True] Translation: X:223.31, Y:-36.97, Z:-9.82 [[ 9.83030500e-01 1.80324751e-01 3.36752254e-02 2.23305806e+02] [-1.80213739e-01 9.83607117e-01 -6.32828571e-03 -3.69736714e+01] [-3.42643379e-02 1.52159580e-04 9.99412794e-01 -9.81792236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27587156000004 meters 0.013122343090304934 Centerline is valid? [True, True] Translation: X:223.33, Y:-36.98, Z:-9.82 [[ 9.83099435e-01 1.79921367e-01 3.38201401e-02 2.23332491e+02] [-1.79809204e-01 9.83680982e-01 -6.35421027e-03 -3.69795867e+01] [-3.44114868e-02 1.65648054e-04 9.99407736e-01 -9.81916181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30587156000004 meters 0.01328840114657163 Centerline is valid? [True, True] Translation: X:223.36, Y:-36.99, Z:-9.82 [[ 9.83215945e-01 1.79244721e-01 3.40255018e-02 2.23360124e+02] [-1.79130893e-01 9.83804500e-01 -6.38970612e-03 -3.69863350e+01] [-3.46197629e-02 1.87442431e-04 9.99400539e-01 -9.81977418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33587156000004 meters 0.01328840114657163 Centerline is valid? [True, True] Translation: X:223.39, Y:-36.99, Z:-9.82 [[ 9.83228674e-01 1.79174798e-01 3.40259560e-02 2.23387136e+02] [-1.79061012e-01 9.83817237e-01 -6.38728670e-03 -3.69912742e+01] [-3.46197628e-02 1.87441324e-04 9.99400539e-01 -9.82101246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36587156000004 meters 0.021013404799255557 Centerline is valid? [True, True] Translation: X:223.41, Y:-37.00, Z:-9.82 [[ 9.83246973e-01 1.79098126e-01 3.39006206e-02 2.23414892e+02] [-1.78985217e-01 9.83831198e-01 -6.36128141e-03 -3.69959566e+01] [-3.44917818e-02 1.87000748e-04 9.99404964e-01 -9.82046505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39587156000002 meters 0.013470101956139728 Centerline is valid? [True, True] Translation: X:223.44, Y:-37.00, Z:-9.82 [[ 9.83255378e-01 1.79064384e-01 3.38350270e-02 2.23441490e+02] [-1.78951956e-01 9.83837340e-01 -6.34709825e-03 -3.70007113e+01] [-3.44247022e-02 1.85974237e-04 9.99407277e-01 -9.82339161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42587156000002 meters 0.013593757480323253 Centerline is valid? [True, True] Translation: X:223.47, Y:-37.01, Z:-9.83 [[ 9.83213744e-01 1.79309346e-01 3.37474814e-02 2.23468089e+02] [-1.79197817e-01 9.83792727e-01 -6.32564984e-03 -3.70054363e+01] [-3.43347749e-02 1.71990869e-04 9.99410373e-01 -9.82588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45587156000002 meters 0.013113712678747603 Centerline is valid? [True, True] Translation: X:223.50, Y:-37.01, Z:-9.83 [[ 9.83128658e-01 1.79740958e-01 3.39297887e-02 2.23496570e+02] [-1.79628588e-01 9.83713965e-01 -6.35658325e-03 -3.70103320e+01] [-3.45197453e-02 1.54579119e-04 9.99404004e-01 -9.82636606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48587156000002 meters 0.012631294314022443 Centerline is valid? [True, True] Translation: X:223.53, Y:-37.01, Z:-9.83 [[ 9.82968479e-01 1.80506435e-01 3.45021288e-02 2.23525240e+02] [-1.80390771e-01 9.83573795e-01 -6.46211539e-03 -3.70139551e+01] [-3.51018432e-02 1.28190100e-04 9.99383732e-01 -9.82699237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51587156000002 meters 0.012563541146024875 Centerline is valid? [True, True] Translation: X:223.55, Y:-37.02, Z:-9.83 [[ 9.82886756e-01 1.80934608e-01 3.45874609e-02 2.23551921e+02] [-1.80818683e-01 9.83495122e-01 -6.47678297e-03 -3.70178606e+01] [-3.51884733e-02 1.11885076e-04 9.99380688e-01 -9.82838897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54587156000002 meters 0.012163532286657104 Centerline is valid? [True, True] Translation: X:223.58, Y:-37.02, Z:-9.83 [[ 9.82789776e-01 1.81431781e-01 3.47385232e-02 2.23580305e+02] [-1.81315266e-01 9.83403529e-01 -6.50182899e-03 -3.70215742e+01] [-3.53416248e-02 9.13064859e-05 9.99375285e-01 -9.82847535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57587156000002 meters 0.01207424824616991 Centerline is valid? [True, True] Translation: X:223.61, Y:-37.02, Z:-9.83 [[ 9.82731979e-01 1.81717574e-01 3.48795293e-02 2.23607582e+02] [-1.81600340e-01 9.83350760e-01 -6.52683696e-03 -3.70247398e+01] [-3.54848526e-02 7.99970217e-05 9.99370211e-01 -9.82894640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60587156000003 meters 0.011991407921152423 Centerline is valid? [True, True] Translation: X:223.64, Y:-37.03, Z:-9.83 [[ 9.82662209e-01 1.82045598e-01 3.51338009e-02 2.23635544e+02] [-1.81926975e-01 9.83290087e-01 -6.57114970e-03 -3.70271813e+01] [-3.57429671e-02 6.54343635e-05 9.99361014e-01 -9.83054755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63587156000003 meters 0.012145235860119683 Centerline is valid? [True, True] Translation: X:223.66, Y:-37.03, Z:-9.83 [[ 9.82799280e-01 1.81322654e-01 3.50381208e-02 2.23663578e+02] [-1.81204296e-01 9.83423656e-01 -6.55101500e-03 -3.70329309e+01] [-3.56451642e-02 8.92748113e-05 9.99364505e-01 -9.83180362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66587156000003 meters 0.013238097735925545 Centerline is valid? [True, True] Translation: X:223.69, Y:-37.04, Z:-9.83 [[ 9.83341953e-01 1.78279410e-01 3.54267590e-02 2.23691442e+02] [-1.78156499e-01 9.83979884e-01 -6.62193814e-03 -3.70424874e+01] [-3.60397734e-02 2.00122243e-04 9.99350336e-01 -9.83340276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69587156000003 meters 0.014656708636758534 Centerline is valid? [True, True] Translation: X:223.72, Y:-37.05, Z:-9.83 [[ 9.83764787e-01 1.75915052e-01 3.55068725e-02 2.23718556e+02] [-1.75790102e-01 9.84405309e-01 -6.63530166e-03 -3.70507579e+01] [-3.61204032e-02 2.85819375e-04 9.99347404e-01 -9.83465139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72587156000003 meters 0.019275037153596453 Centerline is valid? [True, True] Translation: X:223.74, Y:-37.07, Z:-9.84 [[ 9.84696941e-01 1.70659394e-01 3.53172134e-02 2.23744728e+02] [-1.70532477e-01 9.85329968e-01 -6.59753871e-03 -3.70650748e+01] [-3.59250407e-02 4.73844292e-04 9.99354375e-01 -9.83702967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75587156000003 meters 0.021527079787673965 Centerline is valid? [True, True] Translation: X:223.77, Y:-37.07, Z:-9.84 [[ 9.85159999e-01 1.68050711e-01 3.49103885e-02 2.23772484e+02] [-1.67925105e-01 9.85778192e-01 -6.52042714e-03 -3.70748647e+01] [-3.55096621e-02 5.61333351e-04 9.99369175e-01 -9.83916515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78587156000003 meters 0.024268296969223335 Centerline is valid? [True, True] Translation: X:223.80, Y:-37.08, Z:-9.84 [[ 9.85597525e-01 1.65564940e-01 3.44349968e-02 2.23798709e+02] [-1.65441268e-01 9.86198682e-01 -6.43013817e-03 -3.70849857e+01] [-3.50243539e-02 6.40558733e-04 9.99386254e-01 -9.84191816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81587156000003 meters 0.02763618265748428 Centerline is valid? [True, True] Translation: X:223.83, Y:-37.09, Z:-9.84 [[ 9.85970047e-01 1.63410037e-01 3.40620874e-02 2.23825933e+02] [-1.63287816e-01 9.86557986e-01 -6.35841515e-03 -3.70944891e+01] [-3.46432532e-02 7.07283036e-04 9.99399492e-01 -9.84315360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84587156000003 meters 0.02953460479925443 Centerline is valid? [True, True] Translation: X:223.85, Y:-37.11, Z:-9.85 [[ 9.86425060e-01 1.60678872e-01 3.38806903e-02 2.23853816e+02] [-1.60556402e-01 9.87006416e-01 -6.32274038e-03 -3.71064565e+01] [-3.44563895e-02 7.97147829e-04 9.99405884e-01 -9.84594360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87587156000004 meters 0.03053800149568687 Centerline is valid? [True, True] Translation: X:223.88, Y:-37.11, Z:-9.85 [[ 9.86550608e-01 1.59921236e-01 3.38096936e-02 2.23880470e+02] [-1.59798849e-01 9.87129436e-01 -6.30906911e-03 -3.71139176e+01] [-3.43834979e-02 8.21465822e-04 9.99408375e-01 -9.84760012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90587156000004 meters 0.031452463303102474 Centerline is valid? [True, True] Translation: X:223.91, Y:-37.12, Z:-9.85 [[ 9.86619184e-01 1.59505307e-01 3.37734168e-02 2.23907271e+02] [-1.59383007e-01 9.87196719e-01 -6.30033985e-03 -3.71213318e+01] [-3.43459439e-02 8.33127457e-04 9.99409657e-01 -9.84947288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93587156000004 meters 0.043326027398464646 Centerline is valid? [True, True] Translation: X:223.93, Y:-37.13, Z:-9.85 [[ 9.86581969e-01 1.59698659e-01 3.39463758e-02 2.23934697e+02] [-1.59575289e-01 9.87165463e-01 -6.33052079e-03 -3.71293385e+01] [-3.45216654e-02 8.28574947e-04 9.99403606e-01 -9.84855781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96587156000004 meters 0.031026475136716063 Centerline is valid? [True, True] Translation: X:223.96, Y:-37.14, Z:-9.85 [[ 9.86549381e-01 1.59835425e-01 3.42484351e-02 2.23962880e+02] [-1.59709986e-01 9.87143327e-01 -6.38526318e-03 -3.71367072e+01] [-3.48287055e-02 8.29560337e-04 9.99392952e-01 -9.85140534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99587156000004 meters 0.030719377300939172 Centerline is valid? [True, True] Translation: X:223.99, Y:-37.14, Z:-9.85 [[ 9.86435961e-01 1.60638504e-01 3.37544820e-02 2.23989723e+02] [-1.60517175e-01 9.87012994e-01 -6.29179925e-03 -3.71437918e+01] [-3.43268176e-02 7.88282929e-04 9.99410350e-01 -9.85356340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02587156000004 meters 0.025434389346819564 Centerline is valid? [True, True] Translation: X:224.02, Y:-37.14, Z:-9.85 [[ 9.86331058e-01 1.61310018e-01 3.36172802e-02 2.24018894e+02] [-1.61190135e-01 9.86903491e-01 -6.26413983e-03 -3.71433972e+01] [-3.41874797e-02 7.59741743e-04 9.99415148e-01 -9.85171033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05587156000004 meters 0.027477538810006804 Centerline is valid? [True, True] Translation: X:224.05, Y:-37.15, Z:-9.85 [[ 9.86184934e-01 1.62147491e-01 3.38742875e-02 2.24045108e+02] [-1.62026315e-01 9.86766260e-01 -6.31045570e-03 -3.71526864e+01] [-3.44492286e-02 7.34750346e-04 9.99406179e-01 -9.85467494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08587156000004 meters 0.024567668972845028 Centerline is valid? [True, True] Translation: X:224.07, Y:-37.16, Z:-9.86 [[ 9.85792920e-01 1.64510830e-01 3.38896179e-02 2.24073092e+02] [-1.64391021e-01 9.86375063e-01 -6.31095188e-03 -3.71585208e+01] [-3.44660939e-02 6.50142784e-04 9.99405656e-01 -9.85525172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11587156000004 meters 0.022100949323414165 Centerline is valid? [True, True] Translation: X:224.10, Y:-37.16, Z:-9.86 [[ 9.85537998e-01 1.66065376e-01 3.37215872e-02 2.24101397e+02] [-1.65947697e-01 9.86114568e-01 -6.27861033e-03 -3.71619483e+01] [-3.42960082e-02 5.91789301e-04 9.99411544e-01 -9.85614342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14587156000002 meters 0.020344146229200034 Centerline is valid? [True, True] Translation: X:224.13, Y:-37.17, Z:-9.86 [[ 9.85198013e-01 1.68108830e-01 3.35305257e-02 2.24129732e+02] [-1.67993720e-01 9.85768307e-01 -6.24141517e-03 -3.71661246e+01] [-3.41025666e-02 5.16112087e-04 9.99418205e-01 -9.85735344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17587156000002 meters 0.030483515095213017 Centerline is valid? [True, True] Translation: X:224.16, Y:-37.17, Z:-9.86 [[ 9.84392386e-01 1.72818646e-01 3.32467412e-02 2.24159251e+02] [-1.72708217e-01 9.84953600e-01 -6.18686582e-03 -3.71670112e+01] [-3.38157032e-02 3.48318205e-04 9.99428025e-01 -9.85778677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20587156000002 meters 0.014748059667437498 Centerline is valid? [True, True] Translation: X:224.19, Y:-37.17, Z:-9.86 [[ 9.83951331e-01 1.75256335e-01 3.35409371e-02 2.24187886e+02] [-1.75145396e-01 9.84522801e-01 -6.24051041e-03 -3.71696806e+01] [-3.41155064e-02 2.65817808e-04 9.99417861e-01 -9.86024235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23587156000002 meters 0.012477730246901388 Centerline is valid? [True, True] Translation: X:224.22, Y:-37.17, Z:-9.86 [[ 9.83032366e-01 1.80290819e-01 3.38021865e-02 2.24217816e+02] [-1.80181178e-01 9.83613345e-01 -6.28731988e-03 -3.71683334e+01] [-3.43818278e-02 9.01211432e-05 9.99408766e-01 -9.86201457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26587156000002 meters 0.012390055315478144 Centerline is valid? [True, True] Translation: X:224.24, Y:-37.17, Z:-9.86 [[ 9.82677290e-01 1.82267428e-01 3.35250292e-02 2.24244955e+02] [-1.82160752e-01 9.83248994e-01 -6.23507826e-03 -3.71704711e+01] [-3.40999029e-02 2.01252773e-05 9.99418429e-01 -9.86438703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29587156000002 meters 0.012403315947621734 Centerline is valid? [True, True] Translation: X:224.27, Y:-37.17, Z:-9.87 [[ 9.82344585e-01 1.84109628e-01 3.32078591e-02 2.24273368e+02] [-1.84006122e-01 9.82905714e-01 -6.17288586e-03 -3.71729986e+01] [-3.37766822e-02 -4.65483686e-05 9.99429404e-01 -9.86513352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32587156000002 meters 0.01360728038972533 Centerline is valid? [True, True] Translation: X:224.30, Y:-37.17, Z:-9.87 [[ 9.81838002e-01 1.86894963e-01 3.26253075e-02 2.24301608e+02] [-1.86796641e-01 9.82379892e-01 -6.06316745e-03 -3.71735394e+01] [-3.31836215e-02 -1.41249636e-04 9.99449262e-01 -9.86852971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35587156000003 meters 0.01954733140142088 Centerline is valid? [True, True] Translation: X:224.33, Y:-37.18, Z:-9.87 [[ 9.81698397e-01 1.87719212e-01 3.20897940e-02 2.24330017e+02] [-1.87624599e-01 9.82222719e-01 -5.96157755e-03 -3.71782125e+01] [-3.26384274e-02 -1.68363622e-04 9.99467210e-01 -9.86878492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38587156000003 meters 0.014585018162344416 Centerline is valid? [True, True] Translation: X:224.36, Y:-37.18, Z:-9.87 [[ 9.81704644e-01 1.87731795e-01 3.18239530e-02 2.24356833e+02] [-1.87638784e-01 9.82220314e-01 -5.91117898e-03 -3.71832235e+01] [-3.23678494e-02 -1.68375995e-04 9.99476010e-01 -9.87338393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41587156000003 meters 0.02700237056320583 Centerline is valid? [True, True] Translation: X:224.38, Y:-37.19, Z:-9.87 [[ 9.81845883e-01 1.87041269e-01 3.15313478e-02 2.24383750e+02] [-1.86949706e-01 9.82352046e-01 -5.85366689e-03 -3.71896797e+01] [-3.20697613e-02 -1.47377460e-04 9.99485622e-01 -9.87193416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44587156000003 meters 0.013850170019068745 Centerline is valid? [True, True] Translation: X:224.41, Y:-37.20, Z:-9.88 [[ 9.82077899e-01 1.85729606e-01 3.20548498e-02 2.24410219e+02] [-1.85634351e-01 9.82600886e-01 -5.94859048e-03 -3.71971486e+01] [-3.26019532e-02 -1.08502015e-04 9.99468409e-01 -9.87635768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47587156000003 meters 0.015213392946442066 Centerline is valid? [True, True] Translation: X:224.44, Y:-37.21, Z:-9.88 [[ 9.82334461e-01 1.84265054e-01 3.26403994e-02 2.24438159e+02] [-1.84165594e-01 9.82876587e-01 -6.05378496e-03 -3.72053508e+01] [-3.31969854e-02 -6.43969523e-05 9.99448826e-01 -9.87523334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50587156000003 meters 0.012529919958798364 Centerline is valid? [True, True] Translation: X:224.47, Y:-37.22, Z:-9.88 [[ 9.82799146e-01 1.81647127e-01 3.33190698e-02 2.24465418e+02] [-1.81542037e-01 9.83363778e-01 -6.17804830e-03 -3.72157472e+01] [-3.38869911e-02 2.29688092e-05 9.99425671e-01 -9.87527362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53587156000003 meters 0.012313997573487528 Centerline is valid? [True, True] Translation: X:224.49, Y:-37.22, Z:-9.88 [[ 9.82987630e-01 1.80516914e-01 3.38963511e-02 2.24493411e+02] [-1.80407535e-01 9.83571878e-01 -6.28342784e-03 -3.72231646e+01] [-3.44737627e-02 6.13746997e-05 9.99405601e-01 -9.87526014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56587156000003 meters 0.022271686011399627 Centerline is valid? [True, True] Translation: X:224.52, Y:-37.23, Z:-9.87 [[ 9.83309496e-01 1.78526816e-01 3.50800711e-02 2.24519638e+02] [-1.78408454e-01 9.83935038e-01 -6.50118996e-03 -3.72327338e+01] [-3.56771478e-02 1.34100583e-04 9.99363359e-01 -9.87300381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59587156000003 meters 0.01880852590691621 Centerline is valid? [True, True] Translation: X:224.55, Y:-37.24, Z:-9.87 [[ 9.83436281e-01 1.77837718e-01 3.50261071e-02 2.24547179e+02] [-1.77719358e-01 9.84059816e-01 -6.48908453e-03 -3.72395910e+01] [-3.56217885e-02 1.56783890e-04 9.99365330e-01 -9.87347497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62587156000004 meters 0.012821410010285155 Centerline is valid? [True, True] Translation: X:224.58, Y:-37.25, Z:-9.88 [[ 9.83579006e-01 1.77028488e-01 3.51177178e-02 2.24575442e+02] [-1.76909074e-01 9.84205711e-01 -6.50377275e-03 -3.72466316e+01] [-3.57144114e-02 1.84331412e-04 9.99362020e-01 -9.87592741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65587156000004 meters 0.023587291970893126 Centerline is valid? [True, True] Translation: X:224.60, Y:-37.25, Z:-9.88 [[ 9.83568129e-01 1.77106420e-01 3.50293079e-02 2.24602294e+02] [-1.76987712e-01 9.84191691e-01 -6.48581789e-03 -3.72521457e+01] [-3.56242338e-02 1.79486703e-04 9.99365239e-01 -9.87670938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68587156000004 meters 0.012744071795366537 Centerline is valid? [True, True] Translation: X:224.63, Y:-37.26, Z:-9.88 [[ 9.83540311e-01 1.77216400e-01 3.52534169e-02 2.24630453e+02] [-1.77096335e-01 9.84171894e-01 -6.52464038e-03 -3.72577173e+01] [-3.58516954e-02 1.73995889e-04 9.99357106e-01 -9.87857708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71587156000004 meters 0.026419634855288664 Centerline is valid? [True, True] Translation: X:224.66, Y:-37.26, Z:-9.88 [[ 9.83458228e-01 1.77775163e-01 3.47261404e-02 2.24657896e+02] [-1.77659065e-01 9.84071120e-01 -6.42554738e-03 -3.72634855e+01] [-3.53152946e-02 1.49843822e-04 9.99376209e-01 -9.87977881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74587156000004 meters 0.012849497382772976 Centerline is valid? [True, True] Translation: X:224.68, Y:-37.27, Z:-9.88 [[ 9.83422121e-01 1.77896469e-01 3.51251679e-02 2.24684672e+02] [-1.77777849e-01 9.84049199e-01 -6.49701822e-03 -3.72689692e+01] [-3.57206899e-02 1.44834648e-04 9.99361802e-01 -9.88253433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77587156000004 meters 0.013080493162168328 Centerline is valid? [True, True] Translation: X:224.71, Y:-37.28, Z:-9.89 [[ 9.83414767e-01 1.78154089e-01 3.40075912e-02 2.24712840e+02] [-1.78043142e-01 9.84002594e-01 -6.28772987e-03 -3.72752306e+01] [-3.45837427e-02 1.28628028e-04 9.99401795e-01 -9.88580744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80587156000004 meters 0.013230519609387906 Centerline is valid? [True, True] Translation: X:224.74, Y:-37.28, Z:-9.89 [[ 9.83454239e-01 1.77974083e-01 3.38080823e-02 2.24740837e+02] [-1.77864382e-01 9.84035166e-01 -6.24925258e-03 -3.72810138e+01] [-3.43805469e-02 1.32600261e-04 9.99408805e-01 -9.88744157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83587156000004 meters 0.01312868044932291 Centerline is valid? [True, True] Translation: X:224.77, Y:-37.29, Z:-9.89 [[ 9.83440799e-01 1.78064735e-01 3.37215681e-02 2.24768552e+02] [-1.77955695e-01 9.84018767e-01 -6.23191821e-03 -3.72854536e+01] [-3.42923407e-02 1.27777535e-04 9.99411837e-01 -9.88861531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86587156000004 meters 0.013452962346676913 Centerline is valid? [True, True] Translation: X:224.80, Y:-37.29, Z:-9.89 [[ 9.83493542e-01 1.77877127e-01 3.31689584e-02 2.24796071e+02] [-1.77771607e-01 9.84052697e-01 -6.12736906e-03 -3.72904685e+01] [-3.37299218e-02 1.29728859e-04 9.99430976e-01 -9.89146813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89587156000002 meters 0.013303691968146686 Centerline is valid? [True, True] Translation: X:224.82, Y:-37.30, Z:-9.89 [[ 9.83557018e-01 1.77548393e-01 3.30478492e-02 2.24824173e+02] [-1.77443526e-01 9.84112061e-01 -6.10295510e-03 -3.72966810e+01] [-3.36063568e-02 1.38477429e-04 9.99435137e-01 -9.89224797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92587156000002 meters 0.013257100798177395 Centerline is valid? [True, True] Translation: X:224.85, Y:-37.30, Z:-9.89 [[ 9.83645776e-01 1.76995962e-01 3.33679105e-02 2.24851322e+02] [-1.76888781e-01 9.84211565e-01 -6.16070465e-03 -3.73030750e+01] [-3.39315032e-02 1.57542093e-04 9.99424148e-01 -9.89228599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95587156000002 meters 0.013496213181087032 Centerline is valid? [True, True] Translation: X:224.88, Y:-37.31, Z:-9.89 [[ 9.83733669e-01 1.76277931e-01 3.45566060e-02 2.24878959e+02] [-1.76162630e-01 9.84340417e-01 -6.37740931e-03 -3.73089439e+01] [-3.51396604e-02 1.86089676e-04 9.99382394e-01 -9.89168876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98587156000002 meters 0.013502082967801858 Centerline is valid? [True, True] Translation: X:224.91, Y:-37.31, Z:-9.89 [[ 9.83849023e-01 1.75555363e-01 3.49487422e-02 2.24907195e+02] [-1.75437054e-01 9.84469537e-01 -6.44752042e-03 -3.73144916e+01] [-3.55378688e-02 2.12082280e-04 9.99368308e-01 -9.89111054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01587156000002 meters 0.01403817785818529 Centerline is valid? [True, True] Translation: X:224.93, Y:-37.32, Z:-9.89 [[ 9.84030195e-01 1.74429106e-01 3.54832654e-02 2.24933741e+02] [-1.74306478e-01 9.84669702e-01 -6.54446493e-03 -3.73217253e+01] [-3.60808415e-02 2.54988093e-04 9.99348842e-01 -9.89175146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04587156000002 meters 0.01575255010756838 Centerline is valid? [True, True] Translation: X:224.96, Y:-37.33, Z:-9.89 [[ 9.84420156e-01 1.71976248e-01 3.66213876e-02 2.24960056e+02] [-1.71844011e-01 9.85101033e-01 -6.75209788e-03 -3.73333295e+01] [-3.72369673e-02 3.53735111e-04 9.99306401e-01 -9.89206014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07587156000002 meters 0.016499418749443124 Centerline is valid? [True, True] Translation: X:224.99, Y:-37.34, Z:-9.89 [[ 9.84651406e-01 1.70612529e-01 3.67827833e-02 2.24987984e+02] [-1.70478269e-01 9.85338115e-01 -6.77925944e-03 -3.73409644e+01] [-3.74001050e-02 4.04542112e-04 9.99300289e-01 -9.89240432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10587156000003 meters 0.01738933720315991 Centerline is valid? [True, True] Translation: X:225.02, Y:-37.35, Z:-9.89 [[ 9.84831564e-01 1.69626123e-01 3.65208124e-02 2.25015503e+02] [-1.69493157e-01 9.85508390e-01 -6.72922303e-03 -3.73485154e+01] [-3.71330191e-02 4.37123445e-04 9.99310236e-01 -9.89424376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13587156000003 meters 0.019170894747559716 Centerline is valid? [True, True] Translation: X:225.04, Y:-37.36, Z:-9.90 [[ 9.85122930e-01 1.68136590e-01 3.55373067e-02 2.25042590e+02] [-1.68009787e-01 9.85763591e-01 -6.54624200e-03 -3.73584439e+01] [-3.61320458e-02 4.78237779e-04 9.99346910e-01 -9.89729788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16587156000003 meters 0.02084119624962983 Centerline is valid? [True, True] Translation: X:225.07, Y:-37.37, Z:-9.90 [[ 9.85238758e-01 1.67565747e-01 3.50187016e-02 2.25070509e+02] [-1.67442303e-01 9.85860781e-01 -6.44946314e-03 -3.73662773e+01] [-3.56042736e-02 4.90649024e-04 9.99365846e-01 -9.90067851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19587156000003 meters 0.020527812013219945 Centerline is valid? [True, True] Translation: X:225.10, Y:-37.37, Z:-9.90 [[ 9.85317432e-01 1.67237875e-01 3.43664374e-02 2.25098650e+02] [-1.67118826e-01 9.85916452e-01 -6.32825365e-03 -3.73715530e+01] [-3.49407598e-02 4.92059944e-04 9.99389264e-01 -9.90206507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22587156000003 meters 0.0321810340617439 Centerline is valid? [True, True] Translation: X:225.13, Y:-37.38, Z:-9.90 [[ 9.85378949e-01 1.66958216e-01 3.39599858e-02 2.25126050e+02] [-1.66841856e-01 9.85963848e-01 -6.25183718e-03 -3.73806945e+01] [-3.45271138e-02 4.94481701e-04 9.99403639e-01 -9.90292754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25587156000003 meters 0.0321810340617439 Centerline is valid? [True, True] Translation: X:225.15, Y:-37.39, Z:-9.90 [[ 9.85386560e-01 1.66913233e-01 3.39602692e-02 2.25153901e+02] [-1.66796900e-01 9.85971464e-01 -6.25029710e-03 -3.73857296e+01] [-3.45271136e-02 4.94491141e-04 9.99403639e-01 -9.90420354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28587156000003 meters 0.020778152005770115 Centerline is valid? [True, True] Translation: X:225.18, Y:-37.39, Z:-9.91 [[ 9.85419450e-01 1.66680737e-01 3.41473184e-02 2.25182567e+02] [-1.66563043e-01 9.86010790e-01 -6.28286407e-03 -3.73931225e+01] [-3.47168568e-02 5.03575207e-04 9.99397061e-01 -9.90637807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31587156000003 meters 0.023935228863123825 Centerline is valid? [True, True] Translation: X:225.21, Y:-37.40, Z:-9.91 [[ 9.85395718e-01 1.66831796e-01 3.40944546e-02 2.25210662e+02] [-1.66714580e-01 9.85985246e-01 -6.27244676e-03 -3.74003234e+01] [-3.46630727e-02 4.96799501e-04 9.99398932e-01 -9.90680768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34587156000003 meters 0.020668697409626267 Centerline is valid? [True, True] Translation: X:225.24, Y:-37.41, Z:-9.91 [[ 9.85346467e-01 1.67118178e-01 3.41153204e-02 2.25239193e+02] [-1.67001037e-01 9.85936752e-01 -6.27494788e-03 -3.74082073e+01] [-3.46842060e-02 4.85703843e-04 9.99398204e-01 -9.90832701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37587156000004 meters 0.02172363862205778 Centerline is valid? [True, True] Translation: X:225.27, Y:-37.41, Z:-9.91 [[ 9.85284608e-01 1.67410866e-01 3.44650903e-02 2.25268609e+02] [-1.67291517e-01 9.85887099e-01 -6.33847745e-03 -3.74119598e+01] [-3.50398179e-02 4.79487039e-04 9.99385802e-01 -9.90606232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40587156000004 meters 0.01815089943696824 Centerline is valid? [True, True] Translation: X:225.30, Y:-37.42, Z:-9.91 [[ 9.85118062e-01 1.68026696e-01 3.61860887e-02 2.25296085e+02] [-1.67895572e-01 9.85782329e-01 -6.65413412e-03 -3.74205427e+01] [-3.67896790e-02 4.79623640e-04 9.99322916e-01 -9.90606462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43587156000004 meters 0.017906762142305053 Centerline is valid? [True, True] Translation: X:225.32, Y:-37.43, Z:-9.91 [[ 9.85007393e-01 1.68543798e-01 3.67889024e-02 2.25324231e+02] [-1.68408680e-01 9.85694055e-01 -6.76359572e-03 -3.74273671e+01] [-3.74025645e-02 4.66621298e-04 9.99300170e-01 -9.90631222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46587156000004 meters 0.018858002335877477 Centerline is valid? [True, True] Translation: X:225.35, Y:-37.44, Z:-9.91 [[ 9.84883350e-01 1.69224167e-01 3.69860518e-02 2.25351786e+02] [-1.69088131e-01 9.85577489e-01 -6.79836597e-03 -3.74354911e+01] [-3.76030679e-02 4.41695098e-04 9.99292657e-01 -9.90862676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49587156000004 meters 0.01610654230410513 Centerline is valid? [True, True] Translation: X:225.38, Y:-37.44, Z:-9.91 [[ 9.84691077e-01 1.70288268e-01 3.72207982e-02 2.25381842e+02] [-1.70151290e-01 9.85394207e-01 -6.84068996e-03 -3.74385383e+01] [-3.78420482e-02 4.02799557e-04 9.99283652e-01 -9.90788211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52587156000004 meters 0.015729073021202016 Centerline is valid? [True, True] Translation: X:225.41, Y:-37.45, Z:-9.91 [[ 9.84327825e-01 1.72508716e-01 3.65988436e-02 2.25409598e+02] [-1.72377845e-01 9.85007942e-01 -6.72550417e-03 -3.74457722e+01] [-3.72103597e-02 3.11271093e-04 9.99307406e-01 -9.91161478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55587156000004 meters 0.01387531596187548 Centerline is valid? [True, True] Translation: X:225.44, Y:-37.45, Z:-9.91 [[ 9.84090128e-01 1.73945636e-01 3.61875169e-02 2.25438752e+02] [-1.73818678e-01 9.84755224e-01 -6.64950093e-03 -3.74492097e+01] [-3.67924980e-02 2.53641864e-04 9.99322895e-01 -9.91244193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58587156000004 meters 0.012635016144794642 Centerline is valid? [True, True] Translation: X:225.47, Y:-37.45, Z:-9.92 [[ 9.83612866e-01 1.76812175e-01 3.52588211e-02 2.25466427e+02] [-1.76693596e-01 9.84244601e-01 -6.47593319e-03 -3.74532916e+01] [-3.58483282e-02 1.39803293e-04 9.99357232e-01 -9.91558435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61587156000004 meters 0.012253324164914687 Centerline is valid? [True, True] Translation: X:225.49, Y:-37.46, Z:-9.92 [[ 9.83336328e-01 1.78401977e-01 3.49628495e-02 2.25493654e+02] [-1.78286460e-01 9.83957686e-01 -6.41947086e-03 -3.74578778e+01] [-3.55472108e-02 7.90962250e-05 9.99367995e-01 -9.91738126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64587156000002 meters 0.011877903551484487 Centerline is valid? [True, True] Translation: X:225.52, Y:-37.46, Z:-9.92 [[ 9.83043247e-01 1.79971874e-01 3.51582096e-02 2.25522489e+02] [-1.79856145e-01 9.83671756e-01 -6.45313037e-03 -3.74622747e+01] [-3.57455197e-02 2.02861877e-05 9.99360924e-01 -9.91792544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67587156000002 meters 0.012972951295006434 Centerline is valid? [True, True] Translation: X:225.55, Y:-37.46, Z:-9.92 [[ 9.82297767e-01 1.83923971e-01 3.55396976e-02 2.25550217e+02] [-1.83808359e-01 9.82940465e-01 -6.52152811e-03 -3.74633781e+01] [-3.61328722e-02 -1.26410973e-04 9.99346987e-01 -9.91983338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70587156000002 meters 0.014524729746318044 Centerline is valid? [True, True] Translation: X:225.58, Y:-37.47, Z:-9.92 [[ 9.81910381e-01 1.85994454e-01 3.54692367e-02 2.25577747e+02] [-1.85880727e-01 9.82550773e-01 -6.50644925e-03 -3.74656690e+01] [-3.60604894e-02 -2.04297436e-04 9.99349588e-01 -9.92135912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73587156000002 meters 0.023516097925573857 Centerline is valid? [True, True] Translation: X:225.61, Y:-37.47, Z:-9.92 [[ 9.81108484e-01 1.90144434e-01 3.56543967e-02 2.25606758e+02] [-1.90032329e-01 9.81756061e-01 -6.53832932e-03 -3.74676326e+01] [-3.62471470e-02 -3.60677666e-04 9.99342791e-01 -9.91893044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76587156000002 meters 0.02057022154206539 Centerline is valid? [True, True] Translation: X:225.64, Y:-37.47, Z:-9.92 [[ 9.80724196e-01 1.92054701e-01 3.59867021e-02 2.25635072e+02] [-1.91941841e-01 9.81384125e-01 -6.59762970e-03 -3.74683017e+01] [-3.65838839e-02 -4.36898750e-04 9.99330490e-01 -9.92268930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79587156000002 meters 0.020965873709352715 Centerline is valid? [True, True] Translation: X:225.66, Y:-37.47, Z:-9.92 [[ 9.80342252e-01 1.93977961e-01 3.60779654e-02 2.25663237e+02] [-1.93865911e-01 9.81005753e-01 -6.61212163e-03 -3.74737578e+01] [-3.66752975e-02 -5.12145427e-04 9.99327104e-01 -9.92224929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82587156000002 meters 0.024689100291665208 Centerline is valid? [True, True] Translation: X:225.69, Y:-37.48, Z:-9.92 [[ 9.79727896e-01 1.97093642e-01 3.58796074e-02 2.25690733e+02] [-1.96984963e-01 9.80384467e-01 -6.57427320e-03 -3.74751559e+01] [-3.64715572e-02 -6.26744274e-04 9.99334495e-01 -9.92393247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85587156000003 meters 0.023314516684808263 Centerline is valid? [True, True] Translation: X:225.72, Y:-37.48, Z:-9.92 [[ 9.79431401e-01 1.98551065e-01 3.59388973e-02 2.25718729e+02] [-1.98443105e-01 9.80090305e-01 -6.58243736e-03 -3.74820429e+01] [-3.65303148e-02 -6.84780529e-04 9.99332311e-01 -9.92346817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88587156000003 meters 0.03033215841185513 Centerline is valid? [True, True] Translation: X:225.75, Y:-37.48, Z:-9.93 [[ 9.78807648e-01 2.01736224e-01 3.51864103e-02 2.25748599e+02] [-2.01634855e-01 9.79439571e-01 -6.44290807e-03 -3.74778898e+01] [-3.57627306e-02 -7.88439053e-04 9.99359998e-01 -9.92798612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91587156000003 meters 0.03180119620379532 Centerline is valid? [True, True] Translation: X:225.78, Y:-37.48, Z:-9.93 [[ 9.78609411e-01 2.02763541e-01 3.47932220e-02 2.25776873e+02] [-2.02665140e-01 9.79227388e-01 -6.36902350e-03 -3.74808369e+01] [-3.53618816e-02 -8.18586873e-04 9.99374238e-01 -9.93043569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94587156000003 meters 0.0335633992056717 Centerline is valid? [True, True] Translation: X:225.80, Y:-37.48, Z:-9.93 [[ 9.78395039e-01 2.03857651e-01 3.44268289e-02 2.25804902e+02] [-2.03762040e-01 9.79000171e-01 -6.30048782e-03 -3.74837684e+01] [-3.49882740e-02 -8.50514870e-04 9.99387361e-01 -9.93244862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97587156000003 meters 0.03553667061402034 Centerline is valid? [True, True] Translation: X:225.83, Y:-37.49, Z:-9.93 [[ 9.78085751e-01 2.05421929e-01 3.39130411e-02 2.25833397e+02] [-2.05330157e-01 9.78673097e-01 -6.20452635e-03 -3.74858451e+01] [-3.44643267e-02 -8.94811241e-04 9.99405528e-01 -9.93450597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00587156000003 meters 0.03688438055791493 Centerline is valid? [True, True] Translation: X:225.86, Y:-37.49, Z:-9.94 [[ 9.77978127e-01 2.05908489e-01 3.40657873e-02 2.25860715e+02] [-2.05816248e-01 9.78570821e-01 -6.23061792e-03 -3.74882631e+01] [-3.46187225e-02 -9.17884472e-04 9.99400171e-01 -9.93524614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03587156000003 meters 0.04193893110411224 Centerline is valid? [True, True] Translation: X:225.89, Y:-37.49, Z:-9.94 [[ 9.77835276e-01 2.06452691e-01 3.48634356e-02 2.25889735e+02] [-2.06356506e-01 9.78456111e-01 -6.37419404e-03 -3.74856158e+01] [-3.54283111e-02 -9.61384966e-04 9.99371758e-01 -9.93693982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06587156000003 meters 0.034607528322552296 Centerline is valid? [True, True] Translation: X:225.92, Y:-37.50, Z:-9.93 [[ 9.77632804e-01 2.07304109e-01 3.54838875e-02 2.25916903e+02] [-2.07205152e-01 9.78276024e-01 -6.48422730e-03 -3.74976753e+01] [-3.60572433e-02 -1.01325100e-03 9.99349213e-01 -9.93274786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09587156000003 meters 0.033575272968053974 Centerline is valid? [True, True] Translation: X:225.94, Y:-37.50, Z:-9.93 [[ 9.77655872e-01 2.07203914e-01 3.54335040e-02 2.25944546e+02] [-2.07105226e-01 9.78297255e-01 -6.47352581e-03 -3.75023731e+01] [-3.60058396e-02 -1.00958332e-03 9.99351070e-01 -9.93416595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12587156000004 meters 0.03743986127565097 Centerline is valid? [True, True] Translation: X:225.97, Y:-37.50, Z:-9.94 [[ 9.77684833e-01 2.07220390e-01 3.45264578e-02 2.25973198e+02] [-2.07126783e-01 9.78293788e-01 -6.30550978e-03 -3.74991985e+01] [-3.50836494e-02 -9.86552831e-04 9.99383892e-01 -9.93842901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15587156000004 meters 0.03444720941689807 Centerline is valid? [True, True] Translation: X:226.00, Y:-37.51, Z:-9.94 [[ 9.77722746e-01 2.07094946e-01 3.42040266e-02 2.26000581e+02] [-2.07003116e-01 9.78320362e-01 -6.24333828e-03 -3.75061390e+01] [-3.47554595e-02 -9.76086231e-04 9.99395370e-01 -9.93932304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18587156000004 meters 0.03474012113716903 Centerline is valid? [True, True] Translation: X:226.03, Y:-37.51, Z:-9.94 [[ 9.77847711e-01 2.06528801e-01 3.40544933e-02 2.26028253e+02] [-2.06437520e-01 9.78440056e-01 -6.21344249e-03 -3.75069324e+01] [-3.46035352e-02 -9.54324620e-04 9.99400663e-01 -9.94038676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21587156000004 meters 0.03399307448981711 Centerline is valid? [True, True] Translation: X:226.06, Y:-37.51, Z:-9.94 [[ 9.78009668e-01 2.05685379e-01 3.45052752e-02 2.26057157e+02] [-2.05591219e-01 9.78617721e-01 -6.29343557e-03 -3.75109624e+01] [-3.50619414e-02 -9.38940750e-04 9.99384700e-01 -9.94082020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24587156000004 meters 0.03129065834679251 Centerline is valid? [True, True] Translation: X:226.08, Y:-37.52, Z:-9.94 [[ 9.78211761e-01 2.04689628e-01 3.46973671e-02 2.26084792e+02] [-2.04593850e-01 9.78826506e-01 -6.32679996e-03 -3.75178617e+01] [-3.52577329e-02 -9.09917775e-04 9.99377839e-01 -9.94068786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27587156000004 meters 0.03543005456093769 Centerline is valid? [True, True] Translation: X:226.11, Y:-37.52, Z:-9.94 [[ 9.78732552e-01 2.02119449e-01 3.50759114e-02 2.26112431e+02] [-2.02019971e-01 9.79360528e-01 -6.39439690e-03 -3.75207957e+01] [-3.56443951e-02 -8.27630192e-04 9.99364194e-01 -9.94017344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30587156000004 meters 0.028239732988525654 Centerline is valid? [True, True] Translation: X:226.14, Y:-37.52, Z:-9.94 [[ 9.79133619e-01 2.00102381e-01 3.54456293e-02 2.26139616e+02] [-1.99999584e-01 9.79774694e-01 -6.45869443e-03 -3.75246128e+01] [-3.60211307e-02 -7.65186251e-04 9.99350736e-01 -9.94214434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33587156000004 meters 0.022740262408776597 Centerline is valid? [True, True] Translation: X:226.17, Y:-37.53, Z:-9.94 [[ 9.80098404e-01 1.95174552e-01 3.62493205e-02 2.26167923e+02] [-1.95063809e-01 9.80768338e-01 -6.60131849e-03 -3.75343001e+01] [-3.68405952e-02 -6.00988825e-04 9.99320974e-01 -9.94240619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36587156000004 meters 0.023453508959052394 Centerline is valid? [True, True] Translation: X:226.20, Y:-37.54, Z:-9.95 [[ 9.80584049e-01 1.92642149e-01 3.66595886e-02 2.26195966e+02] [-1.92527141e-01 9.81268944e-01 -6.67531744e-03 -3.75376011e+01] [-3.72588633e-02 -5.12255984e-04 9.99305516e-01 -9.94590448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39587156000002 meters 0.020735585187869013 Centerline is valid? [True, True] Translation: X:226.22, Y:-37.55, Z:-9.95 [[ 9.81020084e-01 1.90425238e-01 3.65762622e-02 2.26223547e+02] [-1.90309279e-01 9.81701607e-01 -6.65835502e-03 -3.75454478e+01] [-3.71748942e-02 -4.28822064e-04 9.99308683e-01 -9.94693521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42587156000002 meters 0.014794329131529982 Centerline is valid? [True, True] Translation: X:226.25, Y:-37.56, Z:-9.95 [[ 9.81688951e-01 1.87143940e-01 3.55520641e-02 2.26250806e+02] [-1.87032285e-01 9.82332458e-01 -6.47048835e-03 -3.75573792e+01] [-3.61348592e-02 -2.97376858e-04 9.99346878e-01 -9.94622801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45587156000002 meters 0.016763455104147732 Centerline is valid? [True, True] Translation: X:226.28, Y:-37.56, Z:-9.95 [[ 9.81929447e-01 1.86029053e-01 3.47527434e-02 2.26278101e+02] [-1.85921712e-01 9.82544212e-01 -6.32367971e-03 -3.75587447e+01] [-3.53224950e-02 -2.51882232e-04 9.99375934e-01 -9.95376871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48587156000002 meters 0.016412659617960144 Centerline is valid? [True, True] Translation: X:226.31, Y:-37.57, Z:-9.95 [[ 9.82041100e-01 1.85596154e-01 3.39019995e-02 2.26306433e+02] [-1.85493859e-01 9.82626080e-01 -6.16563526e-03 -3.75664308e+01] [-3.44573070e-02 -2.33705495e-04 9.99406143e-01 -9.95116746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51587156000002 meters 0.01484147240030551 Centerline is valid? [True, True] Translation: X:226.33, Y:-37.57, Z:-9.95 [[ 9.82173313e-01 1.85077591e-01 3.28917827e-02 2.26334772e+02] [-1.84981061e-01 9.82723888e-01 -5.98048414e-03 -3.75674852e+01] [-3.34303942e-02 -2.10484934e-04 9.99441026e-01 -9.95483720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54587156000002 meters 0.026024479364521215 Centerline is valid? [True, True] Translation: X:226.36, Y:-37.57, Z:-9.96 [[ 9.82229043e-01 1.84820278e-01 3.26737218e-02 2.26361500e+02] [-1.84724939e-01 9.82772316e-01 -5.93909913e-03 -3.75679015e+01] [-3.32084952e-02 -2.02095599e-04 9.99448425e-01 -9.96062260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57587156000002 meters 0.01381140640376303 Centerline is valid? [True, True] Translation: X:226.39, Y:-37.58, Z:-9.96 [[ 9.82574034e-01 1.83063708e-01 3.21861235e-02 2.26389464e+02] [-1.82970353e-01 9.83101042e-01 -5.84738714e-03 -3.75757068e+01] [-3.27126559e-02 -1.43615606e-04 9.99464788e-01 -9.95752358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60587156000003 meters 0.014017726102962745 Centerline is valid? [True, True] Translation: X:226.42, Y:-37.58, Z:-9.96 [[ 9.82834838e-01 1.81646973e-01 3.22499417e-02 2.26416471e+02] [-1.81552532e-01 9.83363802e-01 -5.85753205e-03 -3.75804681e+01] [-3.27774283e-02 -9.80720146e-05 9.99462671e-01 -9.96121837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63587156000003 meters 0.013307870619406342 Centerline is valid? [True, True] Translation: X:226.44, Y:-37.59, Z:-9.96 [[ 9.83192573e-01 1.79678955e-01 3.23703165e-02 2.26444228e+02] [-1.79582812e-01 9.83725303e-01 -5.87722877e-03 -3.75875942e+01] [-3.28995138e-02 -3.47047786e-05 9.99458664e-01 -9.96161901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66587156000003 meters 0.013513942548966245 Centerline is valid? [True, True] Translation: X:226.47, Y:-37.60, Z:-9.96 [[ 9.83953397e-01 1.75325853e-01 3.31143249e-02 2.26471872e+02] [-1.75222824e-01 9.84510453e-01 -6.01075064e-03 -3.75986003e+01] [-3.36552390e-02 1.11912993e-04 9.99433496e-01 -9.96057451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69587156000003 meters 0.019554451907446285 Centerline is valid? [True, True] Translation: X:226.50, Y:-37.61, Z:-9.97 [[ 9.84312251e-01 1.73276080e-01 3.32384214e-02 2.26498155e+02] [-1.73171156e-01 9.84873275e-01 -6.03187131e-03 -3.76081322e+01] [-3.37808120e-02 1.81308970e-04 9.99429249e-01 -9.96521973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72587156000003 meters 0.016648765037511237 Centerline is valid? [True, True] Translation: X:226.53, Y:-37.61, Z:-9.96 [[ 9.84834584e-01 1.70231032e-01 3.34998220e-02 2.26526277e+02] [-1.70122759e-01 9.85404137e-01 -6.07727226e-03 -3.76143195e+01] [-3.40454035e-02 2.86025765e-04 9.99420246e-01 -9.96213225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75587156000003 meters 0.01988086376699394 Centerline is valid? [True, True] Translation: X:226.55, Y:-37.62, Z:-9.97 [[ 9.85003396e-01 1.69176354e-01 3.38772918e-02 2.26552487e+02] [-1.69065049e-01 9.85585743e-01 -6.14436992e-03 -3.76233518e+01] [-3.44284579e-02 3.24759231e-04 9.99407112e-01 -9.96662929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78587156000003 meters 0.016574894012087116 Centerline is valid? [True, True] Translation: X:226.58, Y:-37.62, Z:-9.96 [[ 9.85132843e-01 1.68409130e-01 3.39359038e-02 2.26582420e+02] [-1.68297061e-01 9.85717121e-01 -6.15281219e-03 -3.76238993e+01] [-3.44873911e-02 3.50024507e-04 9.99405072e-01 -9.96132664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81587156000003 meters 0.02767496845390321 Centerline is valid? [True, True] Translation: X:226.61, Y:-37.63, Z:-9.96 [[ 9.85312695e-01 1.67385541e-01 3.37783106e-02 2.26609265e+02] [-1.67273960e-01 9.85891441e-01 -6.12273751e-03 -3.76306842e+01] [-3.43266050e-02 3.82579223e-04 9.99410595e-01 -9.96195572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84587156000003 meters 0.017645689417245085 Centerline is valid? [True, True] Translation: X:226.64, Y:-37.64, Z:-9.96 [[ 9.85481237e-01 1.66535199e-01 3.30568956e-02 2.26637441e+02] [-1.66427926e-01 9.86035429e-01 -5.98990939e-03 -3.76356321e+01] [-3.35928010e-02 4.01352725e-04 9.99435522e-01 -9.96446194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87587156000004 meters 0.021774264778941087 Centerline is valid? [True, True] Translation: X:226.66, Y:-37.64, Z:-9.97 [[ 9.85584880e-01 1.65970915e-01 3.28039557e-02 2.26664278e+02] [-1.65865014e-01 9.86130561e-01 -5.94262753e-03 -3.76427996e+01] [-3.33352865e-02 4.15935290e-04 9.99444138e-01 -9.96546364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90587156000004 meters 0.019016310655138806 Centerline is valid? [True, True] Translation: X:226.69, Y:-37.65, Z:-9.97 [[ 9.85642963e-01 1.65555785e-01 3.31546579e-02 2.26691166e+02] [-1.65447441e-01 9.86200332e-01 -6.00410231e-03 -3.76488294e+01] [-3.36911485e-02 4.32547890e-04 9.99432199e-01 -9.96694792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93587156000004 meters 0.02721945158653375 Centerline is valid? [True, True] Translation: X:226.72, Y:-37.65, Z:-9.97 [[ 9.85623132e-01 1.65653241e-01 3.32572702e-02 2.26719508e+02] [-1.65544352e-01 9.86183969e-01 -6.02056605e-03 -3.76537069e+01] [-3.37951130e-02 4.28455914e-04 9.99428690e-01 -9.96561539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96587156000004 meters 0.01662021390638212 Centerline is valid? [True, True] Translation: X:226.75, Y:-37.66, Z:-9.97 [[ 9.85349817e-01 1.67170442e-01 3.37606472e-02 2.26748160e+02] [-1.67059179e-01 9.85927938e-01 -6.11001619e-03 -3.76569283e+01] [-3.43069794e-02 3.80477337e-04 9.99411270e-01 -9.96621295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99587156000004 meters 0.03046950052531403 Centerline is valid? [True, True] Translation: X:226.78, Y:-37.66, Z:-9.97 [[ 9.85087892e-01 1.68719118e-01 3.37002174e-02 2.26776322e+02] [-1.68609216e-01 9.85664118e-01 -6.09739513e-03 -3.76607239e+01] [-3.42458422e-02 3.24302874e-04 9.99413387e-01 -9.96648720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02587156000004 meters 0.029608258578645335 Centerline is valid? [True, True] Translation: X:226.80, Y:-37.66, Z:-9.97 [[ 9.84566742e-01 1.71785966e-01 3.34351990e-02 2.26804117e+02] [-1.71679605e-01 9.85134273e-01 -6.04792555e-03 -3.76635811e+01] [-3.39771092e-02 2.14444607e-04 9.99422588e-01 -9.96985433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05587156000004 meters 0.013581009268844682 Centerline is valid? [True, True] Translation: X:226.83, Y:-37.67, Z:-9.97 [[ 9.84262390e-01 1.73550134e-01 3.32851165e-02 2.26833124e+02] [-1.73445809e-01 9.84825024e-01 -6.01855821e-03 -3.76662640e+01] [-3.38245373e-02 1.50676543e-04 9.99427775e-01 -9.97268454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08587156000004 meters 0.012860355138815484 Centerline is valid? [True, True] Translation: X:226.86, Y:-37.67, Z:-9.97 [[ 9.83914739e-01 1.75555437e-01 3.30465529e-02 2.26861955e+02] [-1.75453789e-01 9.84469544e-01 -5.97375255e-03 -3.76681686e+01] [-3.35820496e-02 7.95202568e-05 9.99435961e-01 -9.97363075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11587156000004 meters 0.013076744261045941 Centerline is valid? [True, True] Translation: X:226.89, Y:-37.67, Z:-9.98 [[ 9.83218532e-01 1.79624683e-01 3.18793139e-02 2.26890852e+02] [-1.79532258e-01 9.83735213e-01 -5.76181790e-03 -3.76676775e+01] [-3.23957684e-02 -5.82390606e-05 9.99475118e-01 -9.97573987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14587156000002 meters 0.013076744261045941 Centerline is valid? [True, True] Translation: X:226.92, Y:-37.67, Z:-9.98 [[ 9.83231688e-01 1.79552617e-01 3.18795411e-02 2.26917901e+02] [-1.79460195e-01 9.83748369e-01 -5.76056039e-03 -3.76724308e+01] [-3.23957703e-02 -5.71431486e-05 9.99475118e-01 -9.97697807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17587156000002 meters 0.013988748337719542 Centerline is valid? [True, True] Translation: X:226.95, Y:-37.67, Z:-9.98 [[ 9.82935364e-01 1.81187931e-01 3.17648324e-02 2.26945807e+02] [-1.81097109e-01 9.83448484e-01 -5.73727787e-03 -3.76743801e+01] [-3.22786018e-02 -1.13146006e-04 9.99478904e-01 -9.97961811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20587156000002 meters 0.015609286445812321 Centerline is valid? [True, True] Translation: X:226.98, Y:-37.67, Z:-9.98 [[ 9.82347603e-01 1.84350397e-01 3.17508888e-02 2.26975237e+02] [-1.84261380e-01 9.82860561e-01 -5.73243372e-03 -3.76747913e+01] [-3.22634728e-02 -2.19220068e-04 9.99479375e-01 -9.98072245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23587156000002 meters 0.018244747693105932 Centerline is valid? [True, True] Translation: X:227.00, Y:-37.68, Z:-9.98 [[ 9.82055478e-01 1.86028322e-01 3.09919770e-02 2.27004062e+02] [-1.85944373e-01 9.82544346e-01 -5.59452999e-03 -3.76783382e+01] [-3.14917328e-02 -2.68644900e-04 9.99503976e-01 -9.98057744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26587156000002 meters 0.017522931219238 Centerline is valid? [True, True] Translation: X:227.03, Y:-37.68, Z:-9.98 [[ 9.81764724e-01 1.87493776e-01 3.13705403e-02 2.27032018e+02] [-1.87408558e-01 9.82265738e-01 -5.66141264e-03 -3.76803339e+01] [-3.18756866e-02 -3.20932498e-04 9.99491790e-01 -9.98241147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29587156000002 meters 0.022762492917775667 Centerline is valid? [True, True] Translation: X:227.06, Y:-37.68, Z:-9.99 [[ 9.81081711e-01 1.90905173e-01 3.21541864e-02 2.27060612e+02] [-1.90817524e-01 9.81608383e-01 -5.80127643e-03 -3.76756247e+01] [-3.26703126e-02 -4.44056022e-04 9.99466084e-01 -9.98532505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32587156000002 meters 0.021944934657618355 Centerline is valid? [True, True] Translation: X:227.09, Y:-37.68, Z:-9.98 [[ 9.80784574e-01 1.92379545e-01 3.24303835e-02 2.27088549e+02] [-1.92291324e-01 9.81320467e-01 -5.84699918e-03 -3.76808057e+01] [-3.29494421e-02 -5.01434785e-04 9.99456894e-01 -9.98313139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35587156000003 meters 0.027366798161019213 Centerline is valid? [True, True] Translation: X:227.12, Y:-37.68, Z:-9.99 [[ 9.80255433e-01 1.94881443e-01 3.34740058e-02 2.27117564e+02] [-1.94788983e-01 9.80826618e-01 -6.03299373e-03 -3.76760470e+01] [-3.40079145e-02 -6.06492670e-04 9.99421380e-01 -9.98540848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38587156000003 meters 0.025623536077257602 Centerline is valid? [True, True] Translation: X:227.15, Y:-37.68, Z:-9.98 [[ 9.80115396e-01 1.95537343e-01 3.37484432e-02 2.27145537e+02] [-1.95443826e-01 9.80696050e-01 -6.08020635e-03 -3.76820345e+01] [-3.42858723e-02 -6.36620991e-04 9.99411864e-01 -9.98379563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41587156000003 meters 0.0256946030044157 Centerline is valid? [True, True] Translation: X:227.17, Y:-37.69, Z:-9.98 [[ 9.80032448e-01 1.95865743e-01 3.42492626e-02 2.27174217e+02] [-1.95769688e-01 9.80630499e-01 -6.16873943e-03 -3.76855188e+01] [-3.47941162e-02 -6.59402667e-04 9.99394284e-01 -9.98420028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44587156000003 meters 0.025254156226320153 Centerline is valid? [True, True] Translation: X:227.20, Y:-37.69, Z:-9.98 [[ 9.80102186e-01 1.95490291e-01 3.43984072e-02 2.27202416e+02] [-1.95393226e-01 9.80705421e-01 -6.19390063e-03 -3.76900073e+01] [-3.49455519e-02 -6.50560196e-04 9.99389006e-01 -9.98482665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47587156000003 meters 0.030563425364277946 Centerline is valid? [True, True] Translation: X:227.23, Y:-37.69, Z:-9.99 [[ 9.80250057e-01 1.94832642e-01 3.39126460e-02 2.27229584e+02] [-1.94737932e-01 9.80836306e-01 -6.10567878e-03 -3.76890610e+01] [-3.44523399e-02 -6.18986579e-04 9.99406150e-01 -9.98847134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50587156000003 meters 0.02756246923169106 Centerline is valid? [True, True] Translation: X:227.26, Y:-37.69, Z:-9.99 [[ 9.80545946e-01 1.93443017e-01 3.33083672e-02 2.27256974e+02] [-1.93351029e-01 9.81111349e-01 -5.99163017e-03 -3.76936698e+01] [-3.38382561e-02 -5.65138413e-04 9.99427162e-01 -9.99239187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53587156000003 meters 0.031768588165104986 Centerline is valid? [True, True] Translation: X:227.28, Y:-37.70, Z:-9.99 [[ 9.80697794e-01 1.92848707e-01 3.22678375e-02 2.27284344e+02] [-1.92762116e-01 9.81228361e-01 -5.80264800e-03 -3.77041586e+01] [-3.27811504e-02 -5.29372532e-04 9.99462413e-01 -9.98980306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56587156000003 meters 0.022545546469603227 Centerline is valid? [True, True] Translation: X:227.31, Y:-37.71, Z:-9.99 [[ 9.80952341e-01 1.91442202e-01 3.28996515e-02 2.27312320e+02] [-1.91351451e-01 9.81503764e-01 -5.91461551e-03 -3.77096127e+01] [-3.34234388e-02 -4.93440106e-04 9.99441159e-01 -9.99186070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59587156000003 meters 0.021987924059712435 Centerline is valid? [True, True] Translation: X:227.34, Y:-37.71, Z:-9.99 [[ 9.81096112e-01 1.90704938e-01 3.28944543e-02 2.27339681e+02] [-1.90613850e-01 9.81647292e-01 -5.91222267e-03 -3.77145955e+01] [-3.34182421e-02 -4.69679897e-04 9.99441344e-01 -9.99333837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62587156000004 meters 0.032660394884260306 Centerline is valid? [True, True] Translation: X:227.37, Y:-37.72, Z:-9.99 [[ 9.81267033e-01 1.89940458e-01 3.22122946e-02 2.27366188e+02] [-1.89852750e-01 9.81795515e-01 -5.78799988e-03 -3.77187578e+01] [-3.27252617e-02 -4.36019248e-04 9.99464290e-01 -9.99382578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65587156000004 meters 0.020306682244255067 Centerline is valid? [True, True] Translation: X:227.40, Y:-37.72, Z:-9.99 [[ 9.81415936e-01 1.88967796e-01 3.33756307e-02 2.27395152e+02] [-1.88873146e-01 9.81983195e-01 -5.99493159e-03 -3.77231895e+01] [-3.39071575e-02 -4.20238974e-04 9.99424899e-01 -9.99376282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68587156000004 meters 0.019769066004618925 Centerline is valid? [True, True] Translation: X:227.42, Y:-37.73, Z:-9.99 [[ 9.81487768e-01 1.88540950e-01 3.36759846e-02 2.27423626e+02] [-1.88444563e-01 9.82065241e-01 -6.04228712e-03 -3.77279923e+01] [-3.42112325e-02 -4.15625310e-04 9.99414538e-01 -9.99456307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71587156000004 meters 0.02060960200303923 Centerline is valid? [True, True] Translation: X:227.45, Y:-37.73, Z:-10.00 [[ 9.81559323e-01 1.88096355e-01 3.40742813e-02 2.27450801e+02] [-1.87997450e-01 9.82150496e-01 -6.11248472e-03 -3.77310891e+01] [-3.46158084e-02 -4.06111628e-04 9.99400611e-01 -9.99646049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74587156000004 meters 0.018245183942315887 Centerline is valid? [True, True] Translation: X:227.48, Y:-37.74, Z:-10.00 [[ 9.81766124e-01 1.87006458e-01 3.41154380e-02 2.27478997e+02] [-1.86906778e-01 9.82358614e-01 -6.11634337e-03 -3.77394202e+01] [-3.46573901e-02 -3.71587877e-04 9.99399183e-01 -9.99523121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77587156000004 meters 0.01793751788130808 Centerline is valid? [True, True] Translation: X:227.51, Y:-37.74, Z:-10.00 [[ 9.81928136e-01 1.86194574e-01 3.38927277e-02 2.27506586e+02] [-1.86095762e-01 9.82512831e-01 -6.07485986e-03 -3.77441797e+01] [-3.44311458e-02 -3.42217174e-04 9.99407014e-01 -9.99665404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80587156000004 meters 0.017553918904490276 Centerline is valid? [True, True] Translation: X:227.53, Y:-37.75, Z:-10.00 [[ 9.82224642e-01 1.84663098e-01 3.36792734e-02 2.27534036e+02] [-1.84564698e-01 9.82801840e-01 -6.03450854e-03 -3.77492663e+01] [-3.42144029e-02 -2.88761943e-04 9.99414474e-01 -9.99914123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83587156000004 meters 0.016925642715556313 Centerline is valid? [True, True] Translation: X:227.56, Y:-37.76, Z:-10.00 [[ 9.82391543e-01 1.83794681e-01 3.35614705e-02 2.27562275e+02] [-1.83696537e-01 9.82964622e-01 -6.01120398e-03 -3.77560204e+01] [-3.40945654e-02 -2.59769957e-04 9.99418578e-01 -1.00004162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86587156000004 meters 0.016023235577761287 Centerline is valid? [True, True] Translation: X:227.59, Y:-37.76, Z:-10.00 [[ 9.82588551e-01 1.82740839e-01 3.35488361e-02 2.27590623e+02] [-1.82642210e-01 9.83161093e-01 -6.00732112e-03 -3.77635110e+01] [-3.40816933e-02 -2.24708599e-04 9.99419025e-01 -1.00008940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89587156000002 meters 0.015122286332544211 Centerline is valid? [True, True] Translation: X:227.62, Y:-37.77, Z:-10.00 [[ 9.82968937e-01 1.80732365e-01 3.32848532e-02 2.27618553e+02] [-1.80634187e-01 9.83532301e-01 -5.95840759e-03 -3.77719148e+01] [-3.38136053e-02 -1.55452806e-04 9.99428144e-01 -1.00016431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92587156000002 meters 0.014936569268612273 Centerline is valid? [True, True] Translation: X:227.65, Y:-37.78, Z:-10.00 [[ 9.83093299e-01 1.79958324e-01 3.38018894e-02 2.27646218e+02] [-1.79856673e-01 9.83674227e-01 -6.04923312e-03 -3.77779558e+01] [-3.43386573e-02 -1.32534820e-04 9.99410246e-01 -1.00027245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95587156000002 meters 0.014698880061950376 Centerline is valid? [True, True] Translation: X:227.67, Y:-37.78, Z:-10.00 [[ 9.83213633e-01 1.79229739e-01 3.41709397e-02 2.27674531e+02] [-1.79125475e-01 9.83807242e-01 -6.11353972e-03 -3.77848510e+01] [-3.47133460e-02 -1.09970224e-04 9.99397304e-01 -1.00029507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98587156000002 meters 0.01855403225273711 Centerline is valid? [True, True] Translation: X:227.70, Y:-37.79, Z:-10.00 [[ 9.83213857e-01 1.79380123e-01 3.33659038e-02 2.27702871e+02] [-1.79280856e-01 9.83779832e-01 -5.96793467e-03 -3.77900585e+01] [-3.38952321e-02 -1.14111735e-04 9.99425385e-01 -1.00039480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01587156000002 meters 0.026611874554744983 Centerline is valid? [True, True] Translation: X:227.73, Y:-37.79, Z:-10.01 [[ 9.83083586e-01 1.80146435e-01 3.30745221e-02 2.27729970e+02] [-1.80049373e-01 9.83639793e-01 -5.91446923e-03 -3.77933168e+01] [-3.35988867e-02 -1.40629361e-04 9.99435388e-01 -1.00063569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04587156000002 meters 0.01612428043232428 Centerline is valid? [True, True] Translation: X:227.76, Y:-37.79, Z:-10.01 [[ 9.82689401e-01 1.82106285e-01 3.40417633e-02 2.27758472e+02] [-1.82004727e-01 9.83278828e-01 -6.08482095e-03 -3.77949947e+01] [-3.45806293e-02 -2.16272775e-04 9.99401888e-01 -1.00069724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07587156000002 meters 0.017173389668900692 Centerline is valid? [True, True] Translation: X:227.79, Y:-37.80, Z:-10.01 [[ 9.82504004e-01 1.83094764e-01 3.40909133e-02 2.27786357e+02] [-1.82993598e-01 9.83095236e-01 -6.09098002e-03 -3.77978434e+01] [-3.46298410e-02 -2.54006634e-04 9.99400175e-01 -1.00093431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10587156000003 meters 0.017508391626564108 Centerline is valid? [True, True] Translation: X:227.82, Y:-37.80, Z:-10.01 [[ 9.82326260e-01 1.84021100e-01 3.42250493e-02 2.27815127e+02] [-1.83919776e-01 9.82922251e-01 -6.11272613e-03 -3.78019536e+01] [-3.47654330e-02 -2.89971980e-04 9.99395458e-01 -1.00101077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13587156000003 meters 0.018941387009858052 Centerline is valid? [True, True] Translation: X:227.84, Y:-37.80, Z:-10.01 [[ 9.81991904e-01 1.85738219e-01 3.45429514e-02 2.27843055e+02] [-1.85636120e-01 9.82599200e-01 -6.16792292e-03 -3.78042453e+01] [-3.50874954e-02 -3.55569091e-04 9.99384181e-01 -1.00107998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16587156000003 meters 0.020061075532340305 Centerline is valid? [True, True] Translation: X:227.87, Y:-37.81, Z:-10.01 [[ 9.81859736e-01 1.86410725e-01 3.46770795e-02 2.27870860e+02] [-1.86308326e-01 9.82471829e-01 -6.18975351e-03 -3.78069386e+01] [-3.52230901e-02 -3.83158859e-04 9.99379401e-01 -1.00123793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19587156000003 meters 0.022046764015693235 Centerline is valid? [True, True] Translation: X:227.90, Y:-37.81, Z:-10.01 [[ 9.81626720e-01 1.87614836e-01 3.47801195e-02 2.27900031e+02] [-1.87512660e-01 9.82242581e-01 -6.20592966e-03 -3.78103466e+01] [-3.53268388e-02 -4.29806355e-04 9.99375720e-01 -1.00114922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22587156000003 meters 0.02095335824279154 Centerline is valid? [True, True] Translation: X:227.93, Y:-37.81, Z:-10.01 [[ 9.81540914e-01 1.87928061e-01 3.55032126e-02 2.27926668e+02] [-1.87821849e-01 9.82182692e-01 -6.33350228e-03 -3.78137504e+01] [-3.60608837e-02 -4.51687407e-04 9.99349493e-01 -1.00122196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25587156000003 meters 0.02099584232010621 Centerline is valid? [True, True] Translation: X:227.95, Y:-37.82, Z:-10.01 [[ 9.81512949e-01 1.87993071e-01 3.59295931e-02 2.27954491e+02] [-1.87884450e-01 9.82170246e-01 -6.40642326e-03 -3.78180023e+01] [-3.64933405e-02 -4.62624456e-04 9.99333789e-01 -1.00126501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28587156000003 meters 0.021161392251840886 Centerline is valid? [True, True] Translation: X:227.98, Y:-37.82, Z:-10.01 [[ 9.81498220e-01 1.88076027e-01 3.58977895e-02 2.27983414e+02] [-1.87967754e-01 9.82154361e-01 -6.39799724e-03 -3.78224602e+01] [-3.64604805e-02 -4.68003978e-04 9.99334986e-01 -1.00137549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31587156000003 meters 0.022558568817704724 Centerline is valid? [True, True] Translation: X:228.01, Y:-37.82, Z:-10.02 [[ 9.81572761e-01 1.87802938e-01 3.52841537e-02 2.28010198e+02] [-1.87698192e-01 9.82206624e-01 -6.28772473e-03 -3.78233564e+01] [-3.58371827e-02 -4.50912542e-04 9.99357540e-01 -1.00173257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34587156000003 meters 0.021377569398118034 Centerline is valid? [True, True] Translation: X:228.04, Y:-37.83, Z:-10.02 [[ 9.81707052e-01 1.87154174e-01 3.49939900e-02 2.28038436e+02] [-1.87050918e-01 9.82330459e-01 -6.23079617e-03 -3.78300602e+01] [-3.55417818e-02 -4.28841401e-04 9.99368099e-01 -1.00187316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37587156000004 meters 0.020560124617785204 Centerline is valid? [True, True] Translation: X:228.07, Y:-37.84, Z:-10.02 [[ 9.81809793e-01 1.86658739e-01 3.47569604e-02 2.28066189e+02] [-1.86556623e-01 9.82424729e-01 -6.18699262e-03 -3.78362338e+01] [-3.53009537e-02 -4.09691240e-04 9.99376643e-01 -1.00196573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40587156000004 meters 0.02084923916610705 Centerline is valid? [True, True] Translation: X:228.09, Y:-37.84, Z:-10.02 [[ 9.81931114e-01 1.86069197e-01 3.44897251e-02 2.28093277e+02] [-1.85968336e-01 9.82536566e-01 -6.13790114e-03 -3.78397421e+01] [-3.50294904e-02 -3.87000681e-04 9.99386204e-01 -1.00222934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43587156000004 meters 0.027439822571959788 Centerline is valid? [True, True] Translation: X:228.12, Y:-37.84, Z:-10.02 [[ 9.82106174e-01 1.85291747e-01 3.36813254e-02 2.28120475e+02] [-1.85195166e-01 9.82683491e-01 -5.99219440e-03 -3.78448160e+01] [-3.42083866e-02 -3.52647548e-04 9.99414660e-01 -1.00246907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46587156000004 meters 0.018603665526986748 Centerline is valid? [True, True] Translation: X:228.15, Y:-37.85, Z:-10.03 [[ 9.82565094e-01 1.82911210e-01 3.33065262e-02 2.28147938e+02] [-1.82815489e-01 9.83129400e-01 -5.92285726e-03 -3.78528985e+01] [-3.38279821e-02 -2.69356086e-04 9.99427634e-01 -1.00259781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49587156000004 meters 0.016671072096242977 Centerline is valid? [True, True] Translation: X:228.18, Y:-37.86, Z:-10.03 [[ 9.83364466e-01 1.78672214e-01 3.27195288e-02 2.28175136e+02] [-1.78577524e-01 9.83908647e-01 -5.81746234e-03 -3.78637540e+01] [-3.32324461e-02 -1.22286702e-04 9.99447642e-01 -1.00278124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52587156000004 meters 0.02426800774733787 Centerline is valid? [True, True] Translation: X:228.20, Y:-37.87, Z:-10.03 [[ 9.83867339e-01 1.75880366e-01 3.27285227e-02 2.28202284e+02] [-1.75784132e-01 9.84411548e-01 -5.81746459e-03 -3.78732494e+01] [-3.32415135e-02 -2.95415360e-05 9.99447348e-01 -1.00293069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55587156000004 meters 0.016076690369055 Centerline is valid? [True, True] Translation: X:228.23, Y:-37.88, Z:-10.03 [[ 9.84413132e-01 1.72670322e-01 3.34027690e-02 2.28228938e+02] [-1.72568277e-01 9.84979672e-01 -5.93600424e-03 -3.78832744e+01] [-3.39260202e-02 7.92222458e-05 9.99424344e-01 -1.00293907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58587156000004 meters 0.01957768578126868 Centerline is valid? [True, True] Translation: X:228.25, Y:-37.90, Z:-10.03 [[ 9.85481216e-01 1.66314352e-01 3.41512744e-02 2.28254206e+02] [-1.66203970e-01 9.86072738e-01 -6.06589201e-03 -3.79003770e+01] [-3.46844856e-02 3.01745246e-04 9.99398267e-01 -1.00312932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61587156000004 meters 0.027072818551545884 Centerline is valid? [True, True] Translation: X:228.28, Y:-37.91, Z:-10.03 [[ 9.85950760e-01 1.63428243e-01 3.45298174e-02 2.28281338e+02] [-1.63313709e-01 9.86555140e-01 -6.13086524e-03 -3.79108239e+01] [-3.50675254e-02 4.05538688e-04 9.99384863e-01 -1.00320829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64587156000005 meters 0.023728727426062673 Centerline is valid? [True, True] Translation: X:228.31, Y:-37.92, Z:-10.03 [[ 9.86665173e-01 1.58858920e-01 3.54355869e-02 2.28309690e+02] [-1.58735414e-01 9.87301122e-01 -6.28986959e-03 -3.79233172e+01] [-3.59847966e-02 5.81112723e-04 9.99352169e-01 -1.00302090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67587156000002 meters 0.024458849317641407 Centerline is valid? [True, True] Translation: X:228.34, Y:-37.93, Z:-10.03 [[ 9.86899785e-01 1.57419911e-01 3.53239997e-02 2.28337907e+02] [-1.57296283e-01 9.87531556e-01 -6.26943997e-03 -3.79310419e+01] [-3.58704991e-02 6.30975089e-04 9.99356247e-01 -1.00312025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70587156000002 meters 0.025346319474410912 Centerline is valid? [True, True] Translation: X:228.37, Y:-37.94, Z:-10.03 [[ 9.87010053e-01 1.56619014e-01 3.57999995e-02 2.28366476e+02] [-1.56491576e-01 9.87658868e-01 -6.35194552e-03 -3.79390074e+01] [-3.63530225e-02 6.67035755e-04 9.99338788e-01 -1.00318977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73587156000002 meters 0.03609233259872228 Centerline is valid? [True, True] Translation: X:228.40, Y:-37.95, Z:-10.03 [[ 9.87015490e-01 1.56418976e-01 3.65174753e-02 2.28395723e+02] [-1.56286273e-01 9.87690555e-01 -6.47834999e-03 -3.79459018e+01] [-3.70813023e-02 6.87051664e-04 9.99312016e-01 -1.00313260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76587156000002 meters 0.03047787500046562 Centerline is valid? [True, True] Translation: X:228.42, Y:-37.95, Z:-10.03 [[ 9.86907759e-01 1.57048128e-01 3.67282013e-02 2.28423097e+02] [-1.56914354e-01 9.87590726e-01 -6.51491328e-03 -3.79540979e+01] [-3.72955860e-02 6.66436490e-04 9.99304055e-01 -1.00331092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79587156000002 meters 0.022853463503780234 Centerline is valid? [True, True] Translation: X:228.45, Y:-37.96, Z:-10.03 [[ 9.86564337e-01 1.59194516e-01 3.67139535e-02 2.28453040e+02] [-1.59062385e-01 9.87247064e-01 -6.51094335e-03 -3.79567544e+01] [-3.72822493e-02 5.83655522e-04 9.99304605e-01 -1.00329481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82587156000002 meters 0.021930887879122934 Centerline is valid? [True, True] Translation: X:228.48, Y:-37.96, Z:-10.03 [[ 9.86378014e-01 1.60412769e-01 3.64164429e-02 2.28481960e+02] [-1.60283615e-01 9.87049877e-01 -6.45779618e-03 -3.79614292e+01] [-3.69807585e-02 5.32869050e-04 9.99315836e-01 -1.00349266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85587156000003 meters 0.02095666787503643 Centerline is valid? [True, True] Translation: X:228.51, Y:-37.97, Z:-10.04 [[ 9.86158269e-01 1.61781243e-01 3.63138733e-02 2.28509570e+02] [-1.61653863e-01 9.86826531e-01 -6.43636025e-03 -3.79660522e+01] [-3.68767760e-02 4.76991993e-04 9.99319707e-01 -1.00364123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88587156000003 meters 0.018904497069496776 Centerline is valid? [True, True] Translation: X:228.54, Y:-37.97, Z:-10.04 [[ 9.85610962e-01 1.64995964e-01 3.67064466e-02 2.28537149e+02] [-1.64868129e-01 9.86294177e-01 -6.50358033e-03 -3.79691242e+01] [-3.72764191e-02 3.58276894e-04 9.99304929e-01 -1.00379511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91587156000003 meters 0.016734806265530568 Centerline is valid? [True, True] Translation: X:228.57, Y:-37.97, Z:-10.04 [[ 9.85043728e-01 1.68240985e-01 3.71998074e-02 2.28566322e+02] [-1.68112088e-01 9.85745867e-01 -6.58867186e-03 -3.79706345e+01] [-3.77780410e-02 2.36392575e-04 9.99286127e-01 -1.00385145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94587156000003 meters 0.021591144532900605 Centerline is valid? [True, True] Translation: X:228.60, Y:-37.97, Z:-10.04 [[ 9.84710868e-01 1.70118431e-01 3.74730089e-02 2.28595367e+02] [-1.69989061e-01 9.85423611e-01 -6.63525673e-03 -3.79734569e+01] [-3.80555672e-02 1.63807836e-04 9.99275611e-01 -1.00397945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97587156000003 meters 0.015430969240345663 Centerline is valid? [True, True] Translation: X:228.62, Y:-37.98, Z:-10.04 [[ 9.84360502e-01 1.72134320e-01 3.74723760e-02 2.28624401e+02] [-1.72006482e-01 9.85073484e-01 -6.63336232e-03 -3.79756372e+01] [-3.80548733e-02 8.41283022e-05 9.99275647e-01 -1.00409965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00587156000003 meters 0.01536954834395264 Centerline is valid? [True, True] Translation: X:228.65, Y:-37.97, Z:-10.04 [[ 9.83683543e-01 1.76014141e-01 3.72251259e-02 2.28652590e+02] [-1.75890824e-01 9.84387636e-01 -6.58792071e-03 -3.79748011e+01] [-3.78035209e-02 -6.71288686e-05 9.99285189e-01 -1.00431828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03587156000003 meters 0.015949560177334447 Centerline is valid? [True, True] Translation: X:228.68, Y:-37.98, Z:-10.05 [[ 9.83369576e-01 1.77729032e-01 3.73720152e-02 2.28680278e+02] [-1.77606061e-01 9.84079455e-01 -6.61168956e-03 -3.79771265e+01] [-3.79521216e-02 -1.35762049e-04 9.99279549e-01 -1.00450469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06587156000003 meters 0.015949560177334447 Centerline is valid? [True, True] Translation: X:228.71, Y:-37.98, Z:-10.05 [[ 9.83381513e-01 1.77662896e-01 3.73723812e-02 2.28707343e+02] [-1.77539956e-01 9.84091397e-01 -6.60962039e-03 -3.79817757e+01] [-3.79521231e-02 -1.35312403e-04 9.99279549e-01 -1.00462851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09587156000003 meters 0.016990352625048753 Centerline is valid? [True, True] Translation: X:228.74, Y:-37.98, Z:-10.05 [[ 9.82937743e-01 1.80087086e-01 3.74437686e-02 2.28735833e+02] [-1.79965531e-01 9.83650643e-01 -6.61966849e-03 -3.79833370e+01] [-3.80237038e-02 -2.31865685e-04 9.99276811e-01 -1.00472099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12587156000004 meters 0.01706749888419586 Centerline is valid? [True, True] Translation: X:228.76, Y:-37.99, Z:-10.05 [[ 9.82777068e-01 1.80912024e-01 3.76838771e-02 2.28764853e+02] [-1.80789623e-01 9.83499246e-01 -6.65919592e-03 -3.79875310e+01] [-3.82667933e-02 -2.68348883e-04 9.99267522e-01 -1.00475643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15587156000004 meters 0.01758182412411766 Centerline is valid? [True, True] Translation: X:228.79, Y:-37.99, Z:-10.05 [[ 9.82667321e-01 1.81532274e-01 3.75628778e-02 2.28792784e+02] [-1.81411174e-01 9.83384944e-01 -6.63614257e-03 -3.79913635e+01] [-3.81434425e-02 -2.93205332e-04 9.99272231e-01 -1.00493502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18587156000004 meters 0.018713715661447246 Centerline is valid? [True, True] Translation: X:228.82, Y:-37.99, Z:-10.05 [[ 9.82497234e-01 1.82238014e-01 3.85809766e-02 2.28819537e+02] [-1.82110919e-01 9.83254390e-01 -6.81301419e-03 -3.79933773e+01] [-3.91765048e-02 -3.32249514e-04 9.99232251e-01 -1.00499969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21587156000004 meters 0.017748528873874295 Centerline is valid? [True, True] Translation: X:228.85, Y:-38.00, Z:-10.05 [[ 9.82459154e-01 1.82287686e-01 3.93091513e-02 2.28847741e+02] [-1.82155932e-01 9.83245179e-01 -6.93797533e-03 -3.79994731e+01] [-3.99152410e-02 -3.44117701e-04 9.99203010e-01 -1.00491824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24587156000004 meters 0.017937881263072556 Centerline is valid? [True, True] Translation: X:228.87, Y:-38.00, Z:-10.05 [[ 9.82464957e-01 1.82265701e-01 3.92660404e-02 2.28874736e+02] [-1.82134283e-01 9.83249254e-01 -6.92871819e-03 -3.80031009e+01] [-3.98711726e-02 -3.44469314e-04 9.99204769e-01 -1.00508407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27587156000004 meters 0.02462592250276436 Centerline is valid? [True, True] Translation: X:228.90, Y:-38.01, Z:-10.05 [[ 9.82571238e-01 1.81642168e-01 3.94953801e-02 2.28901571e+02] [-1.81508894e-01 9.83364641e-01 -6.96452553e-03 -3.80080485e+01] [-4.01034117e-02 -3.25620275e-04 9.99195482e-01 -1.00533080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30587156000004 meters 0.017767675895614107 Centerline is valid? [True, True] Translation: X:228.93, Y:-38.01, Z:-10.06 [[ 9.82697905e-01 1.81138263e-01 3.86491645e-02 2.28928409e+02] [-1.81010336e-01 9.83457594e-01 -6.81313537e-03 -3.80130465e+01] [-3.92439338e-02 -3.00644410e-04 9.99229615e-01 -1.00551363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33587156000004 meters 0.017530394295081828 Centerline is valid? [True, True] Translation: X:228.96, Y:-38.02, Z:-10.06 [[ 9.82887650e-01 1.80303483e-01 3.77163243e-02 2.28955547e+02] [-1.80181167e-01 9.83610992e-01 -6.64549691e-03 -3.80190123e+01] [-3.82963974e-02 -2.63994478e-04 9.99266389e-01 -1.00576092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36587156000004 meters 0.01756054802182118 Centerline is valid? [True, True] Translation: X:228.98, Y:-38.02, Z:-10.06 [[ 9.82918677e-01 1.80108757e-01 3.78379321e-02 2.28982187e+02] [-1.79985611e-01 9.83646668e-01 -6.66422037e-03 -3.80238596e+01] [-3.84194403e-02 -2.59896651e-04 9.99261667e-01 -1.00590670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39587156000005 meters 0.017064280235544144 Centerline is valid? [True, True] Translation: X:229.01, Y:-38.03, Z:-10.06 [[ 9.82968854e-01 1.79733036e-01 3.83179767e-02 2.29010028e+02] [-1.79606596e-01 9.83715392e-01 -6.74524568e-03 -3.80299290e+01] [-3.89063270e-02 -2.51794951e-04 9.99242831e-01 -1.00585915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42587156000002 meters 0.01690682913522591 Centerline is valid? [True, True] Translation: X:229.04, Y:-38.03, Z:-10.06 [[ 9.83068535e-01 1.79088666e-01 3.87750488e-02 2.29037302e+02] [-1.78958763e-01 9.83832911e-01 -6.82383308e-03 -3.80347712e+01] [-3.93702403e-02 -2.30839181e-04 9.99224665e-01 -1.00584605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45587156000002 meters 0.016887749422031216 Centerline is valid? [True, True] Translation: X:229.06, Y:-38.04, Z:-10.06 [[ 9.83126974e-01 1.78787749e-01 3.86819574e-02 2.29064175e+02] [-1.78658324e-01 9.83887642e-01 -6.80522257e-03 -3.80390083e+01] [-3.92753903e-02 -2.20455805e-04 9.99228400e-01 -1.00597657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48587156000002 meters 0.016361349495570953 Centerline is valid? [True, True] Translation: X:229.09, Y:-38.05, Z:-10.06 [[ 9.83347626e-01 1.77561796e-01 3.87202103e-02 2.29092598e+02] [-1.77431303e-01 9.84109637e-01 -6.80844374e-03 -3.80454168e+01] [-3.93138516e-02 -1.75110376e-04 9.99226896e-01 -1.00608117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51587156000002 meters 0.016158172308208707 Centerline is valid? [True, True] Translation: X:229.12, Y:-38.05, Z:-10.06 [[ 9.83507455e-01 1.76641535e-01 3.88697062e-02 2.29120541e+02] [-1.76509390e-01 9.84275240e-01 -6.83279680e-03 -3.80514682e+01] [-3.94654451e-02 -1.40761527e-04 9.99220926e-01 -1.00616376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54587156000002 meters 0.015925957994877896 Centerline is valid? [True, True] Translation: X:229.15, Y:-38.06, Z:-10.06 [[ 9.83756873e-01 1.75312109e-01 3.85756340e-02 2.29147815e+02] [-1.75181005e-01 9.84512903e-01 -6.77928756e-03 -3.80575300e+01] [-3.91667007e-02 -8.85476181e-05 9.99232686e-01 -1.00637128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57587156000002 meters 0.015767982810427943 Centerline is valid? [True, True] Translation: X:229.18, Y:-38.07, Z:-10.07 [[ 9.84373630e-01 1.71991655e-01 3.77813050e-02 2.29175395e+02] [-1.71863541e-01 9.85098406e-01 -6.63733617e-03 -3.80673019e+01] [-3.83598697e-02 4.03898472e-05 9.99263989e-01 -1.00660799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60587156000003 meters 0.015773332426812833 Centerline is valid? [True, True] Translation: X:229.20, Y:-38.07, Z:-10.07 [[ 9.84646738e-01 1.70283723e-01 3.83960400e-02 2.29203504e+02] [-1.70150179e-01 9.85395069e-01 -6.74346585e-03 -3.80745058e+01] [-3.89835709e-02 1.06838594e-04 9.99239846e-01 -1.00665364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63587156000003 meters 0.016368256184159685 Centerline is valid? [True, True] Translation: X:229.23, Y:-38.08, Z:-10.07 [[ 9.85015205e-01 1.68189453e-01 3.81752953e-02 2.29231571e+02] [-1.68055941e-01 9.85754672e-01 -6.70281556e-03 -3.80819720e+01] [-3.87588186e-02 1.86790072e-04 9.99248577e-01 -1.00680386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66587156000003 meters 0.01622774071667128 Centerline is valid? [True, True] Translation: X:229.26, Y:-38.09, Z:-10.07 [[ 9.85036611e-01 1.67898718e-01 3.88959667e-02 2.29259947e+02] [-1.67759966e-01 9.85804230e-01 -6.82740755e-03 -3.80861392e+01] [-3.94901215e-02 2.00060355e-04 9.99219941e-01 -1.00678259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69587156000003 meters 0.016396541591305016 Centerline is valid? [True, True] Translation: X:229.29, Y:-38.09, Z:-10.07 [[ 9.84996472e-01 1.68171074e-01 3.87355135e-02 2.29287851e+02] [-1.68033748e-01 9.85757807e-01 -6.79737828e-03 -3.80897995e+01] [-3.93269573e-02 1.86520090e-04 9.99226379e-01 -1.00699763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72587156000003 meters 0.021266346803078772 Centerline is valid? [True, True] Translation: X:229.32, Y:-38.09, Z:-10.07 [[ 9.84805314e-01 1.69463618e-01 3.79549160e-02 2.29316939e+02] [-1.69332825e-01 9.85536435e-01 -6.65799714e-03 -3.80925916e+01] [-3.85342409e-02 1.29817809e-04 9.99257272e-01 -1.00730009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75587156000003 meters 0.01552446395094166 Centerline is valid? [True, True] Translation: X:229.35, Y:-38.10, Z:-10.07 [[ 9.84637600e-01 1.70438280e-01 3.79419276e-02 2.29345288e+02] [-1.70308370e-01 9.85368350e-01 -6.65388634e-03 -3.80955016e+01] [-3.85208515e-02 8.98388239e-05 9.99257793e-01 -1.00736894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78587156000003 meters 0.01522581385450791 Centerline is valid? [True, True] Translation: X:229.37, Y:-38.10, Z:-10.08 [[ 9.84281692e-01 1.72396675e-01 3.83267052e-02 2.29373325e+02] [-1.72265671e-01 9.85027607e-01 -6.71954513e-03 -3.80953574e+01] [-3.89112900e-02 1.15496607e-05 9.99242669e-01 -1.00753672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81587156000003 meters 0.017495850622858855 Centerline is valid? [True, True] Translation: X:229.40, Y:-38.10, Z:-10.08 [[ 9.84155072e-01 1.73109883e-01 3.83635687e-02 2.29401830e+02] [-1.72979270e-01 9.84902517e-01 -6.72339690e-03 -3.80977530e+01] [-3.89482618e-02 -1.92369527e-05 9.99241228e-01 -1.00767596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84587156000003 meters 0.015326852642507806 Centerline is valid? [True, True] Translation: X:229.43, Y:-38.10, Z:-10.08 [[ 9.84092091e-01 1.73451488e-01 3.84361438e-02 2.29429840e+02] [-1.73320710e-01 9.84842414e-01 -6.73433602e-03 -3.81004378e+01] [-3.90216253e-02 -3.45729292e-05 9.99238366e-01 -1.00777508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87587156000004 meters 0.015196223177614494 Centerline is valid? [True, True] Translation: X:229.46, Y:-38.10, Z:-10.08 [[ 9.84186697e-01 1.72702282e-01 3.93759776e-02 2.29457900e+02] [-1.72564537e-01 9.84974072e-01 -6.89627839e-03 -3.81032433e+01] [-3.99753200e-02 -7.67189706e-06 9.99200667e-01 -1.00776597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90587156000004 meters 0.015096243867377616 Centerline is valid? [True, True] Translation: X:229.49, Y:-38.11, Z:-10.08 [[ 9.84323826e-01 1.71987882e-01 3.90739610e-02 2.29486235e+02] [-1.71851775e-01 9.85099065e-01 -6.84101844e-03 -3.81083604e+01] [-3.96682947e-02 1.88478952e-05 9.99212903e-01 -1.00794655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93587156000004 meters 0.017323339788025995 Centerline is valid? [True, True] Translation: X:229.51, Y:-38.11, Z:-10.08 [[ 9.84588631e-01 1.70538877e-01 3.87520103e-02 2.29514745e+02] [-1.70403954e-01 9.85350946e-01 -6.78282183e-03 -3.81148005e+01] [-3.93410648e-02 7.47934814e-05 9.99225838e-01 -1.00821117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96587156000004 meters 0.0255180445636594 Centerline is valid? [True, True] Translation: X:229.54, Y:-38.12, Z:-10.08 [[ 9.84706582e-01 1.69920872e-01 3.84687577e-02 2.29543559e+02] [-1.69787514e-01 9.85457705e-01 -6.73142552e-03 -3.81197935e+01] [-3.90531434e-02 9.69642712e-05 9.99237130e-01 -1.00836839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99587156000004 meters 0.03083476199179192 Centerline is valid? [True, True] Translation: X:229.57, Y:-38.12, Z:-10.08 [[ 9.84920436e-01 1.68607805e-01 3.87703787e-02 2.29570953e+02] [-1.68471401e-01 9.85683208e-01 -6.78239907e-03 -3.81241303e+01] [-3.93588767e-02 1.48423435e-04 9.99225128e-01 -1.00848851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02587156000004 meters 0.028681220954263387 Centerline is valid? [True, True] Translation: X:229.60, Y:-38.13, Z:-10.09 [[ 9.84962396e-01 1.68332030e-01 3.89025268e-02 2.29598792e+02] [-1.68194581e-01 9.85730340e-01 -6.80293400e-03 -3.81281454e+01] [-3.94925527e-02 1.57439983e-04 9.99219852e-01 -1.00854671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05587156000004 meters 0.01578062695624285 Centerline is valid? [True, True] Translation: X:229.63, Y:-38.13, Z:-10.09 [[ 9.85021494e-01 1.68006569e-01 3.88130010e-02 2.29627881e+02] [-1.67869594e-01 9.85785861e-01 -6.78490290e-03 -3.81320122e+01] [-3.94012159e-02 1.67752481e-04 9.99223457e-01 -1.00856350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08587156000004 meters 0.029348930802252687 Centerline is valid? [True, True] Translation: X:229.66, Y:-38.13, Z:-10.09 [[ 9.84956793e-01 1.68386157e-01 3.88100328e-02 2.29656917e+02] [-1.68249575e-01 9.85721096e-01 -6.78240344e-03 -3.81349844e+01] [-3.93979310e-02 1.50602798e-04 9.99223589e-01 -1.00882258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11587156000004 meters 0.022875515889788152 Centerline is valid? [True, True] Translation: X:229.68, Y:-38.14, Z:-10.09 [[ 9.84959198e-01 1.68450506e-01 3.84682488e-02 2.29684321e+02] [-1.68316418e-01 9.85710102e-01 -6.72141984e-03 -3.81392486e+01] [-3.90507681e-02 1.45486448e-04 9.99237217e-01 -1.00906017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14587156000005 meters 0.02548937256132806 Centerline is valid? [True, True] Translation: X:229.71, Y:-38.14, Z:-10.09 [[ 9.84930147e-01 1.68406862e-01 3.93920568e-02 2.29713389e+02] [-1.68266320e-01 9.85717559e-01 -6.88030441e-03 -3.81417956e+01] [-3.99881326e-02 1.48262790e-04 9.99200144e-01 -1.00892808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17587156000002 meters 0.015794136895751768 Centerline is valid? [True, True] Translation: X:229.74, Y:-38.15, Z:-10.09 [[ 9.85028267e-01 1.67786093e-01 3.95871244e-02 2.29741237e+02] [-1.67643733e-01 9.85823411e-01 -6.91241353e-03 -3.81465890e+01] [-4.01857209e-02 1.72389380e-04 9.99192213e-01 -1.00895094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20587156000002 meters 0.03318972821001112 Centerline is valid? [True, True] Translation: X:229.77, Y:-38.15, Z:-10.09 [[ 9.85252336e-01 1.66454059e-01 3.96343403e-02 2.29768456e+02] [-1.66310382e-01 9.86049185e-01 -6.91816513e-03 -3.81536755e+01] [-4.02329656e-02 2.24536083e-04 9.99190301e-01 -1.00922898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23587156000002 meters 0.016867030756520268 Centerline is valid? [True, True] Translation: X:229.80, Y:-38.16, Z:-10.09 [[ 9.85442142e-01 1.65358360e-01 3.95018583e-02 2.29797030e+02] [-1.65214863e-01 9.86233513e-01 -6.89253878e-03 -3.81596432e+01] [-4.00977954e-02 2.65904087e-04 9.99195725e-01 -1.00929309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26587156000002 meters 0.02279256996489961 Centerline is valid? [True, True] Translation: X:229.83, Y:-38.17, Z:-10.10 [[ 9.85603327e-01 1.64375593e-01 3.95821432e-02 2.29825574e+02] [-1.64230797e-01 9.86397776e-01 -6.90462506e-03 -3.81654518e+01] [-4.01786898e-02 3.04614528e-04 9.99192464e-01 -1.00950377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29587156000002 meters 0.018394667066197346 Centerline is valid? [True, True] Translation: X:229.85, Y:-38.17, Z:-10.10 [[ 9.85894526e-01 1.62717417e-01 3.91794111e-02 2.29853807e+02] [-1.62574319e-01 9.86672645e-01 -6.83248526e-03 -3.81725115e+01] [-3.97690175e-02 3.66543732e-04 9.99208832e-01 -1.00963644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32587156000002 meters 0.019109070752700016 Centerline is valid? [True, True] Translation: X:229.88, Y:-38.18, Z:-10.10 [[ 9.86022947e-01 1.61912248e-01 3.92832205e-02 2.29880980e+02] [-1.61767826e-01 9.86805080e-01 -6.84872473e-03 -3.81790736e+01] [-3.98737740e-02 3.98238560e-04 9.99204645e-01 -1.00976762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35587156000003 meters 0.02033223395233903 Centerline is valid? [True, True] Translation: X:229.91, Y:-38.19, Z:-10.10 [[ 9.86348139e-01 1.59734031e-01 4.00298462e-02 2.29908715e+02] [-1.59582375e-01 9.87159965e-01 -6.97635436e-03 -3.81879304e+01] [-4.06302227e-02 4.93056222e-04 9.99174130e-01 -1.00976963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38587156000003 meters 0.024384274246624493 Centerline is valid? [True, True] Translation: X:229.94, Y:-38.19, Z:-10.10 [[ 9.86561882e-01 1.58493596e-01 3.96917251e-02 2.29936336e+02] [-1.58343566e-01 9.87359859e-01 -6.91550363e-03 -3.81946956e+01] [-4.02860792e-02 5.37642996e-04 9.99188042e-01 -1.00993665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41587156000003 meters 0.022613324967052924 Centerline is valid? [True, True] Translation: X:229.96, Y:-38.20, Z:-10.10 [[ 9.86792124e-01 1.57150367e-01 3.93073180e-02 2.29963812e+02] [-1.57002243e-01 9.87574514e-01 -6.84657181e-03 -3.82017570e+01] [-3.98948467e-02 5.84806038e-04 9.99203713e-01 -1.01008437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44587156000003 meters 0.023588377577545876 Centerline is valid? [True, True] Translation: X:229.99, Y:-38.21, Z:-10.10 [[ 9.87008116e-01 1.55880928e-01 3.89373194e-02 2.29992438e+02] [-1.55734651e-01 9.87775653e-01 -6.78066233e-03 -3.82086671e+01] [-3.95183120e-02 6.28678922e-04 9.99218649e-01 -1.01026850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47587156000003 meters 0.025331983162480712 Centerline is valid? [True, True] Translation: X:230.02, Y:-38.22, Z:-10.10 [[ 9.87400010e-01 1.53525618e-01 3.83549743e-02 2.30020120e+02] [-1.53381942e-01 9.88144412e-01 -6.67841831e-03 -3.82188550e+01] [-3.89255618e-02 7.11309886e-04 9.99241860e-01 -1.01043747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50587156000003 meters 0.026595204923405346 Centerline is valid? [True, True] Translation: X:230.05, Y:-38.23, Z:-10.11 [[ 9.87503721e-01 1.52883515e-01 3.82495922e-02 2.30048139e+02] [-1.52740202e-01 9.88243944e-01 -6.65863521e-03 -3.82268341e+01] [-3.88179234e-02 7.33176614e-04 9.99246031e-01 -1.01058309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53587156000003 meters 0.02695413156666093 Centerline is valid? [True, True] Translation: X:230.08, Y:-38.23, Z:-10.11 [[ 9.87622745e-01 1.52036330e-01 3.85521431e-02 2.30077164e+02] [-1.51890137e-01 9.88374605e-01 -6.71019953e-03 -3.82339133e+01] [-3.91241533e-02 7.71455365e-04 9.99234059e-01 -1.01063675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56587156000003 meters 0.026279646610469175 Centerline is valid? [True, True] Translation: X:230.11, Y:-38.24, Z:-10.11 [[ 9.87604743e-01 1.52106591e-01 3.87357204e-02 2.30107204e+02] [-1.51959099e-01 9.88363794e-01 -6.74108551e-03 -3.82391262e+01] [-3.93103471e-02 7.71282876e-04 9.99226752e-01 -1.01071367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59587156000003 meters 0.026344499950423993 Centerline is valid? [True, True] Translation: X:230.14, Y:-38.25, Z:-10.11 [[ 9.87519304e-01 1.52606768e-01 3.89460983e-02 2.30136102e+02] [-1.52458060e-01 9.88286701e-01 -6.77762151e-03 -3.82452786e+01] [-3.95242219e-02 7.55385498e-04 9.99218327e-01 -1.01084686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62587156000004 meters 0.025171352733114636 Centerline is valid? [True, True] Translation: X:230.16, Y:-38.25, Z:-10.11 [[ 9.87301400e-01 1.54192530e-01 3.82179143e-02 2.30164951e+02] [-1.54050494e-01 9.88040587e-01 -6.65157914e-03 -3.82495446e+01] [-3.87864743e-02 6.79624828e-04 9.99247290e-01 -1.01115672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65587156000004 meters 0.02411856059945308 Centerline is valid? [True, True] Translation: X:230.19, Y:-38.25, Z:-10.11 [[ 9.87184541e-01 1.54957018e-01 3.81445135e-02 2.30194243e+02] [-1.54816112e-01 9.87921000e-01 -6.63842601e-03 -3.82535104e+01] [-3.87124367e-02 6.47966234e-04 9.99250183e-01 -1.01135180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68587156000004 meters 0.024369835593872707 Centerline is valid? [True, True] Translation: X:230.22, Y:-38.26, Z:-10.12 [[ 9.87043881e-01 1.56080232e-01 3.71932677e-02 2.30222080e+02] [-1.55947095e-01 9.87744206e-01 -6.47208752e-03 -3.82620800e+01] [-3.77475996e-02 5.88052309e-04 9.99287132e-01 -1.01181237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71587156000004 meters 0.02355865751744972 Centerline is valid? [True, True] Translation: X:230.25, Y:-38.27, Z:-10.12 [[ 9.87034651e-01 1.56197168e-01 3.69464721e-02 2.30251507e+02] [-1.56065928e-01 9.87725726e-01 -6.42772596e-03 -3.82671851e+01] [-3.74969736e-02 5.78302796e-04 9.99296574e-01 -1.01197038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74587156000004 meters 0.02918128120893767 Centerline is valid? [True, True] Translation: X:230.28, Y:-38.28, Z:-10.12 [[ 9.87063623e-01 1.55866832e-01 3.75624007e-02 2.30280013e+02] [-1.55730974e-01 9.87777896e-01 -6.53396178e-03 -3.82753102e+01] [-3.81217370e-02 5.99806728e-04 9.99272922e-01 -1.01210560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77587156000004 meters 0.023433178766053563 Centerline is valid? [True, True] Translation: X:230.31, Y:-38.28, Z:-10.12 [[ 9.87127005e-01 1.55505973e-01 3.73920820e-02 2.30309848e+02] [-1.55371126e-01 9.87834764e-01 -6.50328567e-03 -3.82807856e+01] [-3.79484983e-02 6.09919012e-04 9.99279510e-01 -1.01205560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80587156000004 meters 0.024015657269702916 Centerline is valid? [True, True] Translation: X:230.34, Y:-38.29, Z:-10.12 [[ 9.87150514e-01 1.55316256e-01 3.75595841e-02 2.30338749e+02] [-1.55180058e-01 9.87864604e-01 -6.53250093e-03 -3.82876713e+01] [-3.81183872e-02 6.20063223e-04 9.99273038e-01 -1.01224345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83587156000004 meters 0.02654072163518607 Centerline is valid? [True, True] Translation: X:230.37, Y:-38.30, Z:-10.13 [[ 9.87198332e-01 1.55232315e-01 3.66385204e-02 2.30367950e+02] [-1.55102679e-01 9.87877806e-01 -6.37177813e-03 -3.82953736e+01] [-3.71834871e-02 6.07476078e-04 9.99308270e-01 -1.01254135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86587156000004 meters 0.029486955161400402 Centerline is valid? [True, True] Translation: X:230.40, Y:-38.30, Z:-10.13 [[ 9.87194423e-01 1.55332050e-01 3.63197550e-02 2.30398287e+02] [-1.55204729e-01 9.87862134e-01 -6.31634186e-03 -3.83014961e+01] [-3.68600410e-02 5.98459752e-04 9.99320259e-01 -1.01269728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89587156000005 meters 0.029309383316287598 Centerline is valid? [True, True] Translation: X:230.43, Y:-38.31, Z:-10.13 [[ 9.87010819e-01 1.56352922e-01 3.69243329e-02 2.30426741e+02] [-1.56222035e-01 9.87701088e-01 -6.42157655e-03 -3.83094360e+01] [-3.74742360e-02 5.69771098e-04 9.99297432e-01 -1.01281030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92587156000002 meters 0.02355279075365644 Centerline is valid? [True, True] Translation: X:230.46, Y:-38.32, Z:-10.13 [[ 9.86928475e-01 1.56800636e-01 3.72256165e-02 2.30455690e+02] [-1.56667939e-01 9.87630118e-01 -6.47350204e-03 -3.83168497e+01] [-3.77801893e-02 5.56822871e-04 9.99285919e-01 -1.01289806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95587156000002 meters 0.02355279075365644 Centerline is valid? [True, True] Translation: X:230.48, Y:-38.32, Z:-10.13 [[ 9.86932033e-01 1.56778220e-01 3.72256801e-02 2.30484404e+02] [-1.56645521e-01 9.87633677e-01 -6.47313631e-03 -3.83217978e+01] [-3.77801821e-02 5.57309507e-04 9.99285919e-01 -1.01302942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98587156000002 meters 0.028572273272834417 Centerline is valid? [True, True] Translation: X:230.51, Y:-38.33, Z:-10.13 [[ 9.86812156e-01 1.57477352e-01 3.74520000e-02 2.30514537e+02] [-1.57343577e-01 9.87522455e-01 -6.51144612e-03 -3.83259242e+01] [-3.80100963e-02 5.32742525e-04 9.99277213e-01 -1.01309234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01587156000002 meters 0.021147046463408512 Centerline is valid? [True, True] Translation: X:230.54, Y:-38.33, Z:-10.13 [[ 9.86659803e-01 1.58156902e-01 3.85853324e-02 2.30544291e+02] [-1.58015424e-01 9.87413855e-01 -6.70848854e-03 -3.83328334e+01] [-3.91606856e-02 5.21918310e-04 9.99232790e-01 -1.01297854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04587156000002 meters 0.02263699124738364 Centerline is valid? [True, True] Translation: X:230.57, Y:-38.34, Z:-10.13 [[ 9.86608413e-01 1.58485149e-01 3.85525130e-02 2.30574389e+02] [-1.58344162e-01 9.87361230e-01 -6.70278252e-03 -3.83398228e+01] [-3.91275482e-02 5.08456243e-04 9.99234095e-01 -1.01319546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07587156000002 meters 0.02120505038071953 Centerline is valid? [True, True] Translation: X:230.60, Y:-38.35, Z:-10.13 [[ 9.86630190e-01 1.58324381e-01 3.86556342e-02 2.30604987e+02] [-1.58182521e-01 9.87387018e-01 -6.72057273e-03 -3.83479098e+01] [-3.92321019e-02 5.16074277e-04 9.99229991e-01 -1.01328381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10587156000003 meters 0.022588339905641356 Centerline is valid? [True, True] Translation: X:230.63, Y:-38.36, Z:-10.14 [[ 9.86576483e-01 1.58662378e-01 3.86405698e-02 2.30633497e+02] [-1.58520850e-01 9.87332769e-01 -6.71889064e-03 -3.83595833e+01] [-3.92171359e-02 5.03363525e-04 9.99230585e-01 -1.01351829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13587156000003 meters 0.021251744984494874 Centerline is valid? [True, True] Translation: X:230.66, Y:-38.36, Z:-10.14 [[ 9.86494834e-01 1.59181268e-01 3.85910095e-02 2.30663824e+02] [-1.59040458e-01 9.87249254e-01 -6.71134647e-03 -3.83649714e+01] [-3.91672660e-02 4.83176784e-04 9.99232551e-01 -1.01358390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16587156000003 meters 0.02018574336119905 Centerline is valid? [True, True] Translation: X:230.69, Y:-38.37, Z:-10.14 [[ 9.86213702e-01 1.60823484e-01 3.89658827e-02 2.30693470e+02] [-1.60681205e-01 9.86983094e-01 -6.77654051e-03 -3.83725771e+01] [-3.95484944e-02 4.22032110e-04 9.99217563e-01 -1.01369254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19587156000003 meters 0.01896564749266802 Centerline is valid? [True, True] Translation: X:230.72, Y:-38.38, Z:-10.14 [[ 9.85969901e-01 1.62377113e-01 3.86914399e-02 2.30723630e+02] [-1.62238028e-01 9.86728709e-01 -6.72881228e-03 -3.83765700e+01] [-3.92705597e-02 3.57183475e-04 9.99228550e-01 -1.01375768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22587156000003 meters 0.01700875541032915 Centerline is valid? [True, True] Translation: X:230.75, Y:-38.38, Z:-10.14 [[ 9.85313706e-01 1.66366454e-01 3.84591191e-02 2.30752762e+02] [-1.66232074e-01 9.86063976e-01 -6.68829994e-03 -3.83784876e+01] [-3.90358606e-02 1.96934488e-04 9.99237791e-01 -1.01395780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25587156000003 meters 0.018440130114645376 Centerline is valid? [True, True] Translation: X:230.78, Y:-38.38, Z:-10.14 [[ 9.84909668e-01 1.68695837e-01 3.86608475e-02 2.30782684e+02] [-1.68561799e-01 9.85668151e-01 -6.72434419e-03 -3.83814705e+01] [-3.92411350e-02 1.06129590e-04 9.99229764e-01 -1.01409067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28587156000003 meters 0.016005528924391985 Centerline is valid? [True, True] Translation: X:230.81, Y:-38.38, Z:-10.14 [[ 9.84466159e-01 1.71095370e-01 3.94050211e-02 2.30812154e+02] [-1.70958079e-01 9.85254472e-01 -6.85282202e-03 -3.83842775e+01] [-3.99964594e-02 9.76466319e-06 9.99199821e-01 -1.01408427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31587156000003 meters 0.017217383073353486 Centerline is valid? [True, True] Translation: X:230.84, Y:-38.38, Z:-10.14 [[ 9.83595460e-01 1.76072762e-01 3.92218484e-02 2.30840331e+02] [-1.75940726e-01 9.84377136e-01 -6.82022608e-03 -3.83827787e+01] [-3.98099468e-02 -1.92377085e-04 9.99207251e-01 -1.01427228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34587156000003 meters 0.018458986583835553 Centerline is valid? [True, True] Translation: X:230.87, Y:-38.38, Z:-10.14 [[ 9.83149875e-01 1.78530970e-01 3.92812455e-02 2.30869615e+02] [-1.78400589e-01 9.83934249e-01 -6.82817111e-03 -3.83842562e+01] [-3.98692028e-02 -2.94681781e-04 9.99204864e-01 -1.01437919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37587156000004 meters 0.020081081374979177 Centerline is valid? [True, True] Translation: X:230.90, Y:-38.39, Z:-10.15 [[ 9.82768921e-01 1.80683616e-01 3.89702217e-02 2.30897459e+02] [-1.80557053e-01 9.83541197e-01 -6.77233874e-03 -3.83853743e+01] [-3.95524691e-02 -3.80704338e-04 9.99217422e-01 -1.01455607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40587156000004 meters 0.022184378682025507 Centerline is valid? [True, True] Translation: X:230.93, Y:-38.39, Z:-10.15 [[ 9.82060909e-01 1.84711945e-01 3.79192327e-02 2.30925842e+02] [-1.84595200e-01 9.82792560e-01 -6.58755565e-03 -3.83866197e+01] [-3.84835400e-02 -5.30327450e-04 9.99259093e-01 -1.01475582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43587156000004 meters 0.02575115097035129 Centerline is valid? [True, True] Translation: X:230.95, Y:-38.39, Z:-10.15 [[ 9.81737784e-01 1.86478076e-01 3.76410751e-02 2.30953934e+02] [-1.86364425e-01 9.82458941e-01 -6.53689441e-03 -3.83852863e+01] [-3.81997983e-02 -5.97441090e-04 9.99269943e-01 -1.01501837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46587156000004 meters 0.02978807079399934 Centerline is valid? [True, True] Translation: X:230.98, Y:-38.38, Z:-10.15 [[ 9.81036270e-01 1.90131725e-01 3.76532046e-02 2.30983547e+02] [-1.90020782e-01 9.81758308e-01 -6.53654918e-03 -3.83829173e+01] [-3.82091518e-02 -7.42299548e-04 9.99269488e-01 -1.01506449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49587156000004 meters 0.03140320049561516 Centerline is valid? [True, True] Translation: X:231.01, Y:-38.38, Z:-10.15 [[ 9.80743642e-01 1.91605793e-01 3.78038111e-02 2.31012989e+02] [-1.91495126e-01 9.81471636e-01 -6.56080807e-03 -3.83838378e+01] [-3.83604572e-02 -8.04774794e-04 9.99263643e-01 -1.01510182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52587156000004 meters 0.02971175637338813 Centerline is valid? [True, True] Translation: X:231.04, Y:-38.39, Z:-10.15 [[ 9.80354179e-01 1.93443241e-01 3.85408416e-02 2.31041310e+02] [-1.93329704e-01 9.81111059e-01 -6.68691514e-03 -3.83884927e+01] [-3.91063844e-02 -8.95544309e-04 9.99234651e-01 -1.01498940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55587156000004 meters 0.03144756164034909 Centerline is valid? [True, True] Translation: X:231.07, Y:-38.39, Z:-10.15 [[ 9.80317251e-01 1.93627687e-01 3.85539484e-02 2.31069211e+02] [-1.93514289e-01 9.81074666e-01 -6.68732601e-03 -3.83900126e+01] [-3.91191535e-02 -9.05038861e-04 9.99234143e-01 -1.01516217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58587156000004 meters 0.0341043361773558 Centerline is valid? [True, True] Translation: X:231.10, Y:-38.39, Z:-10.16 [[ 9.80405223e-01 1.93227955e-01 3.83217537e-02 2.31096961e+02] [-1.93115700e-01 9.81153491e-01 -6.64482913e-03 -3.83903781e+01] [-3.88834892e-02 -8.85907113e-04 9.99243358e-01 -1.01552686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61587156000004 meters 0.030398574706576708 Centerline is valid? [True, True] Translation: X:231.13, Y:-38.40, Z:-10.16 [[ 9.80703080e-01 1.91902557e-01 3.73480603e-02 2.31125181e+02] [-1.91795108e-01 9.81413645e-01 -6.47249822e-03 -3.83989311e+01] [-3.78959850e-02 -8.15576327e-04 9.99281356e-01 -1.01579002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64587156000005 meters 0.02947692578103087 Centerline is valid? [True, True] Translation: X:231.15, Y:-38.40, Z:-10.16 [[ 9.80947401e-01 1.90650384e-01 3.73447019e-02 2.31152670e+02] [-1.90542092e-01 9.81657700e-01 -6.47074035e-03 -3.84038295e+01] [-3.78933633e-02 -7.68281679e-04 9.99281493e-01 -1.01593706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67587156000002 meters 0.02547658197097976 Centerline is valid? [True, True] Translation: X:231.18, Y:-38.41, Z:-10.16 [[ 9.81657057e-01 1.86787943e-01 3.82058421e-02 2.31181818e+02] [-1.86671774e-01 9.82400051e-01 -6.61731031e-03 -3.84125964e+01] [-3.87694550e-02 -6.36022961e-04 9.99247980e-01 -1.01592087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70587156000002 meters 0.02301240378965655 Centerline is valid? [True, True] Translation: X:231.21, Y:-38.42, Z:-10.16 [[ 9.82083896e-01 1.84480178e-01 3.84484648e-02 2.31210018e+02] [-1.84360770e-01 9.82836081e-01 -6.65908639e-03 -3.84206022e+01] [-3.90170079e-02 -5.48607069e-04 9.99238396e-01 -1.01597615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73587156000002 meters 0.020056166362125094 Centerline is valid? [True, True] Translation: X:231.24, Y:-38.43, Z:-10.16 [[ 9.82807416e-01 1.80558274e-01 3.85783940e-02 2.31236826e+02] [-1.80435108e-01 9.83564209e-01 -6.67975279e-03 -3.84285084e+01] [-3.91504122e-02 -3.95986090e-04 9.99233250e-01 -1.01607542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76587156000002 meters 0.023896467917267402 Centerline is valid? [True, True] Translation: X:231.27, Y:-38.43, Z:-10.16 [[ 9.83111590e-01 1.78967548e-01 3.82389713e-02 2.31265264e+02] [-1.78845429e-01 9.83854922e-01 -6.61859252e-03 -3.84343382e+01] [-3.88061134e-02 -3.32050233e-04 9.99246704e-01 -1.01632031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79587156000002 meters 0.018050030730223456 Centerline is valid? [True, True] Translation: X:231.29, Y:-38.44, Z:-10.16 [[ 9.83371494e-01 1.77420040e-01 3.87638154e-02 2.31293857e+02] [-1.77293418e-01 9.84135180e-01 -6.70753319e-03 -3.84408872e+01] [-3.93388852e-02 -2.76572391e-04 9.99225888e-01 -1.01633760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82587156000002 meters 0.01659417597435036 Centerline is valid? [True, True] Translation: X:231.32, Y:-38.45, Z:-10.16 [[ 9.84088173e-01 1.73339700e-01 3.90360884e-02 2.31320457e+02] [-1.73208156e-01 9.84862089e-01 -6.75276860e-03 -3.84490006e+01] [-3.96156864e-02 -1.16049174e-04 9.99214984e-01 -1.01648695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85587156000003 meters 0.016200605180321768 Centerline is valid? [True, True] Translation: X:231.35, Y:-38.46, Z:-10.17 [[ 9.84543108e-01 1.70762617e-01 3.89229504e-02 2.31348152e+02] [-1.70629918e-01 9.85312198e-01 -6.73074383e-03 -3.84560537e+01] [-3.95006172e-02 -1.47123682e-05 9.99219546e-01 -1.01660861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88587156000003 meters 0.017345572030566928 Centerline is valid? [True, True] Translation: X:231.37, Y:-38.47, Z:-10.17 [[ 9.85503360e-01 1.65251559e-01 3.84063874e-02 2.31374897e+02] [-1.65118248e-01 9.86251429e-01 -6.63948334e-03 -3.84666134e+01] [-3.89755395e-02 2.01637743e-04 9.99240145e-01 -1.01689719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91587156000003 meters 0.01878354269636833 Centerline is valid? [True, True] Translation: X:231.40, Y:-38.48, Z:-10.17 [[ 9.86011221e-01 1.62256036e-01 3.81425110e-02 2.31403395e+02] [-1.62122365e-01 9.86748640e-01 -6.59240786e-03 -3.84755514e+01] [-3.87067288e-02 3.16434018e-04 9.99250564e-01 -1.01712074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94587156000003 meters 0.020109639131718413 Centerline is valid? [True, True] Translation: X:231.43, Y:-38.48, Z:-10.17 [[ 9.86478073e-01 1.59443127e-01 3.79328581e-02 2.31432701e+02] [-1.59308884e-01 9.87207025e-01 -6.55511648e-03 -3.84837050e+01] [-3.84927523e-02 4.23437383e-04 9.99258790e-01 -1.01721611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97587156000003 meters 0.03440695104554988 Centerline is valid? [True, True] Translation: X:231.46, Y:-38.49, Z:-10.17 [[ 9.86943473e-01 1.56718093e-01 3.71755363e-02 2.31463070e+02] [-1.56587233e-01 9.87643240e-01 -6.42406503e-03 -3.84911974e+01] [-3.77229343e-02 5.18974701e-04 9.99288102e-01 -1.01742690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00587156000003 meters 0.025964460485447094 Centerline is valid? [True, True] Translation: X:231.49, Y:-38.50, Z:-10.17 [[ 9.87739520e-01 1.51377514e-01 3.81508786e-02 2.31491250e+02] [-1.51235666e-01 9.88475744e-01 -6.59374525e-03 -3.85036840e+01] [-3.87093628e-02 7.43129257e-04 9.99250235e-01 -1.01739577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03587156000003 meters 0.027319566105572825 Centerline is valid? [True, True] Translation: X:231.52, Y:-38.51, Z:-10.17 [[ 9.88020117e-01 1.49272802e-01 3.91647606e-02 2.31522224e+02] [-1.49121693e-01 9.88795689e-01 -6.76807697e-03 -3.85123116e+01] [-3.97362362e-02 8.46680785e-04 9.99209845e-01 -1.01739355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06587156000003 meters 0.0379097281845181 Centerline is valid? [True, True] Translation: X:231.55, Y:-38.52, Z:-10.17 [[ 9.88536112e-01 1.45653129e-01 3.97683495e-02 2.31551775e+02] [-1.45494088e-01 9.89335199e-01 -6.88001188e-03 -3.85239971e+01] [-4.03463232e-02 1.01508043e-03 9.99185240e-01 -1.01742076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09587156000003 meters 0.03163428477212944 Centerline is valid? [True, True] Translation: X:231.58, Y:-38.53, Z:-10.17 [[ 9.88672386e-01 1.44629531e-01 4.01149963e-02 2.31582721e+02] [-1.44466815e-01 9.89485300e-01 -6.94116124e-03 -3.85314814e+01] [-4.06970961e-02 1.06724871e-03 9.99170960e-01 -1.01747238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12587156000004 meters 0.03889342441701804 Centerline is valid? [True, True] Translation: X:231.61, Y:-38.54, Z:-10.18 [[ 9.88799858e-01 1.44027482e-01 3.91270378e-02 2.31612808e+02] [-1.43872077e-01 9.89573111e-01 -6.77369619e-03 -3.85410557e+01] [-3.96946630e-02 1.06854164e-03 9.99211285e-01 -1.01781063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15587156000004 meters 0.03566715000491895 Centerline is valid? [True, True] Translation: X:231.64, Y:-38.55, Z:-10.18 [[ 9.89018903e-01 1.42676771e-01 3.85350196e-02 2.31643981e+02] [-1.42524892e-01 9.89768715e-01 -6.67423957e-03 -3.85495405e+01] [-3.90930158e-02 1.10874961e-03 9.99234961e-01 -1.01805041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18587156000004 meters 0.033878348482846925 Centerline is valid? [True, True] Translation: X:231.68, Y:-38.55, Z:-10.18 [[ 9.89050645e-01 1.42540202e-01 3.82244888e-02 2.31675682e+02] [-1.42390418e-01 9.89788389e-01 -6.62669673e-03 -3.85530941e+01] [-3.87787259e-02 1.11133774e-03 9.99247204e-01 -1.01822002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21587156000004 meters 0.039943754986906 Centerline is valid? [True, True] Translation: X:231.71, Y:-38.56, Z:-10.19 [[ 9.89075698e-01 1.42603517e-01 3.73296208e-02 2.31706391e+02] [-1.42460474e-01 9.89779294e-01 -6.47782391e-03 -3.85616692e+01] [-3.78718462e-02 1.08906271e-03 9.99282011e-01 -1.01851538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24587156000004 meters 0.036631188712231755 Centerline is valid? [True, True] Translation: X:231.74, Y:-38.57, Z:-10.19 [[ 9.88995237e-01 1.42987839e-01 3.79855020e-02 2.31736610e+02] [-1.42839749e-01 9.89723834e-01 -6.59833642e-03 -3.85725830e+01] [-3.85386385e-02 1.09988374e-03 9.99256505e-01 -1.01864874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27587156000004 meters 0.03336875234099067 Centerline is valid? [True, True] Translation: X:231.77, Y:-38.58, Z:-10.19 [[ 9.88573078e-01 1.45746274e-01 3.84875810e-02 2.31767825e+02] [-1.45596032e-01 9.89321483e-01 -6.69312887e-03 -3.85755114e+01] [-3.90520893e-02 1.01300792e-03 9.99236663e-01 -1.01860426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30587156000004 meters 0.029314804735125405 Centerline is valid? [True, True] Translation: X:231.80, Y:-38.58, Z:-10.19 [[ 9.88238049e-01 1.47920057e-01 3.87971099e-02 2.31800305e+02] [-1.47769057e-01 9.88998879e-01 -6.74705637e-03 -3.85756561e+01] [-3.93683232e-02 9.34685489e-04 9.99224330e-01 -1.01863633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33587156000004 meters 0.02947708871008776 Centerline is valid? [True, True] Translation: X:231.83, Y:-38.58, Z:-10.19 [[ 9.87862176e-01 1.50394927e-01 3.88546961e-02 2.31831098e+02] [-1.50245124e-01 9.88625639e-01 -6.76380797e-03 -3.85821279e+01] [-3.94299911e-02 8.43981409e-04 9.99221979e-01 -1.01884515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36587156000004 meters 0.034923348386829416 Centerline is valid? [True, True] Translation: X:231.86, Y:-38.58, Z:-10.19 [[ 9.87104156e-01 1.55410921e-01 3.83774759e-02 2.31862881e+02] [-1.55268273e-01 9.87849701e-01 -6.68813697e-03 -3.85812686e+01] [-3.89505876e-02 6.43083383e-04 9.99240931e-01 -1.01908141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39587156000005 meters 0.022843101328171068 Centerline is valid? [True, True] Translation: X:231.89, Y:-38.59, Z:-10.19 [[ 9.86676308e-01 1.57995029e-01 3.88256784e-02 2.31894329e+02] [-1.57851021e-01 9.87439756e-01 -6.76640283e-03 -3.85853381e+01] [-3.94070764e-02 5.47576367e-04 9.99223089e-01 -1.01919755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42587156000002 meters 0.025865556056400785 Centerline is valid? [True, True] Translation: X:231.92, Y:-38.59, Z:-10.20 [[ 9.86055153e-01 1.62072568e-01 3.77851458e-02 2.31924327e+02] [-1.61938880e-01 9.86778768e-01 -6.59257607e-03 -3.85853562e+01] [-3.83540554e-02 3.81759404e-04 9.99264140e-01 -1.01958909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45587156000002 meters 0.019077750373173216 Centerline is valid? [True, True] Translation: X:231.95, Y:-38.59, Z:-10.20 [[ 9.85806029e-01 1.63548038e-01 3.79277283e-02 2.31954031e+02] [-1.63414445e-01 9.86535318e-01 -6.61707972e-03 -3.85888569e+01] [-3.84992539e-02 3.25218436e-04 9.99258576e-01 -1.01970916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48587156000002 meters 0.017931498269794427 Centerline is valid? [True, True] Translation: X:231.98, Y:-38.59, Z:-10.20 [[ 9.85497872e-01 1.65538203e-01 3.72967647e-02 2.31983349e+02] [-1.65410475e-01 9.86203349e-01 -6.50614550e-03 -3.85915061e+01] [-3.78592098e-02 2.42516959e-04 9.99283054e-01 -1.01986950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51587156000002 meters 0.017756202320495736 Centerline is valid? [True, True] Translation: X:232.01, Y:-38.60, Z:-10.20 [[ 9.85416681e-01 1.66023596e-01 3.72844492e-02 2.32012594e+02] [-1.65896331e-01 9.86121755e-01 -6.50321329e-03 -3.85960101e+01] [-3.78466933e-02 2.23021544e-04 9.99283532e-01 -1.02001435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54587156000002 meters 0.024103723368189736 Centerline is valid? [True, True] Translation: X:232.04, Y:-38.60, Z:-10.20 [[ 9.85403694e-01 1.66259927e-01 3.65676989e-02 2.32041750e+02] [-1.66137729e-01 9.86081940e-01 -6.37666405e-03 -3.86012355e+01] [-3.71189312e-02 2.08313863e-04 9.99310833e-01 -1.02024838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57587156000002 meters 0.01767699648607248 Centerline is valid? [True, True] Translation: X:232.07, Y:-38.61, Z:-10.20 [[ 9.85368391e-01 1.66238505e-01 3.76017614e-02 2.32070004e+02] [-1.66109313e-01 9.86085551e-01 -6.55611756e-03 -3.86089618e+01] [-3.81684328e-02 2.14188270e-04 9.99271297e-01 -1.02018156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60587156000003 meters 0.01754209997645614 Centerline is valid? [True, True] Translation: X:232.10, Y:-38.62, Z:-10.20 [[ 9.85350432e-01 1.66289872e-01 3.78444924e-02 2.32099460e+02] [-1.66159105e-01 9.86076890e-01 -6.59682669e-03 -3.86151164e+01] [-3.84145648e-02 2.11979034e-04 9.99261866e-01 -1.02021498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63587156000003 meters 0.01744250902367698 Centerline is valid? [True, True] Translation: X:232.13, Y:-38.62, Z:-10.20 [[ 9.85340102e-01 1.66395101e-01 3.76504172e-02 2.32129501e+02] [-1.66265750e-01 9.86059140e-01 -6.56299666e-03 -3.86220291e+01] [-3.82175885e-02 2.06808953e-04 9.99269420e-01 -1.02036201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66587156000003 meters 0.017596135205584843 Centerline is valid? [True, True] Translation: X:232.16, Y:-38.63, Z:-10.21 [[ 9.85352816e-01 1.66326568e-01 3.76204736e-02 2.32158085e+02] [-1.66197369e-01 9.86070702e-01 -6.55785767e-03 -3.86286937e+01] [-3.81871928e-02 2.09379795e-04 9.99270581e-01 -1.02053067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69587156000003 meters 0.017538435040102295 Centerline is valid? [True, True] Translation: X:232.19, Y:-38.63, Z:-10.21 [[ 9.85356252e-01 1.66246933e-01 3.78815714e-02 2.32187899e+02] [-1.66115896e-01 9.86084130e-01 -6.60283738e-03 -3.86344199e+01] [-3.84521178e-02 2.13415919e-04 9.99260421e-01 -1.02062621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72587156000003 meters 0.017289228252622302 Centerline is valid? [True, True] Translation: X:232.22, Y:-38.64, Z:-10.21 [[ 9.85247583e-01 1.66837586e-01 3.81106412e-02 2.32217735e+02] [-1.66705400e-01 9.85984373e-01 -6.64276473e-03 -3.86391145e+01] [-3.86847594e-02 1.91518196e-04 9.99251446e-01 -1.02071153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75587156000003 meters 0.01713109913476183 Centerline is valid? [True, True] Translation: X:232.25, Y:-38.65, Z:-10.21 [[ 9.85204208e-01 1.67126725e-01 3.79648032e-02 2.32247328e+02] [-1.66995764e-01 9.85935406e-01 -6.61734487e-03 -3.86450431e+01] [-3.85367789e-02 1.79474708e-04 9.99257166e-01 -1.02088251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78587156000003 meters 0.01700279257354017 Centerline is valid? [True, True] Translation: X:232.28, Y:-38.65, Z:-10.21 [[ 9.85148710e-01 1.67429418e-01 3.80711206e-02 2.32276803e+02] [-1.67297948e-01 9.85884051e-01 -6.63587621e-03 -3.86535709e+01] [-3.86447515e-02 1.68104547e-04 9.99252998e-01 -1.02100679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81587156000003 meters 0.01702414417807726 Centerline is valid? [True, True] Translation: X:232.31, Y:-38.66, Z:-10.21 [[ 9.85122035e-01 1.67579941e-01 3.80990621e-02 2.32306988e+02] [-1.67448391e-01 9.85858477e-01 -6.64074648e-03 -3.86603236e+01] [-3.86731393e-02 1.62319039e-04 9.99251901e-01 -1.02118003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84587156000003 meters 0.017098598728197426 Centerline is valid? [True, True] Translation: X:232.34, Y:-38.67, Z:-10.21 [[ 9.85141039e-01 1.67607596e-01 3.74810158e-02 2.32335133e+02] [-1.67480298e-01 9.85853776e-01 -6.53310019e-03 -3.86685368e+01] [-3.80457982e-02 1.58693421e-04 9.99275984e-01 -1.02143528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87587156000004 meters 0.017098598728197426 Centerline is valid? [True, True] Translation: X:232.36, Y:-38.67, Z:-10.22 [[ 9.85141040e-01 1.67607574e-01 3.74811036e-02 2.32364659e+02] [-1.67480294e-01 9.85853780e-01 -6.53259679e-03 -3.86736831e+01] [-3.80458003e-02 1.58182944e-04 9.99275984e-01 -1.02157039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90587156000004 meters 0.01707239894013954 Centerline is valid? [True, True] Translation: X:232.39, Y:-38.68, Z:-10.22 [[ 9.85129124e-01 1.67720796e-01 3.72873239e-02 2.32394088e+02] [-1.67594911e-01 9.85834525e-01 -6.49882285e-03 -3.86802695e+01] [-3.78491190e-02 1.53013944e-04 9.99283454e-01 -1.02175433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93587156000004 meters 0.020812292703518132 Centerline is valid? [True, True] Translation: X:232.42, Y:-38.69, Z:-10.22 [[ 9.84994697e-01 1.68681085e-01 3.64984639e-02 2.32422447e+02] [-1.68561128e-01 9.85670675e-01 -6.36142285e-03 -3.86860644e+01] [-3.70485172e-02 1.13745554e-04 9.99313462e-01 -1.02203150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96587156000004 meters 0.01675316006253395 Centerline is valid? [True, True] Translation: X:232.45, Y:-38.69, Z:-10.22 [[ 9.84855941e-01 1.69447160e-01 3.66938161e-02 2.32450442e+02] [-1.69326455e-01 9.85539270e-01 -6.39522097e-03 -3.86912179e+01] [-3.72468488e-02 8.51375668e-05 9.99306092e-01 -1.02219541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99587156000004 meters 0.01666675884224332 Centerline is valid? [True, True] Translation: X:232.48, Y:-38.70, Z:-10.22 [[ 9.84684900e-01 1.70449940e-01 3.66396663e-02 2.32479969e+02] [-1.70330335e-01 9.85366336e-01 -6.38443472e-03 -3.86963889e+01] [-3.71917202e-02 4.58098171e-05 9.99308148e-01 -1.02232529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02587156000004 meters 0.018809334668979636 Centerline is valid? [True, True] Translation: X:232.51, Y:-38.70, Z:-10.23 [[ 9.84166020e-01 1.73508342e-01 3.62229297e-02 2.32508622e+02] [-1.73393540e-01 9.84832397e-01 -6.31109482e-03 -3.86984138e+01] [-3.67685423e-02 -6.96569402e-05 9.99323806e-01 -1.02255366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05587156000004 meters 0.017342455238586824 Centerline is valid? [True, True] Translation: X:232.54, Y:-38.70, Z:-10.23 [[ 9.83840488e-01 1.75279325e-01 3.65383648e-02 2.32537818e+02] [-1.75163778e-01 9.84518735e-01 -6.36488223e-03 -3.87007703e+01] [-3.70883370e-02 -1.38169199e-04 9.99311981e-01 -1.02257538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08587156000004 meters 0.019594249647042903 Centerline is valid? [True, True] Translation: X:232.57, Y:-38.70, Z:-10.23 [[ 9.83069181e-01 1.79340316e-01 3.75770791e-02 2.32566500e+02] [-1.79221132e-01 9.83787050e-01 -6.54413431e-03 -3.86998911e+01] [-3.81414709e-02 -3.01269879e-04 9.99272304e-01 -1.02260944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11587156000004 meters 0.021175164918037215 Centerline is valid? [True, True] Translation: X:232.59, Y:-38.70, Z:-10.23 [[ 9.82699418e-01 1.81261819e-01 3.80264090e-02 2.32594566e+02] [-1.81141288e-01 9.83434800e-01 -6.62019867e-03 -3.87021014e+01] [-3.85964832e-02 -3.82487321e-04 9.99254805e-01 -1.02262828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14587156000005 meters 0.023000037967288223 Centerline is valid? [True, True] Translation: X:232.62, Y:-38.70, Z:-10.23 [[ 9.82294509e-01 1.83344793e-01 3.84991564e-02 2.32623118e+02] [-1.83222933e-01 9.83048556e-01 -6.70023593e-03 -3.87043766e+01] [-3.90749935e-02 -4.72323384e-04 9.99236169e-01 -1.02265790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17587156000002 meters 0.02548391211672973 Centerline is valid? [True, True] Translation: X:232.65, Y:-38.71, Z:-10.23 [[ 9.81682631e-01 1.86568477e-01 3.86188453e-02 2.32651879e+02] [-1.86448416e-01 9.82441774e-01 -6.71934070e-03 -3.87052469e+01] [-3.91943841e-02 -6.04162491e-04 9.99231422e-01 -1.02273276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20587156000002 meters 0.036049262431293125 Centerline is valid? [True, True] Translation: X:232.68, Y:-38.71, Z:-10.23 [[ 9.81459818e-01 1.87895391e-01 3.78410912e-02 2.32679759e+02] [-1.87781165e-01 9.82188834e-01 -6.58245523e-03 -3.87077595e+01] [-3.84039102e-02 -6.45428874e-04 9.99262089e-01 -1.02303722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23587156000002 meters 0.029437697967959347 Centerline is valid? [True, True] Translation: X:232.71, Y:-38.71, Z:-10.23 [[ 9.81147358e-01 1.89604211e-01 3.74179889e-02 2.32708467e+02] [-1.89493864e-01 9.81860348e-01 -6.50629120e-03 -3.87101016e+01] [-3.79728598e-02 -7.06848897e-04 9.99278521e-01 -1.02332031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26587156000002 meters 0.03022831272626097 Centerline is valid? [True, True] Translation: X:232.74, Y:-38.71, Z:-10.24 [[ 9.81053516e-01 1.90149843e-01 3.71084323e-02 2.32737328e+02] [-1.90041767e-01 9.81754813e-01 -6.45080293e-03 -3.87140203e+01] [-3.76580012e-02 -7.23569163e-04 9.99290424e-01 -1.02354579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29587156000002 meters 0.03130615424183328 Centerline is valid? [True, True] Translation: X:232.76, Y:-38.72, Z:-10.24 [[ 9.80927507e-01 1.90832810e-01 3.69332530e-02 2.32764938e+02] [-1.90726292e-01 9.81622269e-01 -6.41885755e-03 -3.87178504e+01] [-3.74794322e-02 -7.47708467e-04 9.99297120e-01 -1.02370746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32587156000002 meters 0.032154945348790036 Centerline is valid? [True, True] Translation: X:232.79, Y:-38.72, Z:-10.24 [[ 9.80733585e-01 1.91801989e-01 3.70625532e-02 2.32793441e+02] [-1.91695514e-01 9.81433326e-01 -6.43870893e-03 -3.87232653e+01] [-3.76093820e-02 -7.90067087e-04 9.99292205e-01 -1.02381131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35587156000003 meters 0.03756762226858183 Centerline is valid? [True, True] Translation: X:232.82, Y:-38.73, Z:-10.24 [[ 9.80631792e-01 1.92357073e-01 3.68787943e-02 2.32821357e+02] [-1.92252105e-01 9.81324667e-01 -6.40516124e-03 -3.87310648e+01] [-3.74221486e-02 -8.08921092e-04 9.99299219e-01 -1.02378692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38587156000003 meters 0.030823600251341787 Centerline is valid? [True, True] Translation: X:232.85, Y:-38.74, Z:-10.24 [[ 9.80484579e-01 1.92955860e-01 3.76566981e-02 2.32849866e+02] [-1.92846927e-01 9.81207069e-01 -6.53843925e-03 -3.87351116e+01] [-3.82106485e-02 -8.51139638e-04 9.99269344e-01 -1.02378635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41587156000003 meters 0.03349759174776521 Centerline is valid? [True, True] Translation: X:232.88, Y:-38.73, Z:-10.24 [[ 9.80100687e-01 1.94867555e-01 3.78057990e-02 2.32878442e+02] [-1.94759245e-01 9.80829123e-01 -6.56258634e-03 -3.87342842e+01] [-3.83598639e-02 -9.31033477e-04 9.99263556e-01 -1.02390275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44587156000003 meters 0.035472661158182116 Centerline is valid? [True, True] Translation: X:232.91, Y:-38.73, Z:-10.24 [[ 9.79865372e-01 1.96083520e-01 3.76179077e-02 2.32906688e+02] [-1.95977263e-01 9.80586713e-01 -6.52774701e-03 -3.87349138e+01] [-3.81676040e-02 -9.75941338e-04 9.99270875e-01 -1.02406375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47587156000003 meters 0.0393514235070454 Centerline is valid? [True, True] Translation: X:232.94, Y:-38.73, Z:-10.24 [[ 9.79233758e-01 1.99292996e-01 3.71960925e-02 2.32935853e+02] [-1.99191506e-01 9.79939341e-01 -6.45231327e-03 -3.87309918e+01] [-3.77358152e-02 -1.09082270e-03 9.99287155e-01 -1.02421854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50587156000003 meters 0.041554979052702175 Centerline is valid? [True, True] Translation: X:232.97, Y:-38.73, Z:-10.24 [[ 9.78913000e-01 2.00920755e-01 3.68807241e-02 2.32965375e+02] [-2.00822198e-01 9.79606828e-01 -6.39582024e-03 -3.87306526e+01] [-3.74136622e-02 -1.14551651e-03 9.99299207e-01 -1.02441343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53587156000003 meters 0.044942020831946185 Centerline is valid? [True, True] Translation: X:233.00, Y:-38.73, Z:-10.25 [[ 9.78339192e-01 2.03752040e-01 3.65722712e-02 2.32996080e+02] [-2.03657149e-01 9.79021735e-01 -6.34098856e-03 -3.87274539e+01] [-3.70970377e-02 -1.24456686e-03 9.99310893e-01 -1.02455826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56587156000003 meters 0.05373881325435208 Centerline is valid? [True, True] Translation: X:233.03, Y:-38.72, Z:-10.25 [[ 9.78183119e-01 2.04454417e-01 3.68263118e-02 2.33025682e+02] [-2.04358715e-01 9.78875248e-01 -6.38465486e-03 -3.87188655e+01] [-3.73537360e-02 -1.28041614e-03 9.99301285e-01 -1.02487965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59587156000003 meters 0.043068994129035316 Centerline is valid? [True, True] Translation: X:233.05, Y:-38.74, Z:-10.25 [[ 9.78173016e-01 2.04510075e-01 3.67855865e-02 2.33052169e+02] [-2.04414753e-01 9.78863616e-01 -6.37413431e-03 -3.87355676e+01] [-3.73116469e-02 -1.28451039e-03 9.99302853e-01 -1.02464378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62587156000004 meters 0.0405532593222484 Centerline is valid? [True, True] Translation: X:233.08, Y:-38.74, Z:-10.25 [[ 9.78506113e-01 2.02744637e-01 3.76881822e-02 2.33081226e+02] [-2.02643341e-01 9.79230847e-01 -6.52868971e-03 -3.87371017e+01] [-3.82290874e-02 -1.24889636e-03 9.99268221e-01 -1.02458474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65587156000004 meters 0.043496709018415916 Centerline is valid? [True, True] Translation: X:233.11, Y:-38.74, Z:-10.25 [[ 9.78889140e-01 2.00889016e-01 3.76783169e-02 2.33109192e+02] [-2.00786467e-01 9.79613299e-01 -6.52524728e-03 -3.87392074e+01] [-3.82210308e-02 -1.17780242e-03 9.99268615e-01 -1.02477049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68587156000004 meters 0.04109751618284596 Centerline is valid? [True, True] Translation: X:233.14, Y:-38.75, Z:-10.25 [[ 9.79998161e-01 1.95311149e-01 3.81727652e-02 2.33137573e+02] [-1.95201760e-01 9.80740844e-01 -6.60826798e-03 -3.87475594e+01] [-3.87282584e-02 -9.75300482e-04 9.99249304e-01 -1.02486675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71587156000004 meters 0.0317002745650322 Centerline is valid? [True, True] Translation: X:233.17, Y:-38.75, Z:-10.25 [[ 9.80562940e-01 1.92203860e-01 3.94207610e-02 2.33166274e+02] [-1.92084712e-01 9.81354625e-01 -6.82373437e-03 -3.87545646e+01] [-3.99972942e-02 -8.81024472e-04 9.99199400e-01 -1.02484611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74587156000004 meters 0.02853514697133318 Centerline is valid? [True, True] Translation: X:233.19, Y:-38.76, Z:-10.25 [[ 9.81136334e-01 1.89123472e-01 4.00475468e-02 2.33194224e+02] [-1.88997973e-01 9.81953014e-01 -6.93137983e-03 -3.87618451e+01] [-4.06356959e-02 -7.68276580e-04 9.99173734e-01 -1.02488974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77587156000004 meters 0.0229643457410667 Centerline is valid? [True, True] Translation: X:233.22, Y:-38.77, Z:-10.25 [[ 9.82343315e-01 1.82949500e-01 3.91291640e-02 2.33221431e+02] [-1.82824866e-01 9.83122183e-01 -6.77057842e-03 -3.87724703e+01] [-3.97074230e-02 -5.02751706e-04 9.99211223e-01 -1.02521594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80587156000004 meters 0.020148752151051 Centerline is valid? [True, True] Translation: X:233.25, Y:-38.78, Z:-10.25 [[ 9.82925697e-01 1.79812957e-01 3.90432502e-02 2.33249136e+02] [-1.79686447e-01 9.83700746e-01 -6.75441858e-03 -3.87810415e+01] [-3.96214063e-02 -3.76451318e-04 9.99214693e-01 -1.02540576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83587156000004 meters 0.017215534152251286 Centerline is valid? [True, True] Translation: X:233.28, Y:-38.79, Z:-10.26 [[ 9.83979812e-01 1.74150816e-01 3.81473781e-02 2.33275401e+02] [-1.74025854e-01 9.84718981e-01 -6.59775023e-03 -3.87899861e+01] [-3.87134508e-02 -1.46577024e-04 9.99250343e-01 -1.02574207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86587156000004 meters 0.016608291512684607 Centerline is valid? [True, True] Translation: X:233.30, Y:-38.80, Z:-10.26 [[ 9.84476636e-01 1.71445818e-01 3.75777220e-02 2.33303436e+02] [-1.71322676e-01 9.85193549e-01 -6.49698981e-03 -3.87975271e+01] [-3.81352110e-02 -4.17812106e-05 9.99272587e-01 -1.02591186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89587156000005 meters 0.017237358451379234 Centerline is valid? [True, True] Translation: X:233.33, Y:-38.81, Z:-10.26 [[ 9.85413372e-01 1.66195685e-01 3.65989137e-02 2.33330839e+02] [-1.66075324e-01 9.86092780e-01 -6.32588288e-03 -3.88070852e+01] [-3.71412590e-02 1.55433150e-04 9.99310013e-01 -1.02623577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92587156000002 meters 0.018322296052122353 Centerline is valid? [True, True] Translation: X:233.36, Y:-38.81, Z:-10.26 [[ 9.85832050e-01 1.63743186e-01 3.63777095e-02 2.33359363e+02] [-1.63622642e-01 9.86502970e-01 -6.28666130e-03 -3.88139182e+01] [-3.69161164e-02 2.45375255e-04 9.99318338e-01 -1.02639026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95587156000002 meters 0.033825626413283766 Centerline is valid? [True, True] Translation: X:233.39, Y:-38.82, Z:-10.27 [[ 9.86543571e-01 1.59365206e-01 3.65310080e-02 2.33386642e+02] [-1.59240670e-01 9.87219612e-01 -6.31237044e-03 -3.88224050e+01] [-3.70700998e-02 4.10206265e-04 9.99312583e-01 -1.02652773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98587156000002 meters 0.02200179381523548 Centerline is valid? [True, True] Translation: X:233.42, Y:-38.83, Z:-10.26 [[ 9.86745154e-01 1.57829109e-01 3.77355825e-02 2.33415479e+02] [-1.57695155e-01 9.87466324e-01 -6.51904779e-03 -3.88290663e+01] [-3.82915125e-02 4.81920273e-04 9.99266495e-01 -1.02641728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01587156000002 meters 0.023379409305719145 Centerline is valid? [True, True] Translation: X:233.45, Y:-38.84, Z:-10.26 [[ 9.86993645e-01 1.56142795e-01 3.82488193e-02 2.33445187e+02] [-1.56003946e-01 9.87734337e-01 -6.60665649e-03 -3.88359943e+01] [-3.88112539e-02 5.53761221e-04 9.99246406e-01 -1.02642925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04587156000002 meters 0.025967960144879166 Centerline is valid? [True, True] Translation: X:233.47, Y:-38.84, Z:-10.26 [[ 9.87387450e-01 1.53442232e-01 3.90064717e-02 2.33474343e+02] [-1.53295721e-01 9.88157391e-01 -6.73746246e-03 -3.88445390e+01] [-3.95783445e-02 6.72960677e-04 9.99216244e-01 -1.02645090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07587156000002 meters 0.0274476183510253 Centerline is valid? [True, True] Translation: X:233.50, Y:-38.85, Z:-10.27 [[ 9.87602091e-01 1.52061866e-01 3.89781826e-02 2.33504609e+02] [-1.51914477e-01 9.88370709e-01 -6.73296527e-03 -3.88523937e+01] [-3.95487212e-02 7.28140342e-04 9.99217378e-01 -1.02666685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10587156000003 meters 0.03225556161891038 Centerline is valid? [True, True] Translation: X:233.53, Y:-38.86, Z:-10.27 [[ 9.87977173e-01 1.49845032e-01 3.80469691e-02 2.33534140e+02] [-1.49702960e-01 9.88709174e-01 -6.57216186e-03 -3.88627828e+01] [-3.86021932e-02 7.97402002e-04 9.99254339e-01 -1.02708390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13587156000003 meters 0.031075061019037703 Centerline is valid? [True, True] Translation: X:233.57, Y:-38.87, Z:-10.27 [[ 9.88092367e-01 1.49127965e-01 3.78724746e-02 2.33565081e+02] [-1.48986454e-01 9.88817559e-01 -6.54755554e-03 -3.88708013e+01] [-3.84253915e-02 8.27103947e-04 9.99261130e-01 -1.02729388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16587156000003 meters 0.03191724939886611 Centerline is valid? [True, True] Translation: X:233.60, Y:-38.88, Z:-10.28 [[ 9.88163098e-01 1.48814834e-01 3.72536839e-02 2.33595424e+02] [-1.48677467e-01 9.88864730e-01 -6.44646096e-03 -3.88778459e+01] [-3.77981831e-02 8.31371483e-04 9.99285048e-01 -1.02753281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19587156000003 meters 0.03221281499726139 Centerline is valid? [True, True] Translation: X:233.63, Y:-38.88, Z:-10.28 [[ 9.88122598e-01 1.49208753e-01 3.67488741e-02 2.33626384e+02] [-1.49075127e-01 9.88805385e-01 -6.36529494e-03 -3.88844581e+01] [-3.72872423e-02 8.11348706e-04 9.99304260e-01 -1.02783713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22587156000003 meters 0.03183307197373408 Centerline is valid? [True, True] Translation: X:233.66, Y:-38.89, Z:-10.28 [[ 9.88063774e-01 1.49625314e-01 3.66366550e-02 2.33657176e+02] [-1.49492740e-01 9.88742451e-01 -6.34718046e-03 -3.88900703e+01] [-3.71739149e-02 7.94505144e-04 9.99308495e-01 -1.02802789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25587156000003 meters 0.030867706015076685 Centerline is valid? [True, True] Translation: X:233.69, Y:-38.89, Z:-10.28 [[ 9.87945845e-01 1.50402403e-01 3.66350166e-02 2.33687733e+02] [-1.50270343e-01 9.88624565e-01 -6.34772800e-03 -3.88947507e+01] [-3.71729909e-02 7.66055005e-04 9.99308552e-01 -1.02813094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28587156000003 meters 0.028532499034200246 Centerline is valid? [True, True] Translation: X:233.72, Y:-38.90, Z:-10.28 [[ 9.87551958e-01 1.52694889e-01 3.77544931e-02 2.33717730e+02] [-1.52556268e-01 9.88273130e-01 -6.54265747e-03 -3.88984063e+01] [-3.83107814e-02 7.01529612e-04 9.99265626e-01 -1.02810874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31587156000003 meters 0.02734352552560279 Centerline is valid? [True, True] Translation: X:233.75, Y:-38.90, Z:-10.28 [[ 9.87353099e-01 1.53869364e-01 3.81847784e-02 2.33747903e+02] [-1.53728422e-01 9.88090977e-01 -6.61772413e-03 -3.89030307e+01] [-3.87483000e-02 6.63944710e-04 9.99248782e-01 -1.02813623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34587156000003 meters 0.0226282102841941 Centerline is valid? [True, True] Translation: X:233.78, Y:-38.90, Z:-10.28 [[ 9.86967293e-01 1.56053860e-01 3.92779298e-02 2.33779898e+02] [-1.55906462e-01 9.87748368e-01 -6.80705133e-03 -3.89031950e+01] [-3.98589777e-02 5.94653952e-04 9.99205138e-01 -1.02799376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37587156000004 meters 0.022581666286255853 Centerline is valid? [True, True] Translation: X:233.81, Y:-38.91, Z:-10.28 [[ 9.86786447e-01 1.57160507e-01 3.94091739e-02 2.33810799e+02] [-1.57012994e-01 9.87572919e-01 -6.83003812e-03 -3.89098359e+01] [-3.99928452e-02 5.52036664e-04 9.99199814e-01 -1.02822098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40587156000004 meters 0.031505411537838895 Centerline is valid? [True, True] Translation: X:233.84, Y:-38.92, Z:-10.28 [[ 9.86701031e-01 1.57808456e-01 3.89559515e-02 2.33840516e+02] [-1.57664529e-01 9.87469601e-01 -6.75891211e-03 -3.89158778e+01] [-3.95344314e-02 5.27053795e-04 9.99218070e-01 -1.02847007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43587156000004 meters 0.021430102160430713 Centerline is valid? [True, True] Translation: X:233.87, Y:-38.92, Z:-10.29 [[ 9.86493472e-01 1.59168976e-01 3.86764341e-02 2.33870373e+02] [-1.59028137e-01 9.87251243e-01 -6.71080755e-03 -3.89228624e+01] [-3.92515100e-02 4.69526590e-04 9.99229252e-01 -1.02865969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46587156000004 meters 0.02023823627260027 Centerline is valid? [True, True] Translation: X:233.90, Y:-38.93, Z:-10.29 [[ 9.86360999e-01 1.60022152e-01 3.85342693e-02 2.33900983e+02] [-1.59882963e-01 9.87113328e-01 -6.68703860e-03 -3.89270700e+01] [-3.91077651e-02 4.34860935e-04 9.99234904e-01 -1.02876224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49587156000004 meters 0.019566704277549262 Centerline is valid? [True, True] Translation: X:233.93, Y:-38.93, Z:-10.29 [[ 9.86090349e-01 1.61620416e-01 3.87900210e-02 2.33930720e+02] [-1.61480567e-01 9.86852928e-01 -6.73244674e-03 -3.89339899e+01] [-3.93681467e-02 3.74966153e-04 9.99224704e-01 -1.02890032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52587156000004 meters 0.018806075423886858 Centerline is valid? [True, True] Translation: X:233.96, Y:-38.94, Z:-10.29 [[ 9.85895147e-01 1.62816558e-01 3.87495617e-02 2.33961963e+02] [-1.62677908e-01 9.86656304e-01 -6.72582739e-03 -3.89388249e+01] [-3.93275754e-02 3.27262929e-04 9.99226318e-01 -1.02896995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55587156000004 meters 0.01899918709333685 Centerline is valid? [True, True] Translation: X:233.99, Y:-38.95, Z:-10.29 [[ 9.85763367e-01 1.63647666e-01 3.86008603e-02 2.33991502e+02] [-1.63510677e-01 9.86518806e-01 -6.70102945e-03 -3.89454056e+01] [-3.91770824e-02 2.93976578e-04 9.99232240e-01 -1.02924321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58587156000004 meters 0.01766814385199378 Centerline is valid? [True, True] Translation: X:234.02, Y:-38.95, Z:-10.29 [[ 9.85426471e-01 1.65735068e-01 3.82956487e-02 2.34021514e+02] [-1.65601791e-01 9.86170291e-01 -6.64858133e-03 -3.89494537e+01] [-3.88679341e-02 2.09860036e-04 9.99244334e-01 -1.02934422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61587156000004 meters 0.016953641309730424 Centerline is valid? [True, True] Translation: X:234.05, Y:-38.95, Z:-10.30 [[ 9.84979726e-01 1.68423202e-01 3.80600149e-02 2.34050863e+02] [-1.68293560e-01 9.85714773e-01 -6.60782474e-03 -3.89527955e+01] [-3.86292300e-02 1.03318017e-04 9.99253607e-01 -1.02950718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64587156000005 meters 0.016804911896378533 Centerline is valid? [True, True] Translation: X:234.08, Y:-38.96, Z:-10.30 [[ 9.84772326e-01 1.69719729e-01 3.76653495e-02 2.34080398e+02] [-1.69593748e-01 9.85492370e-01 -6.53832595e-03 -3.89567857e+01] [-3.82285974e-02 5.09546597e-05 9.99269019e-01 -1.02971555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67587156000002 meters 0.016658557906374542 Centerline is valid? [True, True] Translation: X:234.11, Y:-38.96, Z:-10.30 [[ 9.84566447e-01 1.70896528e-01 3.77264880e-02 2.34109785e+02] [-1.70771015e-01 9.85288981e-01 -6.54856781e-03 -3.89609173e+01] [-3.82906204e-02 4.90949480e-06 9.99266645e-01 -1.02975528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70587156000002 meters 0.01669476395486862 Centerline is valid? [True, True] Translation: X:234.14, Y:-38.96, Z:-10.30 [[ 9.84361055e-01 1.72006541e-01 3.80402745e-02 2.34138232e+02] [-1.71879796e-01 9.85095807e-01 -6.60207923e-03 -3.89646398e+01] [-3.86089158e-02 -3.95249556e-05 9.99254397e-01 -1.02990017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73587156000002 meters 0.017044757197219984 Centerline is valid? [True, True] Translation: X:234.17, Y:-38.97, Z:-10.30 [[ 9.84079049e-01 1.73756863e-01 3.73761611e-02 2.34167608e+02] [-1.73635802e-01 9.84788577e-01 -6.48591982e-03 -3.89694374e+01] [-3.79345896e-02 -1.07181897e-04 9.99280219e-01 -1.03025414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76587156000002 meters 0.017044757197219984 Centerline is valid? [True, True] Translation: X:234.20, Y:-38.97, Z:-10.30 [[ 9.84083211e-01 1.73733256e-01 3.73763161e-02 2.34196322e+02] [-1.73612212e-01 9.84792742e-01 -6.48502676e-03 -3.89743747e+01] [-3.79345896e-02 -1.07178946e-04 9.99280219e-01 -1.03038549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79587156000002 meters 0.017831611340170465 Centerline is valid? [True, True] Translation: X:234.22, Y:-38.98, Z:-10.31 [[ 9.83804179e-01 1.75494737e-01 3.64819924e-02 2.34224651e+02] [-1.75380660e-01 9.84480354e-01 -6.32900048e-03 -3.89778411e+01] [-3.70265110e-02 -1.71738778e-04 9.99314269e-01 -1.03079232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82587156000002 meters 0.02131864859196886 Centerline is valid? [True, True] Translation: X:234.25, Y:-38.98, Z:-10.31 [[ 9.83663368e-01 1.76355223e-01 3.61277348e-02 2.34253008e+02] [-1.76243961e-01 9.84326569e-01 -6.26675274e-03 -3.89818257e+01] [-3.66666638e-02 -2.02919976e-04 9.99327531e-01 -1.03088062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85587156000003 meters 0.024776216165694784 Centerline is valid? [True, True] Translation: X:234.28, Y:-38.99, Z:-10.31 [[ 9.83515237e-01 1.77214204e-01 3.59569781e-02 2.34281249e+02] [-1.77104629e-01 9.84172277e-01 -6.23539096e-03 -3.89852721e+01] [-3.64928608e-02 -2.35545237e-04 9.99333886e-01 -1.03104756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88587156000003 meters 0.019269878896204518 Centerline is valid? [True, True] Translation: X:234.31, Y:-38.99, Z:-10.31 [[ 9.83239173e-01 1.78658833e-01 3.63558791e-02 2.34308690e+02] [-1.78547862e-01 9.83911040e-01 -6.30286906e-03 -3.89883248e+01] [-3.68970140e-02 -2.94036718e-04 9.99319030e-01 -1.03108543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91587156000003 meters 0.01966164906892543 Centerline is valid? [True, True] Translation: X:234.34, Y:-38.99, Z:-10.31 [[ 9.83110064e-01 1.79382731e-01 3.62827463e-02 2.34336871e+02] [-1.79272784e-01 9.83779310e-01 -6.28789209e-03 -3.89925231e+01] [-3.68221544e-02 -3.22818941e-04 9.99321782e-01 -1.03117486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94587156000003 meters 0.020069197437490784 Centerline is valid? [True, True] Translation: X:234.36, Y:-39.00, Z:-10.31 [[ 9.82982973e-01 1.79979179e-01 3.67691338e-02 2.34364066e+02] [-1.79866744e-01 9.83670357e-01 -6.37047142e-03 -3.89971021e+01] [-3.73152592e-02 -3.51479443e-04 9.99303481e-01 -1.03127707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97587156000003 meters 0.02004628015915496 Centerline is valid? [True, True] Translation: X:234.39, Y:-39.00, Z:-10.31 [[ 9.83016745e-01 1.79741328e-01 3.70288175e-02 2.34391274e+02] [-1.79627214e-01 9.83713848e-01 -6.41321162e-03 -3.90032669e+01] [-3.75784797e-02 -3.47088924e-04 9.99293619e-01 -1.03142622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00587156000003 meters 0.019801533121279406 Centerline is valid? [True, True] Translation: X:234.42, Y:-39.01, Z:-10.32 [[ 9.83104015e-01 1.79255214e-01 3.70683598e-02 2.34419289e+02] [-1.79140597e-01 9.83802551e-01 -6.41776007e-03 -3.90101494e+01] [-3.76183639e-02 -3.31122438e-04 9.99292124e-01 -1.03157227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03587156000003 meters 0.019348887714731568 Centerline is valid? [True, True] Translation: X:234.45, Y:-39.02, Z:-10.32 [[ 9.83239962e-01 1.78494245e-01 3.71346375e-02 2.34446243e+02] [-1.78378739e-01 9.83940909e-01 -6.42756075e-03 -3.90171603e+01] [-3.76855715e-02 -3.04195235e-04 9.99289600e-01 -1.03164361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06587156000003 meters 0.019342412926979087 Centerline is valid? [True, True] Translation: X:234.47, Y:-39.02, Z:-10.32 [[ 9.83243189e-01 1.78407390e-01 3.74651190e-02 2.34474361e+02] [-1.78289843e-01 9.83956661e-01 -6.48245112e-03 -3.90219680e+01] [-3.80205706e-02 -3.05824271e-04 9.99276910e-01 -1.03172779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09587156000003 meters 0.018866923703917782 Centerline is valid? [True, True] Translation: X:234.50, Y:-39.03, Z:-10.32 [[ 9.83283285e-01 1.78179240e-01 3.74985419e-02 2.34503367e+02] [-1.78061390e-01 9.83998003e-01 -6.48631399e-03 -3.90292808e+01] [-3.80542168e-02 -2.99158380e-04 9.99275631e-01 -1.03179505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12587156000004 meters 0.019288221766876504 Centerline is valid? [True, True] Translation: X:234.53, Y:-39.03, Z:-10.32 [[ 9.83306035e-01 1.78096963e-01 3.72922783e-02 2.34531834e+02] [-1.77980382e-01 9.84012899e-01 -6.44974254e-03 -3.90346823e+01] [-3.78447625e-02 -2.95223181e-04 9.99283587e-01 -1.03206015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15587156000004 meters 0.01971799452143081 Centerline is valid? [True, True] Translation: X:234.56, Y:-39.04, Z:-10.32 [[ 9.83268601e-01 1.78468953e-01 3.64923525e-02 2.34559977e+02] [-1.78357603e-01 9.83945497e-01 -6.31069936e-03 -3.90410057e+01] [-3.70327498e-02 -3.03575982e-04 9.99314006e-01 -1.03235138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18587156000004 meters 0.020446700156804744 Centerline is valid? [True, True] Translation: X:234.59, Y:-39.04, Z:-10.33 [[ 9.83160674e-01 1.79117997e-01 3.62192307e-02 2.34587122e+02] [-1.79008802e-01 9.83827544e-01 -6.26199408e-03 -3.90442523e+01] [-3.67551126e-02 -3.27014788e-04 9.99324249e-01 -1.03252567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21587156000004 meters 0.021167303528813255 Centerline is valid? [True, True] Translation: X:234.62, Y:-39.05, Z:-10.33 [[ 9.82980605e-01 1.80073896e-01 3.63664925e-02 2.34616126e+02] [-1.79964565e-01 9.83653017e-01 -6.28473238e-03 -3.90475252e+01] [-3.69037263e-02 -3.66909983e-04 9.99318758e-01 -1.03260156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24587156000004 meters 0.023292688754604465 Centerline is valid? [True, True] Translation: X:234.64, Y:-39.05, Z:-10.33 [[ 9.82569519e-01 1.82284833e-01 3.64606645e-02 2.34644545e+02] [-1.82176515e-01 9.83245663e-01 -6.29941915e-03 -3.90476827e+01] [-3.69980789e-02 -4.52659550e-04 9.99315234e-01 -1.03270507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27587156000004 meters 0.02280769381425596 Centerline is valid? [True, True] Translation: X:234.67, Y:-39.05, Z:-10.33 [[ 9.82256345e-01 1.83980128e-01 3.63838542e-02 2.34673030e+02] [-1.83873506e-01 9.82929827e-01 -6.28401270e-03 -3.90531570e+01] [-3.69189090e-02 -5.17515505e-04 9.99318131e-01 -1.03269288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30587156000004 meters 0.023300303625174833 Centerline is valid? [True, True] Translation: X:234.70, Y:-39.06, Z:-10.33 [[ 9.82149527e-01 1.84492290e-01 3.66729104e-02 2.34700833e+02] [-1.84384389e-01 9.82833811e-01 -6.33218451e-03 -3.90567306e+01] [-3.72116155e-02 -5.42760165e-04 9.99307261e-01 -1.03280712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33587156000004 meters 0.0251049315307737 Centerline is valid? [True, True] Translation: X:234.73, Y:-39.06, Z:-10.33 [[ 9.82120309e-01 1.84584147e-01 3.69917693e-02 2.34728593e+02] [-1.84474514e-01 9.82816558e-01 -6.38492211e-03 -3.90581759e+01] [-3.75346788e-02 -5.53276976e-04 9.99295172e-01 -1.03297746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36587156000004 meters 0.027727133091700263 Centerline is valid? [True, True] Translation: X:234.76, Y:-39.06, Z:-10.33 [[ 9.82102951e-01 1.84585669e-01 3.74422826e-02 2.34756503e+02] [-1.84473441e-01 9.82816267e-01 -6.46027833e-03 -3.90647878e+01] [-3.79913592e-02 -5.62448291e-04 9.99277909e-01 -1.03295849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39587156000005 meters 0.02397608969338055 Centerline is valid? [True, True] Translation: X:234.79, Y:-39.07, Z:-10.33 [[ 9.82081282e-01 1.84587337e-01 3.79982940e-02 2.34785312e+02] [-1.84471824e-01 9.82815948e-01 -6.55432823e-03 -3.90684437e+01] [-3.85551753e-02 -5.72731522e-04 9.99256309e-01 -1.03295883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42587156000002 meters 0.02480098719102626 Centerline is valid? [True, True] Translation: X:234.81, Y:-39.07, Z:-10.33 [[ 9.82066275e-01 1.84609804e-01 3.82759975e-02 2.34812577e+02] [-1.84492683e-01 9.82811724e-01 -6.60042156e-03 -3.90715066e+01] [-3.88366016e-02 -5.79590037e-04 9.99245407e-01 -1.03311687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45587156000002 meters 0.024294283638818727 Centerline is valid? [True, True] Translation: X:234.84, Y:-39.08, Z:-10.33 [[ 9.82067230e-01 1.84573299e-01 3.84272338e-02 2.34841156e+02] [-1.84455317e-01 9.82818578e-01 -6.62408637e-03 -3.90775407e+01] [-3.89896288e-02 -5.82809420e-04 9.99239445e-01 -1.03315162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48587156000002 meters 0.025515505785888265 Centerline is valid? [True, True] Translation: X:234.87, Y:-39.08, Z:-10.33 [[ 9.82093406e-01 1.84448229e-01 3.83587416e-02 2.34869201e+02] [-1.84330639e-01 9.82842061e-01 -6.61053260e-03 -3.90786624e+01] [-3.89198856e-02 -5.78530885e-04 9.99242167e-01 -1.03338343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51587156000002 meters 0.02568380648344144 Centerline is valid? [True, True] Translation: X:234.90, Y:-39.08, Z:-10.34 [[ 9.82138173e-01 1.84268213e-01 3.80767023e-02 2.34897288e+02] [-1.84152309e-01 9.82875832e-01 -6.55943844e-03 -3.90818047e+01] [-3.86333665e-02 -5.69637745e-04 9.99253290e-01 -1.03354138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54587156000002 meters 0.02560651286991533 Centerline is valid? [True, True] Translation: X:234.93, Y:-39.09, Z:-10.34 [[ 9.82180330e-01 1.84020959e-01 3.81848904e-02 2.34925521e+02] [-1.83904296e-01 9.82922158e-01 -6.57579445e-03 -3.90860459e+01] [-3.87428588e-02 -5.63749400e-04 9.99249055e-01 -1.03367653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57587156000002 meters 0.023620052544037446 Centerline is valid? [True, True] Translation: X:234.95, Y:-39.09, Z:-10.34 [[ 9.82318060e-01 1.83366897e-01 3.77863847e-02 2.34953325e+02] [-1.83252238e-01 9.83044402e-01 -6.50546967e-03 -3.90931566e+01] [-3.83385817e-02 -5.33999227e-04 9.99264664e-01 -1.03374136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60587156000003 meters 0.0230091599125514 Centerline is valid? [True, True] Translation: X:234.98, Y:-39.10, Z:-10.34 [[ 9.82547317e-01 1.82209957e-01 3.74205943e-02 2.34981985e+02] [-1.82096738e-01 9.83259526e-01 -6.44067954e-03 -3.90980480e+01] [-3.79677118e-02 -4.85895759e-04 9.99278848e-01 -1.03388028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63587156000003 meters 0.02220917981852747 Centerline is valid? [True, True] Translation: X:235.01, Y:-39.10, Z:-10.34 [[ 9.82683489e-01 1.81432877e-01 3.76200981e-02 2.35010131e+02] [-1.81317948e-01 9.83403223e-01 -6.47317457e-03 -3.91036792e+01] [-3.81701724e-02 -4.60117236e-04 9.99271148e-01 -1.03390783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66587156000003 meters 0.02150601099192539 Centerline is valid? [True, True] Translation: X:235.04, Y:-39.11, Z:-10.34 [[ 9.82878039e-01 1.80338016e-01 3.78015983e-02 2.35038487e+02] [-1.80221239e-01 9.83604607e-01 -6.50253308e-03 -3.91095637e+01] [-3.83544801e-02 -4.21453896e-04 9.99264107e-01 -1.03403681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69587156000003 meters 0.019835741414495716 Centerline is valid? [True, True] Translation: X:235.07, Y:-39.12, Z:-10.34 [[ 9.83309492e-01 1.77816660e-01 3.85185335e-02 2.35065975e+02] [-1.77693551e-01 9.84063578e-01 -6.62392808e-03 -3.91167878e+01] [-3.90825306e-02 -3.31123615e-04 9.99235931e-01 -1.03399658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72587156000003 meters 0.019072085883364447 Centerline is valid? [True, True] Translation: X:235.09, Y:-39.12, Z:-10.34 [[ 9.83551927e-01 1.76401421e-01 3.88348383e-02 2.35093035e+02] [-1.76275251e-01 9.84318272e-01 -6.67647462e-03 -3.91227056e+01] [-3.94035805e-02 -2.78961364e-04 9.99223338e-01 -1.03407030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75587156000003 meters 0.01781393777238219 Centerline is valid? [True, True] Translation: X:235.12, Y:-39.13, Z:-10.34 [[ 9.84102828e-01 1.73337725e-01 3.86737203e-02 2.35120385e+02] [-1.73210330e-01 9.84862431e-01 -6.64632407e-03 -3.91325504e+01] [-3.92403529e-02 -1.58021531e-04 9.99229788e-01 -1.03425104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78587156000003 meters 0.01738972407107491 Centerline is valid? [True, True] Translation: X:235.15, Y:-39.14, Z:-10.34 [[ 9.84430722e-01 1.71471153e-01 3.86496701e-02 2.35147862e+02] [-1.71342531e-01 9.85189137e-01 -6.64080865e-03 -3.91408916e+01] [-3.92159423e-02 -8.49162591e-05 9.99230755e-01 -1.03437020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81587156000003 meters 0.01708079104646735 Centerline is valid? [True, True] Translation: X:235.18, Y:-39.15, Z:-10.34 [[ 9.85017014e-01 1.67948845e-01 3.91748280e-02 2.35177032e+02] [-1.67813980e-01 9.85795710e-01 -6.72944663e-03 -3.91537240e+01] [-3.97485801e-02 5.45356258e-05 9.99209711e-01 -1.03435854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84587156000003 meters 0.017457106427280086 Centerline is valid? [True, True] Translation: X:235.21, Y:-39.16, Z:-10.34 [[ 9.85310831e-01 1.66217836e-01 3.91688424e-02 2.35207442e+02] [-1.66081650e-01 9.86089051e-01 -6.72829209e-03 -3.91623802e+01] [-3.97423287e-02 1.24233114e-04 9.99209954e-01 -1.03447924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87587156000004 meters 0.017866169460337214 Centerline is valid? [True, True] Translation: X:235.24, Y:-39.17, Z:-10.35 [[ 9.85612995e-01 1.64419167e-01 3.91581559e-02 2.35237185e+02] [-1.64281598e-01 9.86390541e-01 -6.72740465e-03 -3.91716872e+01] [-3.97313489e-02 1.97653009e-04 9.99210379e-01 -1.03457470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90587156000004 meters 0.029668343803942683 Centerline is valid? [True, True] Translation: X:235.27, Y:-39.19, Z:-10.35 [[ 9.86058111e-01 1.61676529e-01 3.93713312e-02 2.35266102e+02] [-1.61535260e-01 9.86843759e-01 -6.76432429e-03 -3.91858561e+01] [-3.99469850e-02 3.10158600e-04 9.99201752e-01 -1.03474586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93587156000004 meters 0.02031994466417066 Centerline is valid? [True, True] Translation: X:235.30, Y:-39.20, Z:-10.35 [[ 9.86184425e-01 1.60770360e-01 3.99145558e-02 2.35296959e+02] [-1.60624169e-01 9.86991775e-01 -6.86390563e-03 -3.91958670e+01] [-4.04988509e-02 3.57834479e-04 9.99179521e-01 -1.03483289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96587156000004 meters 0.020362418355710267 Centerline is valid? [True, True] Translation: X:235.33, Y:-39.21, Z:-10.35 [[ 9.86282045e-01 1.60187942e-01 3.98440760e-02 2.35328202e+02] [-1.60041504e-01 9.87086457e-01 -6.85888008e-03 -3.92067187e+01] [-4.04282576e-02 3.88084426e-04 9.99182368e-01 -1.03489299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99587156000004 meters 0.02040158965300092 Centerline is valid? [True, True] Translation: X:235.36, Y:-39.21, Z:-10.35 [[ 9.86235584e-01 1.60494011e-01 3.97623506e-02 2.35359767e+02] [-1.60348115e-01 9.87036740e-01 -6.85242515e-03 -3.92146993e+01] [-4.03466741e-02 3.82287548e-04 9.99185668e-01 -1.03503028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02587156000004 meters 0.030803388279673643 Centerline is valid? [True, True] Translation: X:235.39, Y:-39.22, Z:-10.35 [[ 9.85953809e-01 1.62477629e-01 3.86795329e-02 2.35391320e+02] [-1.62340835e-01 9.86712182e-01 -6.67254242e-03 -3.92220820e+01] [-3.92497052e-02 2.99550951e-04 9.99229389e-01 -1.03539520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05587156000004 meters 0.01883121664517627 Centerline is valid? [True, True] Translation: X:235.42, Y:-39.23, Z:-10.35 [[ 9.85721763e-01 1.63883861e-01 3.86611799e-02 2.35422579e+02] [-1.63748029e-01 9.86479608e-01 -6.67572688e-03 -3.92277294e+01] [-3.92325095e-02 2.49717270e-04 9.99230078e-01 -1.03547666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08587156000004 meters 0.018227954806540016 Centerline is valid? [True, True] Translation: X:235.45, Y:-39.23, Z:-10.36 [[ 9.85443659e-01 1.65607043e-01 3.84070538e-02 2.35454505e+02] [-1.65474055e-01 9.86191803e-01 -6.63811050e-03 -3.92336910e+01] [-3.89760395e-02 1.86112959e-04 9.99240128e-01 -1.03566142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11587156000004 meters 0.022630660591731418 Centerline is valid? [True, True] Translation: X:235.49, Y:-39.24, Z:-10.36 [[ 9.84828020e-01 1.69418794e-01 3.75638502e-02 2.35486245e+02] [-1.69294124e-01 9.85544150e-01 -6.49838459e-03 -3.92387988e+01] [-3.81217813e-02 4.04521321e-05 9.99273100e-01 -1.03604209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14587156000005 meters 0.017328875975812473 Centerline is valid? [True, True] Translation: X:235.52, Y:-39.24, Z:-10.36 [[ 9.84460609e-01 1.71571389e-01 3.74241598e-02 2.35516709e+02] [-1.71448965e-01 9.85171689e-01 -6.48036799e-03 -3.92427225e+01] [-3.79810684e-02 -3.66664568e-05 9.99278458e-01 -1.03616891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17587156000002 meters 0.018382677053775123 Centerline is valid? [True, True] Translation: X:235.55, Y:-39.25, Z:-10.36 [[ 9.83705634e-01 1.75828125e-01 3.75192643e-02 2.35546816e+02] [-1.75707915e-01 9.84420861e-01 -6.50356132e-03 -3.92450325e+01] [-3.80782554e-02 -1.94841779e-04 9.99274741e-01 -1.03631124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20587156000002 meters 0.019641641984582025 Centerline is valid? [True, True] Translation: X:235.58, Y:-39.25, Z:-10.36 [[ 9.83324891e-01 1.77962247e-01 3.74379237e-02 2.35576649e+02] [-1.77844103e-01 9.84037277e-01 -6.48946181e-03 -3.92489066e+01] [-3.79951917e-02 -2.76864642e-04 9.99277884e-01 -1.03647176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23587156000002 meters 0.022771676719691897 Centerline is valid? [True, True] Translation: X:235.61, Y:-39.25, Z:-10.37 [[ 9.82606856e-01 1.81943866e-01 3.71509953e-02 2.35605075e+02] [-1.81830359e-01 9.83308826e-01 -6.43997592e-03 -3.92505994e+01] [-3.77026157e-02 -4.27214337e-04 9.99288912e-01 -1.03657149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26587156000002 meters 0.022657534827942204 Centerline is valid? [True, True] Translation: X:235.64, Y:-39.26, Z:-10.37 [[ 9.82187082e-01 1.84186445e-01 3.72006546e-02 2.35635304e+02] [-1.84074300e-01 9.82891188e-01 -6.44704543e-03 -3.92568973e+01] [-3.77516539e-02 -5.15479698e-04 9.99287019e-01 -1.03652398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29587156000002 meters 0.02719784535791011 Centerline is valid? [True, True] Translation: X:235.67, Y:-39.26, Z:-10.37 [[ 9.81763569e-01 1.86422412e-01 3.72421560e-02 2.35665764e+02] [-1.86311620e-01 9.82469502e-01 -6.45432691e-03 -3.92556191e+01] [-3.77925137e-02 -6.02023402e-04 9.99285426e-01 -1.03683283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32587156000002 meters 0.031684808555257474 Centerline is valid? [True, True] Translation: X:235.70, Y:-39.25, Z:-10.37 [[ 9.80976290e-01 1.90533774e-01 3.71806440e-02 2.35696089e+02] [-1.90426312e-01 9.81680347e-01 -6.44327530e-03 -3.92549616e+01] [-3.77271690e-02 -7.59472599e-04 9.99287788e-01 -1.03694567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35587156000003 meters 0.03590491145871187 Centerline is valid? [True, True] Translation: X:235.72, Y:-39.25, Z:-10.37 [[ 9.80305680e-01 1.93983119e-01 3.70313931e-02 2.35724953e+02] [-1.93879000e-01 9.81004464e-01 -6.41674186e-03 -3.92542996e+01] [-3.75727016e-02 -8.89240981e-04 9.99293501e-01 -1.03712995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38587156000003 meters 0.03773155023485925 Centerline is valid? [True, True] Translation: X:235.75, Y:-39.26, Z:-10.37 [[ 9.80031867e-01 1.95302266e-01 3.73438772e-02 2.35753252e+02] [-1.95197399e-01 9.80742639e-01 -6.46927386e-03 -3.92567988e+01] [-3.78881965e-02 -9.49333171e-04 9.99281534e-01 -1.03720835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41587156000003 meters 0.0386824180272001 Centerline is valid? [True, True] Translation: X:235.78, Y:-39.26, Z:-10.37 [[ 9.79865188e-01 1.96162148e-01 3.72105393e-02 2.35781483e+02] [-1.96058730e-01 9.80570981e-01 -6.44403534e-03 -3.92603645e+01] [-3.77516509e-02 -9.81165174e-04 9.99286671e-01 -1.03729983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44587156000003 meters 0.03726681294813596 Centerline is valid? [True, True] Translation: X:235.81, Y:-39.27, Z:-10.37 [[ 9.79608527e-01 1.97556252e-01 3.65877085e-02 2.35809943e+02] [-1.97457297e-01 9.80291022e-01 -6.33459766e-03 -3.92662177e+01] [-3.71180415e-02 -1.01908414e-03 9.99310368e-01 -1.03739784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47587156000003 meters 0.04142422625843998 Centerline is valid? [True, True] Translation: X:235.84, Y:-39.26, Z:-10.38 [[ 9.79533519e-01 1.97894148e-01 3.67694396e-02 2.35838732e+02] [-1.97794507e-01 9.80222846e-01 -6.36440947e-03 -3.92643500e+01] [-3.73017241e-02 -1.03864078e-03 9.99303509e-01 -1.03761036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50587156000003 meters 0.0400493410124733 Centerline is valid? [True, True] Translation: X:235.87, Y:-39.27, Z:-10.38 [[ 9.79538371e-01 1.97874476e-01 3.67460349e-02 2.35866987e+02] [-1.97775032e-01 9.80226816e-01 -6.35811071e-03 -3.92712615e+01] [-3.72775566e-02 -1.03943481e-03 9.99304410e-01 -1.03759217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53587156000003 meters 0.03809931037780924 Centerline is valid? [True, True] Translation: X:235.90, Y:-39.28, Z:-10.38 [[ 9.79595754e-01 1.97605161e-01 3.66654943e-02 2.35895544e+02] [-1.97506027e-01 9.80281155e-01 -6.34247441e-03 -3.92754904e+01] [-3.71957988e-02 -1.02859510e-03 9.99307467e-01 -1.03770365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56587156000003 meters 0.03746617246968061 Centerline is valid? [True, True] Translation: X:235.92, Y:-39.28, Z:-10.38 [[ 9.79820887e-01 1.96587015e-01 3.61189084e-02 2.35923088e+02] [-1.96490181e-01 9.80485896e-01 -6.24638587e-03 -3.92801562e+01] [-3.66420386e-02 -9.76671495e-04 9.99327978e-01 -1.03794710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59587156000003 meters 0.037636799791077334 Centerline is valid? [True, True] Translation: X:235.95, Y:-39.28, Z:-10.38 [[ 9.79922005e-01 1.96146661e-01 3.57680208e-02 2.35950143e+02] [-1.96051485e-01 9.80574107e-01 -6.18353704e-03 -3.92840101e+01] [-3.62860752e-02 -9.52989588e-04 9.99340989e-01 -1.03811327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62587156000004 meters 0.03331679840822213 Centerline is valid? [True, True] Translation: X:235.98, Y:-39.29, Z:-10.38 [[ 9.80042914e-01 1.95638458e-01 3.52346605e-02 2.35977342e+02] [-1.95545845e-01 9.80675656e-01 -6.08926522e-03 -3.92935282e+01] [-3.57450682e-02 -9.22250246e-04 9.99360515e-01 -1.03810960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65587156000004 meters 0.0349155234148323 Centerline is valid? [True, True] Translation: X:236.01, Y:-39.30, Z:-10.38 [[ 9.80321595e-01 1.94416386e-01 3.42321394e-02 2.36006483e+02] [-1.94328286e-01 9.80918722e-01 -5.91425220e-03 -3.92967912e+01] [-3.47287739e-02 -8.54403808e-04 9.99396409e-01 -1.03838628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68587156000004 meters 0.0349155234148323 Centerline is valid? [True, True] Translation: X:236.03, Y:-39.30, Z:-10.39 [[ 9.80330936e-01 1.94369248e-01 3.42323304e-02 2.36034394e+02] [-1.94281158e-01 9.80928064e-01 -5.91314615e-03 -3.93015221e+01] [-3.47287874e-02 -8.53856682e-04 9.99396409e-01 -1.03851391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71587156000004 meters 0.035400803199363166 Centerline is valid? [True, True] Translation: X:236.06, Y:-39.30, Z:-10.39 [[ 9.80583026e-01 1.92999006e-01 3.47607797e-02 2.36062826e+02] [-1.92907373e-01 9.81198610e-01 -6.00278915e-03 -3.92997301e+01] [-3.52657611e-02 -8.19377530e-04 9.99377634e-01 -1.03876688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74587156000004 meters 0.03864155204179551 Centerline is valid? [True, True] Translation: X:236.09, Y:-39.31, Z:-10.39 [[ 9.80768516e-01 1.92150031e-01 3.42269447e-02 2.36091022e+02] [-1.92060751e-01 9.81365253e-01 -5.90837798e-03 -3.93052355e+01] [-3.47244292e-02 -7.78901612e-04 9.99396622e-01 -1.03899018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77587156000004 meters 0.033911215173785834 Centerline is valid? [True, True] Translation: X:236.12, Y:-39.31, Z:-10.39 [[ 9.80922146e-01 1.91276634e-01 3.47129944e-02 2.36119026e+02] [-1.91184307e-01 9.81535874e-01 -5.99076491e-03 -3.93083389e+01] [-3.52179427e-02 -7.60105816e-04 9.99379367e-01 -1.03902859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80587156000004 meters 0.029723108501678988 Centerline is valid? [True, True] Translation: X:236.15, Y:-39.32, Z:-10.39 [[ 9.81345902e-01 1.89249883e-01 3.38334578e-02 2.36146442e+02] [-1.89161040e-01 9.81928730e-01 -5.83700727e-03 -3.93166338e+01] [-3.43266972e-02 -6.71848912e-04 9.99410439e-01 -1.03916093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83587156000004 meters 0.03077628322421821 Centerline is valid? [True, True] Translation: X:236.17, Y:-39.32, Z:-10.40 [[ 9.81634720e-01 1.87794973e-01 3.35607627e-02 2.36174387e+02] [-1.87706755e-01 9.82208057e-01 -5.78852310e-03 -3.93184456e+01] [-3.40507070e-02 -6.17366620e-04 9.99419916e-01 -1.03959854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86587156000004 meters 0.02748911143141037 Centerline is valid? [True, True] Translation: X:236.20, Y:-39.33, Z:-10.40 [[ 9.82251789e-01 1.84567563e-01 3.34101564e-02 2.36202727e+02] [-1.84478347e-01 9.82819698e-01 -5.76024092e-03 -3.93252239e+01] [-3.38993135e-02 -5.05443491e-04 9.99425125e-01 -1.03978311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89587156000005 meters 0.03281399047054715 Centerline is valid? [True, True] Translation: X:236.23, Y:-39.33, Z:-10.40 [[ 9.82560179e-01 1.82911847e-01 3.34477264e-02 2.36230211e+02] [-1.82821504e-01 9.83129215e-01 -5.76575653e-03 -3.93343070e+01] [-3.39380622e-02 -4.49760873e-04 9.99423837e-01 -1.03975125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92587156000002 meters 0.022218275775476557 Centerline is valid? [True, True] Translation: X:236.26, Y:-39.34, Z:-10.40 [[ 9.83028129e-01 1.80332672e-01 3.37019920e-02 2.36257919e+02] [-1.80239489e-01 9.83605609e-01 -5.80797336e-03 -3.93408196e+01] [-3.41968357e-02 -3.65028625e-04 9.99415051e-01 -1.03981876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95587156000002 meters 0.021504834962781848 Centerline is valid? [True, True] Translation: X:236.29, Y:-39.35, Z:-10.40 [[ 9.83242711e-01 1.79225080e-01 3.33488041e-02 2.36285980e+02] [-1.79133256e-01 9.83808043e-01 -5.74555618e-03 -3.93461116e+01] [-3.38385694e-02 -3.24603617e-04 9.99427259e-01 -1.03999889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98587156000002 meters 0.02067326941406165 Centerline is valid? [True, True] Translation: X:236.31, Y:-39.35, Z:-10.40 [[ 9.83419152e-01 1.78283499e-01 3.31928408e-02 2.36314009e+02] [-1.78192047e-01 9.83979120e-01 -5.71714163e-03 -3.93516223e+01] [-3.36803343e-02 -2.92353695e-04 9.99432614e-01 -1.04009380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01587156000002 meters 0.025790167585514813 Centerline is valid? [True, True] Translation: X:236.34, Y:-39.36, Z:-10.40 [[ 9.83673066e-01 1.76848973e-01 3.33427643e-02 2.36340999e+02] [-1.76755919e-01 9.84237969e-01 -5.74148615e-03 -3.93566952e+01] [-3.38325906e-02 -2.45785660e-04 9.99427484e-01 -1.04028309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04587156000002 meters 0.024209187683513777 Centerline is valid? [True, True] Translation: X:236.37, Y:-39.36, Z:-10.40 [[ 9.83785670e-01 1.76142949e-01 3.37552444e-02 2.36369622e+02] [-1.76047237e-01 9.84364572e-01 -5.81032406e-03 -3.93615689e+01] [-3.42509143e-02 -2.26403974e-04 9.99413240e-01 -1.04035878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07587156000002 meters 0.018424545059945285 Centerline is valid? [True, True] Translation: X:236.40, Y:-39.37, Z:-10.40 [[ 9.84008335e-01 1.74676446e-01 3.48674057e-02 2.36398180e+02] [-1.74573466e-01 9.84625871e-01 -5.99992324e-03 -3.93663284e+01] [-3.53793950e-02 -1.82949399e-04 9.99373936e-01 -1.04031270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10587156000003 meters 0.018076644097160973 Centerline is valid? [True, True] Translation: X:236.43, Y:-39.37, Z:-10.40 [[ 9.84204651e-01 1.73627065e-01 3.45665638e-02 2.36427259e+02] [-1.73525255e-01 9.84811465e-01 -5.94682606e-03 -3.93725249e+01] [-3.50740783e-02 -1.45277916e-04 9.99384705e-01 -1.04048761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13587156000003 meters 0.017618977990036165 Centerline is valid? [True, True] Translation: X:236.46, Y:-39.38, Z:-10.41 [[ 9.84421025e-01 1.72373983e-01 3.46764260e-02 2.36456547e+02] [-1.72270776e-01 9.85031573e-01 -5.96490991e-03 -3.93796525e+01] [-3.51855697e-02 -1.01752084e-04 9.99380791e-01 -1.04062620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16587156000003 meters 0.020968772575203732 Centerline is valid? [True, True] Translation: X:236.48, Y:-39.39, Z:-10.41 [[ 9.84924626e-01 1.69595456e-01 3.40714249e-02 2.36484786e+02] [-1.69494197e-01 9.85513765e-01 -5.85969301e-03 -3.93894318e+01] [-3.45716356e-02 -3.55285758e-06 9.99402222e-01 -1.04099800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19587156000003 meters 0.01757539474648339 Centerline is valid? [True, True] Translation: X:236.51, Y:-39.40, Z:-10.41 [[ 9.85376816e-01 1.66974110e-01 3.39437331e-02 2.36512563e+02] [-1.66872039e-01 9.85961276e-01 -5.83813886e-03 -3.93999239e+01] [-3.44420244e-02 8.85067255e-05 9.99406694e-01 -1.04116847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22587156000003 meters 0.01776152974915989 Centerline is valid? [True, True] Translation: X:236.54, Y:-39.41, Z:-10.41 [[ 9.85532368e-01 1.66017455e-01 3.41197453e-02 2.36541356e+02] [-1.65913728e-01 9.86122806e-01 -5.86902024e-03 -3.94077986e+01] [-3.46206188e-02 1.23175265e-04 9.99400519e-01 -1.04130997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25587156000003 meters 0.01805684918715711 Centerline is valid? [True, True] Translation: X:236.57, Y:-39.42, Z:-10.41 [[ 9.85668859e-01 1.65270901e-01 3.37998513e-02 2.36571352e+02] [-1.65168689e-01 9.86248198e-01 -5.81349066e-03 -3.94153441e+01] [-3.42958433e-02 1.47499561e-04 9.99411714e-01 -1.04148058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28587156000003 meters 0.01871649079168633 Centerline is valid? [True, True] Translation: X:236.60, Y:-39.42, Z:-10.42 [[ 9.85741063e-01 1.65141811e-01 3.22914604e-02 2.36600895e+02] [-1.65048471e-01 9.86269822e-01 -5.55345461e-03 -3.94237913e+01] [-3.27652005e-02 1.44612093e-04 9.99463066e-01 -1.04192586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31587156000003 meters 0.01841059418087244 Centerline is valid? [True, True] Translation: X:236.63, Y:-39.43, Z:-10.42 [[ 9.85612721e-01 1.65956065e-01 3.20335610e-02 2.36630949e+02] [-1.65864569e-01 9.86133140e-01 -5.51127397e-03 -3.94283430e+01] [-3.25039855e-02 1.18748930e-04 9.99471599e-01 -1.04215173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34587156000003 meters 0.017637849580557956 Centerline is valid? [True, True] Translation: X:236.66, Y:-39.43, Z:-10.42 [[ 9.85091236e-01 1.68878722e-01 3.27907551e-02 2.36660123e+02] [-1.68784460e-01 9.85636838e-01 -5.64177605e-03 -3.94288705e+01] [-3.32725521e-02 2.30942620e-05 9.99446315e-01 -1.04213959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37587156000004 meters 0.017581965041456423 Centerline is valid? [True, True] Translation: X:236.69, Y:-39.43, Z:-10.42 [[ 9.84807268e-01 1.70496875e-01 3.29463245e-02 2.36689980e+02] [-1.70402641e-01 9.85358216e-01 -5.66791767e-03 -3.94315458e+01] [-3.34302938e-02 -3.23341889e-05 9.99441051e-01 -1.04221744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40587156000004 meters 0.02131053870309562 Centerline is valid? [True, True] Translation: X:236.72, Y:-39.43, Z:-10.42 [[ 9.84472161e-01 1.72386137e-01 3.31297921e-02 2.36719574e+02] [-1.72291945e-01 9.85029446e-01 -5.69872804e-03 -3.94343577e+01] [-3.36162025e-02 -9.77572138e-05 9.99434811e-01 -1.04236560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43587156000004 meters 0.019266375386173002 Centerline is valid? [True, True] Translation: X:236.75, Y:-39.43, Z:-10.42 [[ 9.83844233e-01 1.75779695e-01 3.39414863e-02 2.36748284e+02] [-1.75682866e-01 9.84429505e-01 -5.83779825e-03 -3.94349275e+01] [-3.44391670e-02 -2.19453450e-04 9.99406772e-01 -1.04237900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46587156000004 meters 0.02042354796708963 Centerline is valid? [True, True] Translation: X:236.78, Y:-39.44, Z:-10.43 [[ 9.83567611e-01 1.77314819e-01 3.39736593e-02 2.36777298e+02] [-1.77218774e-01 9.84154144e-01 -5.84181285e-03 -3.94377642e+01] [-3.44711576e-02 -2.74952346e-04 9.99405655e-01 -1.04250418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49587156000004 meters 0.020449113912331396 Centerline is valid? [True, True] Translation: X:236.81, Y:-39.44, Z:-10.42 [[ 9.83055884e-01 1.80061504e-01 3.43363392e-02 2.36806568e+02] [-1.79965131e-01 9.83655282e-01 -5.90243148e-03 -3.94432379e+01] [-3.48379221e-02 -3.76923805e-04 9.99392904e-01 -1.04229778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52587156000004 meters 0.02186213503734725 Centerline is valid? [True, True] Translation: X:236.84, Y:-39.45, Z:-10.42 [[ 9.82791793e-01 1.81502439e-01 3.43096986e-02 2.36835036e+02] [-1.81407119e-01 9.83390401e-01 -5.89712106e-03 -3.94456396e+01] [-3.48101701e-02 -4.28381401e-04 9.99393851e-01 -1.04245325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55587156000004 meters 0.034970374297523844 Centerline is valid? [True, True] Translation: X:236.86, Y:-39.44, Z:-10.43 [[ 9.82318138e-01 1.84103886e-01 3.40122800e-02 2.36864127e+02] [-1.84011823e-01 9.82906654e-01 -5.84444582e-03 -3.94419781e+01] [-3.45068815e-02 -5.17556516e-04 9.99404326e-01 -1.04293379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58587156000004 meters 0.036711146613315405 Centerline is valid? [True, True] Translation: X:236.89, Y:-39.45, Z:-10.43 [[ 9.82128359e-01 1.85045515e-01 3.43808545e-02 2.36893033e+02] [-1.84952020e-01 9.82729794e-01 -5.90786051e-03 -3.94452431e+01] [-3.48803131e-02 -5.56531118e-04 9.99391342e-01 -1.04298588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61587156000004 meters 0.03835642986007816 Centerline is valid? [True, True] Translation: X:236.92, Y:-39.45, Z:-10.43 [[ 9.81798797e-01 1.86760026e-01 3.45226839e-02 2.36922168e+02] [-1.86666869e-01 9.82405368e-01 -5.93072064e-03 -3.94465467e+01] [-3.50228916e-02 -6.21466928e-04 9.99386317e-01 -1.04312259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64587156000005 meters 0.03128562037462504 Centerline is valid? [True, True] Translation: X:236.95, Y:-39.45, Z:-10.43 [[ 9.81662018e-01 1.87419851e-01 3.48350769e-02 2.36950639e+02] [-1.87325469e-01 9.82279682e-01 -5.98286709e-03 -3.94495038e+01] [-3.53390963e-02 -6.52343744e-04 9.99375166e-01 -1.04323979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67587156000002 meters 0.02665217507028132 Centerline is valid? [True, True] Translation: X:236.98, Y:-39.46, Z:-10.43 [[ 9.81632179e-01 1.87750278e-01 3.38836023e-02 2.36978502e+02] [-1.87661226e-01 9.82216582e-01 -5.81810303e-03 -3.94605329e+01] [-3.43733865e-02 -6.47401189e-04 9.99408851e-01 -1.04314723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70587156000002 meters 0.026697656203788032 Centerline is valid? [True, True] Translation: X:237.01, Y:-39.47, Z:-10.43 [[ 9.81595818e-01 1.87924918e-01 3.39687365e-02 2.37006447e+02] [-1.87835581e-01 9.82183177e-01 -5.83103820e-03 -3.94657503e+01] [-3.44593189e-02 -6.56814642e-04 9.99405885e-01 -1.04333061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73587156000002 meters 0.027436063420656867 Centerline is valid? [True, True] Translation: X:237.03, Y:-39.47, Z:-10.44 [[ 9.81681062e-01 1.87499545e-01 3.38557734e-02 2.37033867e+02] [-1.87410601e-01 9.82264480e-01 -5.81010574e-03 -3.94696423e+01] [-3.43447159e-02 -6.41260070e-04 9.99409840e-01 -1.04352139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76587156000002 meters 0.026907098784834677 Centerline is valid? [True, True] Translation: X:237.06, Y:-39.48, Z:-10.44 [[ 9.81825884e-01 1.86669847e-01 3.42388831e-02 2.37061288e+02] [-1.86578449e-01 9.82422507e-01 -5.87368704e-03 -3.94752264e+01] [-3.47334896e-02 -6.21299723e-04 9.99396417e-01 -1.04358992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79587156000002 meters 0.02628742320355126 Centerline is valid? [True, True] Translation: X:237.09, Y:-39.48, Z:-10.44 [[ 9.81916514e-01 1.86210945e-01 3.41385966e-02 2.37089252e+02] [-1.86119879e-01 9.82509602e-01 -5.85433949e-03 -3.94805297e+01] [-3.46316410e-02 -6.05398848e-04 9.99399961e-01 -1.04373047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82587156000002 meters 0.025864852539919433 Centerline is valid? [True, True] Translation: X:237.12, Y:-39.49, Z:-10.44 [[ 9.82034999e-01 1.85602541e-01 3.40434639e-02 2.37118065e+02] [-1.85511672e-01 9.82624728e-01 -5.83639956e-03 -3.94855377e+01] [-3.45352001e-02 -5.83911284e-04 9.99403311e-01 -1.04387285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85587156000003 meters 0.02502613137999384 Centerline is valid? [True, True] Translation: X:237.15, Y:-39.49, Z:-10.44 [[ 9.82244060e-01 1.84389949e-01 3.45970141e-02 2.37145126e+02] [-1.84295404e-01 9.82853012e-01 -5.92972630e-03 -3.94903598e+01] [-3.50971614e-02 -5.51632230e-04 9.99383753e-01 -1.04400271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88587156000003 meters 0.02420944561725779 Centerline is valid? [True, True] Translation: X:237.17, Y:-39.50, Z:-10.44 [[ 9.82376359e-01 1.83644603e-01 3.48044527e-02 2.37173345e+02] [-1.83548530e-01 9.82992563e-01 -5.96308453e-03 -3.94960992e+01] [-3.53076064e-02 -5.30312883e-04 9.99376351e-01 -1.04411608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91587156000003 meters 0.022020982232467422 Centerline is valid? [True, True] Translation: X:237.20, Y:-39.50, Z:-10.44 [[ 9.82682779e-01 1.81909680e-01 3.52622245e-02 2.37201316e+02] [-1.81810006e-01 9.83315129e-01 -6.03982681e-03 -3.95030906e+01] [-3.57725818e-02 -4.75791475e-04 9.99359843e-01 -1.04410039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94587156000003 meters 0.02119945014346581 Centerline is valid? [True, True] Translation: X:237.23, Y:-39.51, Z:-10.44 [[ 9.82864642e-01 1.80843566e-01 3.56749098e-02 2.37229990e+02] [-1.80740911e-01 9.83511773e-01 -6.10864780e-03 -3.95094279e+01] [-3.61914035e-02 -4.43941773e-04 9.99344778e-01 -1.04417235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97587156000003 meters 0.020710623556343618 Centerline is valid? [True, True] Translation: X:237.26, Y:-39.52, Z:-10.44 [[ 9.83363971e-01 1.77958485e-01 3.64153663e-02 2.37257813e+02] [-1.77849595e-01 9.84037935e-01 -6.23407862e-03 -3.95161335e+01] [-3.69435090e-02 -3.46089845e-04 9.99317296e-01 -1.04446691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00587156000003 meters 0.01780493437525879 Centerline is valid? [True, True] Translation: X:237.29, Y:-39.53, Z:-10.44 [[ 9.83695539e-01 1.76166542e-01 3.61722973e-02 2.37286540e+02] [-1.76057949e-01 9.84360336e-01 -6.19087077e-03 -3.95272386e+01] [-3.66971991e-02 -2.78488497e-04 9.99326392e-01 -1.04440321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03587156000003 meters 0.01596739211363811 Centerline is valid? [True, True] Translation: X:237.32, Y:-39.54, Z:-10.45 [[ 9.84390202e-01 1.72398269e-01 3.54226825e-02 2.37316105e+02] [-1.72291698e-01 9.85027319e-01 -6.06236065e-03 -3.95398002e+01] [-3.59374505e-02 -1.35305691e-04 9.99354032e-01 -1.04469028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06587156000003 meters 0.015596578664872582 Centerline is valid? [True, True] Translation: X:237.35, Y:-39.55, Z:-10.45 [[ 9.84664715e-01 1.70890851e-01 3.50958197e-02 2.37345558e+02] [-1.70785243e-01 9.85289963e-01 -6.00746962e-03 -3.95477089e+01] [-3.56061805e-02 -7.85047466e-05 9.99365896e-01 -1.04491940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09587156000003 meters 0.0154081113191436 Centerline is valid? [True, True] Translation: X:237.38, Y:-39.56, Z:-10.45 [[ 9.85003601e-01 1.68953465e-01 3.49661812e-02 2.37375059e+02] [-1.68847467e-01 9.85624029e-01 -5.98383185e-03 -3.95577415e+01] [-3.54744975e-02 -9.85519352e-06 9.99370582e-01 -1.04509656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12587156000004 meters 0.02559983533251189 Centerline is valid? [True, True] Translation: X:237.41, Y:-39.57, Z:-10.45 [[ 9.85094851e-01 1.68585092e-01 3.41643229e-02 2.37405034e+02] [-1.68483481e-01 9.85687104e-01 -5.85234307e-03 -3.95652569e+01] [-3.46619503e-02 8.98896696e-06 9.99399094e-01 -1.04529541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15587156000004 meters 0.015550877704690222 Centerline is valid? [True, True] Translation: X:237.44, Y:-39.57, Z:-10.45 [[ 9.85124628e-01 1.68317431e-01 3.46223729e-02 2.37435470e+02] [-1.68212776e-01 9.85732845e-01 -5.93465871e-03 -3.95728137e+01] [-3.51273167e-02 2.24529974e-05 9.99382845e-01 -1.04545053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18587156000004 meters 0.015462526357558546 Centerline is valid? [True, True] Translation: X:237.47, Y:-39.58, Z:-10.46 [[ 9.85027791e-01 1.68900773e-01 3.45366595e-02 2.37466175e+02] [-1.68797009e-01 9.85633060e-01 -5.91951051e-03 -3.95780063e+01] [-3.50402833e-02 1.19752454e-06 9.99385901e-01 -1.04558038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21587156000004 meters 0.01749339039697747 Centerline is valid? [True, True] Translation: X:237.50, Y:-39.58, Z:-10.46 [[ 9.84966367e-01 1.69231193e-01 3.46707360e-02 2.37497353e+02] [-1.69126598e-01 9.85576381e-01 -5.94899691e-03 -3.95834953e+01] [-3.51774144e-02 -4.18177085e-06 9.99381083e-01 -1.04568790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24587156000004 meters 0.01523092145465433 Centerline is valid? [True, True] Translation: X:237.53, Y:-39.59, Z:-10.46 [[ 9.84740438e-01 1.70349622e-01 3.55988264e-02 2.37527332e+02] [-1.70240046e-01 9.85383684e-01 -6.10920169e-03 -3.95887179e+01] [-3.61192029e-02 -4.43678945e-05 9.99347488e-01 -1.04568793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27587156000004 meters 0.015318644794693791 Centerline is valid? [True, True] Translation: X:237.56, Y:-39.59, Z:-10.46 [[ 9.84610569e-01 1.71070119e-01 3.57357186e-02 2.37557140e+02] [-1.70960157e-01 9.85258854e-01 -6.13311270e-03 -3.95933891e+01] [-3.62581254e-02 -7.06564832e-05 9.99342455e-01 -1.04586283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30587156000004 meters 0.015963913450805743 Centerline is valid? [True, True] Translation: X:237.59, Y:-39.60, Z:-10.46 [[ 9.84296401e-01 1.72912622e-01 3.55221204e-02 2.37587336e+02] [-1.72805152e-01 9.84937159e-01 -6.09696118e-03 -3.95974641e+01] [-3.60412979e-02 -1.37188479e-04 9.99350292e-01 -1.04609140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33587156000004 meters 0.016374890218392075 Centerline is valid? [True, True] Translation: X:237.62, Y:-39.60, Z:-10.46 [[ 9.84147453e-01 1.73837752e-01 3.51315776e-02 2.37617017e+02] [-1.73733222e-01 9.84774293e-01 -6.02992903e-03 -3.96018777e+01] [-3.56449038e-02 -1.69182890e-04 9.99364504e-01 -1.04631446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36587156000004 meters 0.017114395780751246 Centerline is valid? [True, True] Translation: X:237.65, Y:-39.61, Z:-10.47 [[ 9.83996415e-01 1.74799959e-01 3.45836476e-02 2.37647231e+02] [-1.74699260e-01 9.84603948e-01 -5.93588317e-03 -3.96059914e+01] [-3.50887880e-02 -2.00849860e-04 9.99384179e-01 -1.04659772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39587156000005 meters 0.019244300434171524 Centerline is valid? [True, True] Translation: X:237.68, Y:-39.61, Z:-10.47 [[ 9.83533494e-01 1.77585415e-01 3.35452787e-02 2.37676785e+02] [-1.77492284e-01 9.84105348e-01 -5.75790522e-03 -3.96070262e+01] [-3.40346081e-02 -2.90935480e-04 9.99420613e-01 -1.04699376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42587156000002 meters 0.03038442943630056 Centerline is valid? [True, True] Translation: X:237.71, Y:-39.61, Z:-10.47 [[ 9.82849119e-01 1.81545152e-01 3.23877717e-02 2.37707168e+02] [-1.81460509e-01 9.83382523e-01 -5.55852210e-03 -3.96054265e+01] [-3.28586913e-02 -4.13912977e-04 9.99459922e-01 -1.04727857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45587156000002 meters 0.025557495211825876 Centerline is valid? [True, True] Translation: X:237.74, Y:-39.61, Z:-10.47 [[ 9.82430925e-01 1.83703516e-01 3.29013146e-02 2.37735342e+02] [-1.83617386e-01 9.82981574e-01 -5.64637282e-03 -3.96056149e+01] [-3.33786446e-02 -4.94082105e-04 9.99442656e-01 -1.04741746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48587156000002 meters 0.026510611113853694 Centerline is valid? [True, True] Translation: X:237.76, Y:-39.61, Z:-10.47 [[ 9.82006862e-01 1.85838892e-01 3.35623070e-02 2.37764519e+02] [-1.85750593e-01 9.82580057e-01 -5.75741807e-03 -3.96077451e+01] [-3.40476057e-02 -5.80394373e-04 9.99420044e-01 -1.04734294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51587156000002 meters 0.025288029967581078 Centerline is valid? [True, True] Translation: X:237.79, Y:-39.61, Z:-10.47 [[ 9.81620521e-01 1.87712891e-01 3.44241794e-02 2.37794165e+02] [-1.87621214e-01 9.82223717e-01 -5.90341683e-03 -3.96130658e+01] [-3.49203928e-02 -6.63791215e-04 9.99389877e-01 -1.04709004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54587156000002 meters 0.034132960719586894 Centerline is valid? [True, True] Translation: X:237.82, Y:-39.60, Z:-10.47 [[ 9.80915682e-01 1.91189065e-01 3.53718225e-02 2.37824808e+02] [-1.91094555e-01 9.81552895e-01 -6.06512543e-03 -3.96047211e+01] [-3.58789004e-02 -8.09986044e-04 9.99355817e-01 -1.04737536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57587156000002 meters 0.034132960719586894 Centerline is valid? [True, True] Translation: X:237.85, Y:-39.61, Z:-10.47 [[ 9.80927966e-01 1.91125997e-01 3.53719977e-02 2.37851910e+02] [-1.91031483e-01 9.81565178e-01 -6.06410361e-03 -3.96092226e+01] [-3.58789291e-02 -8.08716343e-04 9.99355817e-01 -1.04749921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60587156000003 meters 0.03130739031804124 Centerline is valid? [True, True] Translation: X:237.88, Y:-39.62, Z:-10.47 [[ 9.80518980e-01 1.93094752e-01 3.60131439e-02 2.37880351e+02] [-1.92998200e-01 9.81179702e-01 -6.17143574e-03 -3.96160814e+01] [-3.65270376e-02 -8.99262075e-04 9.99332260e-01 -1.04727393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63587156000003 meters 0.03784056096634486 Centerline is valid? [True, True] Translation: X:237.91, Y:-39.61, Z:-10.48 [[ 9.80375239e-01 1.93829268e-01 3.59806217e-02 2.37909616e+02] [-1.93733445e-01 9.81034839e-01 -6.16421434e-03 -3.96111689e+01] [-3.64930486e-02 -9.27406701e-04 9.99333477e-01 -1.04770450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66587156000003 meters 0.03361476507881403 Centerline is valid? [True, True] Translation: X:237.94, Y:-39.62, Z:-10.48 [[ 9.80287129e-01 1.94385756e-01 3.53740451e-02 2.37937240e+02] [-1.94293578e-01 9.80924719e-01 -6.05809506e-03 -3.96215148e+01] [-3.58768827e-02 -9.34277188e-04 9.99355781e-01 -1.04779481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69587156000003 meters 0.03705074434828295 Centerline is valid? [True, True] Translation: X:237.97, Y:-39.62, Z:-10.48 [[ 9.80185196e-01 1.95061316e-01 3.44682966e-02 2.37965214e+02] [-1.94974268e-01 9.80790603e-01 -5.90150247e-03 -3.96206355e+01] [-3.49573363e-02 -9.35865561e-04 9.99388367e-01 -1.04824519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72587156000003 meters 0.03401839150625373 Centerline is valid? [True, True] Translation: X:237.99, Y:-39.63, Z:-10.48 [[ 9.80152334e-01 1.95280515e-01 3.41602400e-02 2.37992980e+02] [-1.95195223e-01 9.80746982e-01 -5.84662723e-03 -3.96276905e+01] [-3.46442846e-02 -9.37330352e-04 9.99399267e-01 -1.04828929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75587156000003 meters 0.03461456395893619 Centerline is valid? [True, True] Translation: X:238.02, Y:-39.63, Z:-10.48 [[ 9.80124817e-01 1.95437805e-01 3.40500857e-02 2.38022097e+02] [-1.95353214e-01 9.80715646e-01 -5.82613525e-03 -3.96295293e+01] [-3.45320988e-02 -9.41453913e-04 9.99403146e-01 -1.04849747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78587156000003 meters 0.03936470378444971 Centerline is valid? [True, True] Translation: X:238.05, Y:-39.63, Z:-10.49 [[ 9.80142887e-01 1.95430223e-01 3.35700664e-02 2.38049459e+02] [-1.95348046e-01 9.80717168e-01 -5.74254295e-03 -3.96328426e+01] [-3.40450069e-02 -9.29334245e-04 9.99419869e-01 -1.04860341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81587156000003 meters 0.035194401484894056 Centerline is valid? [True, True] Translation: X:238.08, Y:-39.64, Z:-10.49 [[ 9.80164226e-01 1.95066426e-01 3.50311348e-02 2.38076885e+02] [-1.94976785e-01 9.80789565e-01 -5.99025770e-03 -3.96350385e+01] [-3.55266696e-02 -9.58821749e-04 9.99368269e-01 -1.04866332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84587156000003 meters 0.0338376162881124 Centerline is valid? [True, True] Translation: X:238.11, Y:-39.64, Z:-10.49 [[ 9.80308886e-01 1.94139632e-01 3.61149643e-02 2.38105475e+02] [-1.94043815e-01 9.80973439e-01 -6.17325353e-03 -3.96375667e+01] [-3.66262939e-02 -9.56190144e-04 9.99328575e-01 -1.04857074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87587156000004 meters 0.03287715942157045 Centerline is valid? [True, True] Translation: X:238.13, Y:-39.64, Z:-10.49 [[ 9.80458695e-01 1.93294889e-01 3.65763921e-02 2.38134546e+02] [-1.93196089e-01 9.81140258e-01 -6.25026405e-03 -3.96418781e+01] [-3.70947149e-02 -9.38290160e-04 9.99311314e-01 -1.04862417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90587156000004 meters 0.029728513917195706 Centerline is valid? [True, True] Translation: X:238.16, Y:-39.65, Z:-10.49 [[ 9.80888237e-01 1.91006702e-01 3.70770301e-02 2.38163132e+02] [-1.90903595e-01 9.81588352e-01 -6.33446893e-03 -3.96482724e+01] [-3.76043069e-02 -8.64732255e-04 9.99292334e-01 -1.04864625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93587156000004 meters 0.03367448656485638 Centerline is valid? [True, True] Translation: X:238.19, Y:-39.65, Z:-10.49 [[ 9.81062882e-01 1.90101318e-01 3.71094414e-02 2.38192011e+02] [-1.89997428e-01 9.81764125e-01 -6.33883111e-03 -3.96462601e+01] [-3.76377384e-02 -8.31906500e-04 9.99291103e-01 -1.04898936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96587156000004 meters 0.033211320218996546 Centerline is valid? [True, True] Translation: X:238.22, Y:-39.65, Z:-10.49 [[ 9.81281662e-01 1.88967674e-01 3.71149365e-02 2.38219357e+02] [-1.88863028e-01 9.81982990e-01 -6.33748647e-03 -3.96501875e+01] [-3.76438164e-02 -7.90780050e-04 9.99290907e-01 -1.04914018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99587156000004 meters 0.030833438663554966 Centerline is valid? [True, True] Translation: X:238.25, Y:-39.65, Z:-10.49 [[ 9.81630698e-01 1.87193828e-01 3.68733354e-02 2.38247632e+02] [-1.87089367e-01 9.82322733e-01 -6.29415661e-03 -3.96547215e+01] [-3.73997429e-02 -7.20071646e-04 9.99300125e-01 -1.04933505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02587156000004 meters 0.025423874183468486 Centerline is valid? [True, True] Translation: X:238.28, Y:-39.66, Z:-10.49 [[ 9.81825719e-01 1.86226682e-01 3.65770510e-02 2.38275188e+02] [-1.86123280e-01 9.82506571e-01 -6.24204747e-03 -3.96647278e+01] [-3.70996288e-02 -6.79237970e-04 9.99311341e-01 -1.04927799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05587156000004 meters 0.02484527956261122 Centerline is valid? [True, True] Translation: X:238.30, Y:-39.67, Z:-10.50 [[ 9.82336446e-01 1.83664391e-01 3.58119800e-02 2.38302737e+02] [-1.83563626e-01 9.82988842e-01 -6.10989407e-03 -3.96682483e+01] [-3.63249467e-02 -5.71805275e-04 9.99339868e-01 -1.04959758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08587156000004 meters 0.02229476466212515 Centerline is valid? [True, True] Translation: X:238.33, Y:-39.67, Z:-10.50 [[ 9.82653669e-01 1.81965552e-01 3.57813507e-02 2.38330080e+02] [-1.81863911e-01 9.83304773e-01 -6.10251090e-03 -3.96731268e+01] [-3.62944197e-02 -5.10681674e-04 9.99341010e-01 -1.04980163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11587156000004 meters 0.01896309646136139 Centerline is valid? [True, True] Translation: X:238.36, Y:-39.68, Z:-10.50 [[ 9.83251694e-01 1.78555498e-01 3.65245091e-02 2.38358084e+02] [-1.78447323e-01 9.83929763e-01 -6.22693767e-03 -3.96796420e+01] [-3.70494056e-02 -3.95053853e-04 9.99313357e-01 -1.04981426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14587156000005 meters 0.0192986613350958 Centerline is valid? [True, True] Translation: X:238.39, Y:-39.69, Z:-10.50 [[ 9.83584453e-01 1.76799994e-01 3.61024425e-02 2.38385843e+02] [-1.76693185e-01 9.84246745e-01 -6.15329750e-03 -3.96859436e+01] [-3.66216145e-02 -3.26767792e-04 9.99329150e-01 -1.04992807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17587156000002 meters 0.01653038030556538 Centerline is valid? [True, True] Translation: X:238.41, Y:-39.69, Z:-10.50 [[ 9.83903787e-01 1.75010846e-01 3.61184280e-02 2.38412838e+02] [-1.74902797e-01 9.84566471e-01 -6.15440073e-03 -3.96917580e+01] [-3.66380801e-02 -2.61875886e-04 9.99328566e-01 -1.05015173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20587156000002 meters 0.01462108059435588 Centerline is valid? [True, True] Translation: X:238.44, Y:-39.70, Z:-10.50 [[ 9.84517597e-01 1.71649449e-01 3.55185616e-02 2.38440323e+02] [-1.71542850e-01 9.85158083e-01 -6.05003465e-03 -3.97004449e+01] [-3.60298832e-02 -1.36589705e-04 9.99350704e-01 -1.05045684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23587156000002 meters 0.013983364106309366 Centerline is valid? [True, True] Translation: X:238.47, Y:-39.71, Z:-10.51 [[ 9.85004201e-01 1.68951078e-01 3.49607845e-02 2.38469394e+02] [-1.68846166e-01 9.85624438e-01 -5.95319010e-03 -3.97071157e+01] [-3.54640014e-02 -3.90771432e-05 9.99370954e-01 -1.05074599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26587156000002 meters 0.014013460339104666 Centerline is valid? [True, True] Translation: X:238.50, Y:-39.71, Z:-10.51 [[ 9.85194259e-01 1.67875693e-01 3.47853934e-02 2.38497847e+02] [-1.67771186e-01 9.85808172e-01 -5.92262772e-03 -3.97126010e+01] [-3.52859903e-02 -1.04786257e-06 9.99377256e-01 -1.05090644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29587156000002 meters 0.013942975283259787 Centerline is valid? [True, True] Translation: X:238.53, Y:-39.72, Z:-10.51 [[ 9.85335724e-01 1.67012464e-01 3.49334777e-02 2.38526705e+02] [-1.66906570e-01 9.85954784e-01 -5.94650664e-03 -3.97176403e+01] [-3.54359702e-02 2.86784667e-05 9.99371948e-01 -1.05102204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32587156000002 meters 0.025783035849102003 Centerline is valid? [True, True] Translation: X:238.55, Y:-39.72, Z:-10.51 [[ 9.85531326e-01 1.66035664e-01 3.40611817e-02 2.38554915e+02] [-1.65934432e-01 9.86119747e-01 -5.79737641e-03 -3.97217995e+01] [-3.45509751e-02 6.15732217e-05 9.99402935e-01 -1.05117886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35587156000003 meters 0.015993647221111042 Centerline is valid? [True, True] Translation: X:238.58, Y:-39.72, Z:-10.51 [[ 9.85485352e-01 1.66159034e-01 3.47821352e-02 2.38584814e+02] [-1.66053594e-01 9.86098967e-01 -5.91876241e-03 -3.97248769e+01] [-3.52820834e-02 5.71551089e-05 9.99377392e-01 -1.05109779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38587156000003 meters 0.013312240172845418 Centerline is valid? [True, True] Translation: X:238.61, Y:-39.73, Z:-10.51 [[ 9.85416828e-01 1.66432977e-01 3.54081897e-02 2.38614782e+02] [-1.66323914e-01 9.86052768e-01 -6.02443247e-03 -3.97284980e+01] [-3.59170077e-02 4.73484547e-05 9.99354775e-01 -1.05110425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41587156000003 meters 0.02416108291361436 Centerline is valid? [True, True] Translation: X:238.64, Y:-39.73, Z:-10.51 [[ 9.85377192e-01 1.66740470e-01 3.50628754e-02 2.38643414e+02] [-1.66633754e-01 9.86000819e-01 -5.96469870e-03 -3.97326339e+01] [-3.55665805e-02 3.48194999e-05 9.99367308e-01 -1.05143558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44587156000003 meters 0.013468040081400432 Centerline is valid? [True, True] Translation: X:238.67, Y:-39.73, Z:-10.51 [[ 9.85225121e-01 1.67366647e-01 3.63299648e-02 2.38672841e+02] [-1.67252509e-01 9.85894723e-01 -6.18004055e-03 -3.97343348e+01] [-3.68518533e-02 1.24534301e-05 9.99320740e-01 -1.05138294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47587156000003 meters 0.01328451966994316 Centerline is valid? [True, True] Translation: X:238.70, Y:-39.74, Z:-10.51 [[ 9.85224554e-01 1.67291181e-01 3.66911323e-02 2.38699979e+02] [-1.67174768e-01 9.85907532e-01 -6.23989208e-03 -3.97378442e+01] [-3.72179426e-02 1.38633659e-05 9.99307172e-01 -1.05145609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50587156000003 meters 0.01288434334828076 Centerline is valid? [True, True] Translation: X:238.73, Y:-39.74, Z:-10.51 [[ 9.85237756e-01 1.67188765e-01 3.68032610e-02 2.38729268e+02] [-1.67071654e-01 9.85924904e-01 -6.25665716e-03 -3.97420114e+01] [-3.73312944e-02 1.55131595e-05 9.99302944e-01 -1.05136202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53587156000003 meters 0.013080314518931473 Centerline is valid? [True, True] Translation: X:238.76, Y:-39.75, Z:-10.52 [[ 9.85284669e-01 1.66999804e-01 3.64030975e-02 2.38757233e+02] [-1.66885131e-01 9.85956929e-01 -6.18774024e-03 -3.97463885e+01] [-3.69252376e-02 2.15499079e-05 9.99318031e-01 -1.05170274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56587156000003 meters 0.01336415082179348 Centerline is valid? [True, True] Translation: X:238.79, Y:-39.75, Z:-10.52 [[ 9.85268284e-01 1.67137868e-01 3.62124460e-02 2.38785870e+02] [-1.67024517e-01 9.85933534e-01 -6.15449330e-03 -3.97506231e+01] [-3.67317137e-02 1.54607414e-05 9.99325163e-01 -1.05203526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59587156000003 meters 0.013351807400328552 Centerline is valid? [True, True] Translation: X:238.81, Y:-39.75, Z:-10.52 [[ 9.85083070e-01 1.68199204e-01 3.63369470e-02 2.38813306e+02] [-1.68085835e-01 9.85753025e-01 -6.17454043e-03 -3.97532164e+01] [-3.68578082e-02 -2.52908245e-05 9.99320520e-01 -1.05214016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62587156000004 meters 0.01306471230681897 Centerline is valid? [True, True] Translation: X:238.84, Y:-39.75, Z:-10.52 [[ 9.84723786e-01 1.70134610e-01 3.70577928e-02 2.38842575e+02] [-1.70018147e-01 9.85420826e-01 -6.29489182e-03 -3.97540081e+01] [-3.75884998e-02 -1.01767557e-04 9.99293297e-01 -1.05190571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65587156000004 meters 0.013338000698002275 Centerline is valid? [True, True] Translation: X:238.87, Y:-39.76, Z:-10.52 [[ 9.84501407e-01 1.71372633e-01 3.72612567e-02 2.38871131e+02] [-1.71255842e-01 9.85206272e-01 -6.32763350e-03 -3.97557382e+01] [-3.77944070e-02 -1.51643790e-04 9.99285525e-01 -1.05200359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68587156000004 meters 0.014254819617498705 Centerline is valid? [True, True] Translation: X:238.90, Y:-39.76, Z:-10.52 [[ 9.84350495e-01 1.72357409e-01 3.67018708e-02 2.38898778e+02] [-1.72244846e-01 9.85034460e-01 -6.23095391e-03 -3.97573197e+01] [-3.72265585e-02 -1.88265525e-04 9.99306834e-01 -1.05224185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71587156000004 meters 0.015417478264263398 Centerline is valid? [True, True] Translation: X:238.93, Y:-39.76, Z:-10.52 [[ 9.83973554e-01 1.74572660e-01 3.63377489e-02 2.38927682e+02] [-1.74463915e-01 9.84644257e-01 -6.16682723e-03 -3.97578326e+01] [-3.68563152e-02 -2.71631046e-04 9.99320538e-01 -1.05242031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74587156000004 meters 0.015829039357763672 Centerline is valid? [True, True] Translation: X:238.96, Y:-39.76, Z:-10.53 [[ 9.83828159e-01 1.75330334e-01 3.66255136e-02 2.38956888e+02] [-1.75220455e-01 9.84509615e-01 -6.21377392e-03 -3.97602498e+01] [-3.71476333e-02 -3.04253383e-04 9.99309742e-01 -1.05252686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77587156000004 meters 0.017197311052998182 Centerline is valid? [True, True] Translation: X:238.99, Y:-39.76, Z:-10.53 [[ 9.83726749e-01 1.75957474e-01 3.63407463e-02 2.38985021e+02] [-1.75849766e-01 9.84397715e-01 -6.16433647e-03 -3.97601730e+01] [-3.68584087e-02 -3.26489068e-04 9.99320445e-01 -1.05279200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80587156000004 meters 0.01625134276820239 Centerline is valid? [True, True] Translation: X:239.01, Y:-39.77, Z:-10.53 [[ 9.83763987e-01 1.75683556e-01 3.66566043e-02 2.39013624e+02] [-1.75573864e-01 9.84446639e-01 -6.21554879e-03 -3.97651106e+01] [-3.71784407e-02 -3.21308628e-04 9.99308591e-01 -1.05277249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83587156000004 meters 0.01557759055437699 Centerline is valid? [True, True] Translation: X:239.04, Y:-39.77, Z:-10.53 [[ 9.83826895e-01 1.75270542e-01 3.69442454e-02 2.39042601e+02] [-1.75158899e-01 9.84520259e-01 -6.26251101e-03 -3.97693676e+01] [-3.74699918e-02 -3.09886594e-04 9.99297705e-01 -1.05283246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86587156000004 meters 0.015786876468941287 Centerline is valid? [True, True] Translation: X:239.07, Y:-39.77, Z:-10.53 [[ 9.83917546e-01 1.74848376e-01 3.65281857e-02 2.39070480e+02] [-1.74739007e-01 9.84595328e-01 -6.19028399e-03 -3.97731907e+01] [-3.70478421e-02 -2.92169859e-04 9.99313450e-01 -1.05309339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89587156000005 meters 0.021344838289976218 Centerline is valid? [True, True] Translation: X:239.10, Y:-39.78, Z:-10.53 [[ 9.84037589e-01 1.74306891e-01 3.58766174e-02 2.39097710e+02] [-1.74201110e-01 9.84691340e-01 -6.07767609e-03 -3.97775107e+01] [-3.63867753e-02 -2.69084853e-04 9.99337746e-01 -1.05323082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92587156000002 meters 0.01496885336271661 Centerline is valid? [True, True] Translation: X:239.13, Y:-39.78, Z:-10.53 [[ 9.84065371e-01 1.73885807e-01 3.71358555e-02 2.39126600e+02] [-1.73772257e-01 9.84765787e-01 -6.28862467e-03 -3.97816394e+01] [-3.76636225e-02 -2.64763632e-04 9.99290439e-01 -1.05318748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95587156000002 meters 0.014412915792739263 Centerline is valid? [True, True] Translation: X:239.16, Y:-39.79, Z:-10.53 [[ 9.84172568e-01 1.73279599e-01 3.71286617e-02 2.39155246e+02] [-1.73165728e-01 9.84872642e-01 -6.28563703e-03 -3.97858319e+01] [-3.76561758e-02 -2.43260195e-04 9.99290725e-01 -1.05329614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98587156000002 meters 0.013178072188061189 Centerline is valid? [True, True] Translation: X:239.18, Y:-39.79, Z:-10.53 [[ 9.84500522e-01 1.71278339e-01 3.77154139e-02 2.39183038e+02] [-1.71159439e-01 9.85222666e-01 -6.38318477e-03 -3.97908618e+01] [-3.82513820e-02 -1.71100342e-04 9.99268133e-01 -1.05328784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01587156000002 meters 0.012418666907916787 Centerline is valid? [True, True] Translation: X:239.21, Y:-39.80, Z:-10.53 [[ 9.84780238e-01 1.69590055e-01 3.80407144e-02 2.39211465e+02] [-1.69467929e-01 9.85514689e-01 -6.43583192e-03 -3.97973749e+01] [-3.85811359e-02 -1.08800982e-04 9.99255465e-01 -1.05336118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04587156000002 meters 0.014639932619297082 Centerline is valid? [True, True] Translation: X:239.24, Y:-39.80, Z:-10.54 [[ 9.85098871e-01 1.67755952e-01 3.79230207e-02 2.39239224e+02] [-1.67633292e-01 9.85828555e-01 -6.41409004e-03 -3.98046803e+01] [-3.84615985e-02 -3.86479329e-05 9.99260078e-01 -1.05350352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07587156000002 meters 0.012376671805801608 Centerline is valid? [True, True] Translation: X:239.27, Y:-39.82, Z:-10.54 [[ 9.85705412e-01 1.64181974e-01 3.78036974e-02 2.39266638e+02] [-1.64057530e-01 9.86430063e-01 -6.39195358e-03 -3.98152761e+01] [-3.83401472e-02 9.86020196e-05 9.99264741e-01 -1.05375441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10587156000003 meters 0.013095377816515937 Centerline is valid? [True, True] Translation: X:239.30, Y:-39.82, Z:-10.54 [[ 9.86027620e-01 1.62265219e-01 3.76766572e-02 2.39295135e+02] [-1.62140247e-01 9.86747166e-01 -6.36954492e-03 -3.98235350e+01] [-3.82108903e-02 1.71644702e-04 9.99269683e-01 -1.05387935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13587156000003 meters 0.015671999326493168 Centerline is valid? [True, True] Translation: X:239.32, Y:-39.84, Z:-10.54 [[ 9.86666494e-01 1.58413383e-01 3.73420578e-02 2.39323269e+02] [-1.58287899e-01 9.87372827e-01 -6.31201741e-03 -3.98355653e+01] [-3.78704412e-02 3.17060215e-04 9.99282607e-01 -1.05415437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16587156000003 meters 0.017142341312786167 Centerline is valid? [True, True] Translation: X:239.35, Y:-39.84, Z:-10.54 [[ 9.86988484e-01 1.56448198e-01 3.71173113e-02 2.39352586e+02] [-1.56322850e-01 9.87686089e-01 -6.27350880e-03 -3.98438285e+01] [-3.76417311e-02 3.89597048e-04 9.99291223e-01 -1.05434024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19587156000003 meters 0.025785499960863437 Centerline is valid? [True, True] Translation: X:239.38, Y:-39.85, Z:-10.55 [[ 9.87449344e-01 1.53736956e-01 3.61765208e-02 2.39381200e+02] [-1.53616068e-01 9.88111693e-01 -6.11440214e-03 -3.98545446e+01] [-3.66864527e-02 4.80367499e-04 9.99326710e-01 -1.05460503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22587156000003 meters 0.02642604775739672 Centerline is valid? [True, True] Translation: X:239.41, Y:-39.86, Z:-10.55 [[ 9.87581380e-01 1.52857142e-01 3.63002939e-02 2.39410931e+02] [-1.52734813e-01 9.88248161e-01 -6.13584034e-03 -3.98621051e+01] [-3.68116057e-02 5.15323084e-04 9.99322090e-01 -1.05472471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25587156000003 meters 0.02161510829272857 Centerline is valid? [True, True] Translation: X:239.44, Y:-39.87, Z:-10.55 [[ 9.87681048e-01 1.52153756e-01 3.65428738e-02 2.39440462e+02] [-1.52029307e-01 9.88356685e-01 -6.17675296e-03 -3.98714101e+01] [-3.70572098e-02 5.45074042e-04 9.99312997e-01 -1.05492294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28587156000003 meters 0.021797300464241748 Centerline is valid? [True, True] Translation: X:239.47, Y:-39.88, Z:-10.55 [[ 9.87687322e-01 1.52172938e-01 3.62925849e-02 2.39471335e+02] [-1.52050190e-01 9.88353734e-01 -6.13477018e-03 -3.98778105e+01] [-3.68034578e-02 5.40940280e-04 9.99322377e-01 -1.05506333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31587156000003 meters 0.021886364799936744 Centerline is valid? [True, True] Translation: X:239.50, Y:-39.88, Z:-10.55 [[ 9.87683854e-01 1.52185890e-01 3.63326282e-02 2.39501876e+02] [-1.52062849e-01 9.88351740e-01 -6.14237314e-03 -3.98841240e+01] [-3.68441988e-02 5.41879833e-04 9.99320875e-01 -1.05523959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34587156000003 meters 0.022158292895325987 Centerline is valid? [True, True] Translation: X:239.53, Y:-39.89, Z:-10.55 [[ 9.87703171e-01 1.52161152e-01 3.59086227e-02 2.39531468e+02] [-1.52040918e-01 9.88355551e-01 -6.07159566e-03 -3.98932600e+01] [-3.64143476e-02 5.37354338e-04 9.99336633e-01 -1.05542161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37587156000004 meters 0.022019949402565218 Centerline is valid? [True, True] Translation: X:239.56, Y:-39.90, Z:-10.56 [[ 9.87667493e-01 1.52319102e-01 3.62189909e-02 2.39562425e+02] [-1.52196873e-01 9.88331222e-01 -6.12439730e-03 -3.99003722e+01] [-3.67292222e-02 5.36450942e-04 9.99325110e-01 -1.05551111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40587156000004 meters 0.020975589664652634 Centerline is valid? [True, True] Translation: X:239.59, Y:-39.91, Z:-10.55 [[ 9.87417580e-01 1.53629252e-01 3.74776674e-02 2.39592484e+02] [-1.53499289e-01 9.88128432e-01 -6.33803430e-03 -3.99074233e+01] [-3.80064562e-02 5.05491175e-04 9.99277366e-01 -1.05547861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43587156000004 meters 0.02010117459485561 Centerline is valid? [True, True] Translation: X:239.62, Y:-39.91, Z:-10.56 [[ 9.87307048e-01 1.54375768e-01 3.73217708e-02 2.39623518e+02] [-1.54247367e-01 9.88012093e-01 -6.31300430e-03 -3.99126701e+01] [-3.78489358e-02 4.76088754e-04 9.99283359e-01 -1.05560807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46587156000004 meters 0.019285587151196663 Centerline is valid? [True, True] Translation: X:239.65, Y:-39.92, Z:-10.56 [[ 9.87183825e-01 1.55193532e-01 3.71895532e-02 2.39654061e+02] [-1.55066589e-01 9.87883986e-01 -6.29147407e-03 -3.99179164e+01] [-3.77153601e-02 4.43984297e-04 9.99288424e-01 -1.05578540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49587156000004 meters 0.019285587151196663 Centerline is valid? [True, True] Translation: X:239.68, Y:-39.92, Z:-10.56 [[ 9.87180457e-01 1.55214991e-01 3.71894161e-02 2.39684429e+02] [-1.55088032e-01 9.87880615e-01 -6.29228431e-03 -3.99231011e+01] [-3.77153601e-02 4.43986733e-04 9.99288424e-01 -1.05592428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52587156000004 meters 0.0176887220156264 Centerline is valid? [True, True] Translation: X:239.72, Y:-39.93, Z:-10.56 [[ 9.86888501e-01 1.57056171e-01 3.72081522e-02 2.39715581e+02] [-1.56930360e-01 9.87589600e-01 -6.29628668e-03 -3.99289026e+01] [-3.77352549e-02 3.74644183e-04 9.99287701e-01 -1.05611350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55587156000004 meters 0.01689768692909201 Centerline is valid? [True, True] Translation: X:239.75, Y:-39.93, Z:-10.56 [[ 9.86728481e-01 1.58060395e-01 3.71996903e-02 2.39745026e+02] [-1.57935318e-01 9.87429389e-01 -6.29584417e-03 -3.99342170e+01] [-3.77271911e-02 3.37143841e-04 9.99288019e-01 -1.05629830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58587156000004 meters 0.015090639786576307 Centerline is valid? [True, True] Translation: X:239.77, Y:-39.94, Z:-10.57 [[ 9.86371276e-01 1.60541063e-01 3.60315656e-02 2.39774935e+02] [-1.60425373e-01 9.87029134e-01 -6.09814545e-03 -3.99379773e+01] [-3.65432078e-02 2.34658139e-04 9.99332046e-01 -1.05667639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61587156000004 meters 0.013976856683101096 Centerline is valid? [True, True] Translation: X:239.80, Y:-39.94, Z:-10.57 [[ 9.86096768e-01 1.62237021e-01 3.59487702e-02 2.39804305e+02] [-1.62122993e-01 9.86751803e-01 -6.08401835e-03 -3.99419757e+01] [-3.64595668e-02 1.71308601e-04 9.99335114e-01 -1.05680598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64587156000005 meters 0.012252856854588668 Centerline is valid? [True, True] Translation: X:239.83, Y:-39.94, Z:-10.57 [[ 9.85626260e-01 1.65038387e-01 3.60999626e-02 2.39834998e+02] [-1.64925254e-01 9.86287142e-01 -6.11020997e-03 -3.99445227e+01] [-3.66133481e-02 6.85879115e-05 9.99329504e-01 -1.05674944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67587156000002 meters 0.011916449013563025 Centerline is valid? [True, True] Translation: X:239.87, Y:-39.95, Z:-10.57 [[ 9.85445599e-01 1.66128898e-01 3.60300022e-02 2.39865101e+02] [-1.66016932e-01 9.86104045e-01 -6.09836861e-03 -3.99486196e+01] [-3.65424462e-02 2.80200980e-05 9.99332101e-01 -1.05686859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70587156000002 meters 0.01700424240079487 Centerline is valid? [True, True] Translation: X:239.89, Y:-39.95, Z:-10.57 [[ 9.85149908e-01 1.67829361e-01 3.62348603e-02 2.39894292e+02] [-1.67717262e-01 9.85816060e-01 -6.13314309e-03 -3.99527868e+01] [-3.67502287e-02 -3.51462091e-05 9.99324482e-01 -1.05726274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73587156000002 meters 0.012352330666339024 Centerline is valid? [True, True] Translation: X:239.92, Y:-39.96, Z:-10.57 [[ 9.85080216e-01 1.68117803e-01 3.67882127e-02 2.39922880e+02] [-1.68002463e-01 9.85766911e-01 -6.22657939e-03 -3.99588818e+01] [-3.73114016e-02 -4.68301740e-05 9.99303686e-01 -1.05737541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76587156000002 meters 0.01212429525554035 Centerline is valid? [True, True] Translation: X:239.95, Y:-39.97, Z:-10.57 [[ 9.85101760e-01 1.67821323e-01 3.75569804e-02 2.39950860e+02] [-1.67700961e-01 9.85817428e-01 -6.35494954e-03 -3.99677499e+01] [-3.80908219e-02 -3.80697514e-05 9.99274281e-01 -1.05739800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79587156000002 meters 0.02640581312914727 Centerline is valid? [True, True] Translation: X:239.98, Y:-39.98, Z:-10.57 [[ 9.85188137e-01 1.67242034e-01 3.78739478e-02 2.39980116e+02] [-1.67119260e-01 9.85915870e-01 -6.40713398e-03 -3.99754887e+01] [-3.84120683e-02 -1.72337159e-05 9.99261984e-01 -1.05722544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82587156000002 meters 0.011578220348638101 Centerline is valid? [True, True] Translation: X:240.01, Y:-39.99, Z:-10.57 [[ 9.85413711e-01 1.65771751e-01 3.84648511e-02 2.40010358e+02] [-1.65644000e-01 9.86164147e-01 -6.50695615e-03 -3.99852642e+01] [-3.90113266e-02 4.05719978e-05 9.99238768e-01 -1.05733824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85587156000003 meters 0.011586106416291377 Centerline is valid? [True, True] Translation: X:240.04, Y:-39.99, Z:-10.57 [[ 9.85600428e-01 1.64814971e-01 3.77865307e-02 2.40042502e+02] [-1.64690995e-01 9.86324500e-01 -6.39193232e-03 -3.99938023e+01] [-3.83232671e-02 7.67899004e-05 9.99265391e-01 -1.05746583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88587156000003 meters 0.013491106412641946 Centerline is valid? [True, True] Translation: X:240.07, Y:-40.01, Z:-10.58 [[ 9.85975019e-01 1.62773588e-01 3.68513270e-02 2.40071309e+02] [-1.62653955e-01 9.86663435e-01 -6.24159700e-03 -4.00090157e+01] [-3.73758240e-02 1.60044648e-04 9.99301267e-01 -1.05811107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91587156000003 meters 0.013636720457880438 Centerline is valid? [True, True] Translation: X:240.10, Y:-40.02, Z:-10.58 [[ 9.86128371e-01 1.61895822e-01 3.66139164e-02 2.40103188e+02] [-1.61777021e-01 9.86807836e-01 -6.20407649e-03 -4.00184277e+01] [-3.71353137e-02 1.94725527e-04 9.99310227e-01 -1.05820965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94587156000003 meters 0.014242143168402844 Centerline is valid? [True, True] Translation: X:240.13, Y:-40.03, Z:-10.58 [[ 9.86266979e-01 1.60920096e-01 3.71775456e-02 2.40134760e+02] [-1.60796644e-01 9.86967408e-01 -6.30673517e-03 -4.00303051e+01] [-3.77079062e-02 2.42100064e-04 9.99288775e-01 -1.05825810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97587156000003 meters 0.014227731588319175 Centerline is valid? [True, True] Translation: X:240.17, Y:-40.04, Z:-10.58 [[ 9.86293785e-01 1.60820950e-01 3.68943318e-02 2.40166552e+02] [-1.60699046e-01 9.86983566e-01 -6.26559682e-03 -4.00382590e+01] [-3.74217384e-02 2.50835296e-04 9.99299530e-01 -1.05839598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00587156000003 meters 0.02330489065063103 Centerline is valid? [True, True] Translation: X:240.20, Y:-40.05, Z:-10.59 [[ 9.86283234e-01 1.60887330e-01 3.68869750e-02 2.40198712e+02] [-1.60765255e-01 9.86972746e-01 -6.27141269e-03 -4.00485021e+01] [-3.74154299e-02 2.55245230e-04 9.99299765e-01 -1.05852804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03587156000003 meters 0.014503034447608648 Centerline is valid? [True, True] Translation: X:240.23, Y:-40.06, Z:-10.59 [[ 9.86229536e-01 1.61111854e-01 3.73399723e-02 2.40229586e+02] [-1.60986644e-01 9.86936120e-01 -6.35578760e-03 -4.00561894e+01] [-3.78761601e-02 2.57028634e-04 9.99282408e-01 -1.05869437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06587156000003 meters 0.014157468766156506 Centerline is valid? [True, True] Translation: X:240.26, Y:-40.06, Z:-10.59 [[ 9.86151475e-01 1.61571691e-01 3.74146711e-02 2.40261595e+02] [-1.61446058e-01 9.86860947e-01 -6.37515203e-03 -4.00635391e+01] [-3.79531218e-02 2.46414424e-04 9.99279490e-01 -1.05882441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09587156000003 meters 0.013350805776109866 Centerline is valid? [True, True] Translation: X:240.29, Y:-40.07, Z:-10.59 [[ 9.85935226e-01 1.62823920e-01 3.76842415e-02 2.40293035e+02] [-1.62697103e-01 9.86655121e-01 -6.42841157e-03 -4.00712099e+01] [-3.82280491e-02 2.06880492e-04 9.99269020e-01 -1.05882078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12587156000004 meters 0.0207255684126067 Centerline is valid? [True, True] Translation: X:240.32, Y:-40.08, Z:-10.59 [[ 9.85723282e-01 1.64023979e-01 3.80229536e-02 2.40324514e+02] [-1.63895517e-01 9.86456338e-01 -6.49257914e-03 -4.00772653e+01] [-3.85729222e-02 1.68094796e-04 9.99255774e-01 -1.05890102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15587156000004 meters 0.02629058769245594 Centerline is valid? [True, True] Translation: X:240.35, Y:-40.08, Z:-10.59 [[ 9.85229683e-01 1.67087890e-01 3.74714467e-02 2.40354938e+02] [-1.66965106e-01 9.85942003e-01 -6.40461085e-03 -4.00816874e+01] [-3.80148061e-02 5.35886334e-05 9.99277175e-01 -1.05908930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18587156000004 meters 0.011847697568364866 Centerline is valid? [True, True] Translation: X:240.39, Y:-40.08, Z:-10.59 [[ 9.84849970e-01 1.69439119e-01 3.68906830e-02 2.40387769e+02] [-1.69321563e-01 9.85540656e-01 -6.31064751e-03 -4.00849184e+01] [-3.74265385e-02 -3.13470936e-05 9.99299381e-01 -1.05939215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21587156000004 meters 0.013257643129694904 Centerline is valid? [True, True] Translation: X:240.42, Y:-40.08, Z:-10.60 [[ 9.84104154e-01 1.73741681e-01 3.67810171e-02 2.40419614e+02] [-1.73627538e-01 9.84791244e-01 -6.29956928e-03 -4.00839981e+01] [-3.73161213e-02 -1.86765155e-04 9.99303494e-01 -1.05961136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24587156000004 meters 0.014593394460761007 Centerline is valid? [True, True] Translation: X:240.45, Y:-40.09, Z:-10.60 [[ 9.83740466e-01 1.75763472e-01 3.69039059e-02 2.40450890e+02] [-1.75649843e-01 9.84432392e-01 -6.32445859e-03 -4.00869504e+01] [-3.74410091e-02 -2.60539425e-04 9.99298806e-01 -1.05973938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27587156000004 meters 0.015922259519074194 Centerline is valid? [True, True] Translation: X:240.48, Y:-40.09, Z:-10.60 [[ 9.83431184e-01 1.77396941e-01 3.73286973e-02 2.40480808e+02] [-1.77281819e-01 9.84139329e-01 -6.39822678e-03 -4.00900574e+01] [-3.78716650e-02 -3.25483632e-04 9.99282558e-01 -1.05979312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30587156000004 meters 0.01817261652842828 Centerline is valid? [True, True] Translation: X:240.51, Y:-40.09, Z:-10.60 [[ 9.82946638e-01 1.79913825e-01 3.80384454e-02 2.40511367e+02] [-1.79796144e-01 9.83682281e-01 -6.52040660e-03 -4.00911472e+01] [-3.85908560e-02 -4.29954074e-04 9.99255003e-01 -1.05979782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33587156000004 meters 0.019162596496794013 Centerline is valid? [True, True] Translation: X:240.54, Y:-40.09, Z:-10.60 [[ 9.82838120e-01 1.80472995e-01 3.81932970e-02 2.40541641e+02] [-1.80354779e-01 9.83579835e-01 -6.54687930e-03 -4.00947067e+01] [-3.87476917e-02 -4.53821091e-04 9.99248923e-01 -1.05994008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36587156000004 meters 0.018409267628526325 Centerline is valid? [True, True] Translation: X:240.57, Y:-40.10, Z:-10.60 [[ 9.82932594e-01 1.79890547e-01 3.85085181e-02 2.40571880e+02] [-1.79769904e-01 9.83686537e-01 -6.60142855e-03 -4.01008376e+01] [-3.90678454e-02 -4.33913317e-04 9.99236466e-01 -1.06002701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39587156000005 meters 0.017881884840865118 Centerline is valid? [True, True] Translation: X:240.60, Y:-40.11, Z:-10.60 [[ 9.83025919e-01 1.79378186e-01 3.85163518e-02 2.40602425e+02] [-1.79257106e-01 9.83780105e-01 -6.60263769e-03 -4.01066986e+01] [-3.90759898e-02 -4.13765768e-04 9.99236156e-01 -1.06021821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42587156000002 meters 0.016644925200262735 Centerline is valid? [True, True] Translation: X:240.63, Y:-40.11, Z:-10.60 [[ 9.83303174e-01 1.77913394e-01 3.82320862e-02 2.40631882e+02] [-1.77792952e-01 9.84046086e-01 -6.55484196e-03 -4.01136387e+01] [-3.87883290e-02 -3.51998576e-04 9.99247388e-01 -1.06042287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45587156000002 meters 0.015979462611678808 Centerline is valid? [True, True] Translation: X:240.66, Y:-40.12, Z:-10.61 [[ 9.83421516e-01 1.77242608e-01 3.83037846e-02 2.40662130e+02] [-1.77121190e-01 9.84167136e-01 -6.56750090e-03 -4.01206102e+01] [-3.88613670e-02 -3.25790223e-04 9.99244559e-01 -1.06054298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48587156000002 meters 0.015541153207480111 Centerline is valid? [True, True] Translation: X:240.69, Y:-40.13, Z:-10.61 [[ 9.83497461e-01 1.76802638e-01 3.83871284e-02 2.40692459e+02] [-1.76680322e-01 9.84246276e-01 -6.58266339e-03 -4.01269936e+01] [-3.89462204e-02 -3.08217465e-04 9.99241261e-01 -1.06064479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51587156000002 meters 0.013373966128300921 Centerline is valid? [True, True] Translation: X:240.72, Y:-40.14, Z:-10.61 [[ 9.83656782e-01 1.75917542e-01 3.83712616e-02 2.40724204e+02] [-1.75794657e-01 9.84404868e-01 -6.57987453e-03 -4.01350646e+01] [-3.89303721e-02 -2.73124577e-04 9.99241888e-01 -1.06062413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54587156000002 meters 0.01437168189284833 Centerline is valid? [True, True] Translation: X:240.76, Y:-40.14, Z:-10.61 [[ 9.83708298e-01 1.75648091e-01 3.82848976e-02 2.40756032e+02] [-1.75525293e-01 9.84452987e-01 -6.57180260e-03 -4.01380458e+01] [-3.88440064e-02 -2.55231108e-04 9.99245254e-01 -1.06100615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57587156000002 meters 0.012907018508590398 Centerline is valid? [True, True] Translation: X:240.79, Y:-40.15, Z:-10.61 [[ 9.83936423e-01 1.74598318e-01 3.72094470e-02 2.40788582e+02] [-1.74481317e-01 9.84639724e-01 -6.39397009e-03 -4.01458862e+01] [-3.77542761e-02 -2.01093278e-04 9.99287033e-01 -1.06115217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60587156000003 meters 0.012738568469192633 Centerline is valid? [True, True] Translation: X:240.82, Y:-40.15, Z:-10.61 [[ 9.83990517e-01 1.74349414e-01 3.69451496e-02 2.40820828e+02] [-1.74233624e-01 9.84683832e-01 -6.35577848e-03 -4.01520726e+01] [-3.74874177e-02 -1.83061559e-04 9.99297083e-01 -1.06137026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63587156000003 meters 0.012333263015316263 Centerline is valid? [True, True] Translation: X:240.85, Y:-40.16, Z:-10.62 [[ 9.84289681e-01 1.72745903e-01 3.65058395e-02 2.40852428e+02] [-1.72631478e-01 9.84966416e-01 -6.28748868e-03 -4.01590830e+01] [-3.70431638e-02 -1.13346814e-04 9.99313660e-01 -1.06169245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66587156000003 meters 0.012087969945540412 Centerline is valid? [True, True] Translation: X:240.88, Y:-40.17, Z:-10.62 [[ 9.84438094e-01 1.71885848e-01 3.65635732e-02 2.40883732e+02] [-1.71770214e-01 9.85116871e-01 -6.30427433e-03 -4.01666895e+01] [-3.71030083e-02 -7.43649931e-05 9.99311444e-01 -1.06186267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69587156000003 meters 0.012013687203686145 Centerline is valid? [True, True] Translation: X:240.91, Y:-40.17, Z:-10.62 [[ 9.84646168e-01 1.70669301e-01 3.66594348e-02 2.40914510e+02] [-1.70551951e-01 9.85328366e-01 -6.32792878e-03 -4.01737593e+01] [-3.72015642e-02 -2.15673041e-05 9.99307782e-01 -1.06202135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72587156000003 meters 0.01203904798476871 Centerline is valid? [True, True] Translation: X:240.95, Y:-40.18, Z:-10.62 [[ 9.85166963e-01 1.67410378e-01 3.76805077e-02 2.40946475e+02] [-1.67283854e-01 9.85887293e-01 -6.50832586e-03 -4.01836307e+01] [-3.82382950e-02 1.08447052e-04 9.99268643e-01 -1.06186257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75587156000003 meters 0.014363477981340356 Centerline is valid? [True, True] Translation: X:240.98, Y:-40.20, Z:-10.62 [[ 9.85842732e-01 1.63087742e-01 3.89422161e-02 2.40975924e+02] [-1.62948900e-01 9.86611525e-01 -6.73453454e-03 -4.01964613e+01] [-3.95191593e-02 2.93600652e-04 9.99218770e-01 -1.06186318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78587156000003 meters 0.025989119434881056 Centerline is valid? [True, True] Translation: X:241.01, Y:-40.21, Z:-10.62 [[ 9.86141086e-01 1.61163577e-01 3.93961860e-02 2.41006404e+02] [-1.61019671e-01 9.86927635e-01 -6.81979105e-03 -4.02052436e+01] [-3.99802866e-02 3.81715222e-04 9.99200396e-01 -1.06190221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81587156000003 meters 0.01669184188567616 Centerline is valid? [True, True] Translation: X:241.04, Y:-40.21, Z:-10.62 [[ 9.86368327e-01 1.59837453e-01 3.91089864e-02 2.41037387e+02] [-1.59694474e-01 9.87143252e-01 -6.77316897e-03 -4.02126750e+01] [-3.96887780e-02 4.35350324e-04 9.99211995e-01 -1.06208281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84587156000003 meters 0.024665684382394026 Centerline is valid? [True, True] Translation: X:241.07, Y:-40.22, Z:-10.62 [[ 9.86814165e-01 1.57162545e-01 3.87006097e-02 2.41067298e+02] [-1.57020204e-01 9.87572599e-01 -6.70950950e-03 -4.02244890e+01] [-3.92741453e-02 5.44261399e-04 9.99228325e-01 -1.06232881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87587156000004 meters 0.019376288959217773 Centerline is valid? [True, True] Translation: X:241.10, Y:-40.23, Z:-10.63 [[ 9.86932286e-01 1.56505444e-01 3.83498139e-02 2.41098914e+02] [-1.56365065e-01 9.87676933e-01 -6.65155109e-03 -4.02304088e+01] [-3.89182306e-02 5.68059369e-04 9.99242237e-01 -1.06252392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90587156000004 meters 0.020442721115660988 Centerline is valid? [True, True] Translation: X:241.13, Y:-40.24, Z:-10.63 [[ 9.87043823e-01 1.56030976e-01 3.74008723e-02 2.41128783e+02] [-1.55896875e-01 9.87751993e-01 -6.49343515e-03 -4.02382669e+01] [-3.79559631e-02 5.78625974e-04 9.99279245e-01 -1.06284183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93587156000004 meters 0.026906044638561853 Centerline is valid? [True, True] Translation: X:241.16, Y:-40.24, Z:-10.63 [[ 9.87070338e-01 1.55903699e-01 3.72315039e-02 2.41160029e+02] [-1.55770498e-01 9.87772085e-01 -6.46989168e-03 -4.02449263e+01] [-3.77849203e-02 5.86668269e-04 9.99285723e-01 -1.06292329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96587156000004 meters 0.01973899322883183 Centerline is valid? [True, True] Translation: X:241.19, Y:-40.25, Z:-10.63 [[ 9.86956121e-01 1.56558632e-01 3.75101312e-02 2.41192052e+02] [-1.56423607e-01 9.87668500e-01 -6.52605546e-03 -4.02511457e+01] [-3.80692854e-02 5.73460357e-04 9.99274937e-01 -1.06308179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99587156000004 meters 0.024801248976341405 Centerline is valid? [True, True] Translation: X:241.22, Y:-40.26, Z:-10.63 [[ 9.86858700e-01 1.57253309e-01 3.71658911e-02 2.41222981e+02] [-1.57121191e-01 9.87558151e-01 -6.46757373e-03 -4.02584400e+01] [-3.77205261e-02 5.43032341e-04 9.99288180e-01 -1.06320095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02587156000004 meters 0.01971716627675558 Centerline is valid? [True, True] Translation: X:241.25, Y:-40.27, Z:-10.63 [[ 9.86678894e-01 1.58318432e-01 3.74170186e-02 2.41253563e+02] [-1.58185011e-01 9.87387974e-01 -6.51852389e-03 -4.02651526e+01] [-3.79771167e-02 5.12878436e-04 9.99278477e-01 -1.06344761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05587156000004 meters 0.02117439697607677 Centerline is valid? [True, True] Translation: X:241.29, Y:-40.27, Z:-10.63 [[ 9.86334536e-01 1.60379669e-01 3.77166473e-02 2.41285434e+02] [-1.60245383e-01 9.87055300e-01 -6.57659407e-03 -4.02694808e+01] [-3.82831686e-02 4.42803270e-04 9.99266833e-01 -1.06342820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08587156000004 meters 0.01416888970525584 Centerline is valid? [True, True] Translation: X:241.32, Y:-40.27, Z:-10.64 [[ 9.85588067e-01 1.64882622e-01 3.78137916e-02 2.41317358e+02] [-1.64750706e-01 9.86313158e-01 -6.59995432e-03 -4.02711315e+01] [-3.83844580e-02 2.74987343e-04 9.99263007e-01 -1.06361091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11587156000004 meters 0.012797028653726663 Centerline is valid? [True, True] Translation: X:241.35, Y:-40.27, Z:-10.64 [[ 9.85119642e-01 1.67604418e-01 3.80532602e-02 2.41348456e+02] [-1.67472599e-01 9.85854314e-01 -6.64834875e-03 -4.02741701e+01] [-3.86292633e-02 1.76540542e-04 9.99253596e-01 -1.06374746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14587156000005 meters 0.011609575645303035 Centerline is valid? [True, True] Translation: X:241.38, Y:-40.28, Z:-10.64 [[ 9.84558239e-01 1.70840565e-01 3.81912998e-02 2.41380931e+02] [-1.70709990e-01 9.85298685e-01 -6.67840409e-03 -4.02763445e+01] [-3.87707798e-02 5.56413403e-05 9.99248129e-01 -1.06379010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17587156000002 meters 0.012854356633606276 Centerline is valid? [True, True] Translation: X:241.41, Y:-40.27, Z:-10.64 [[ 9.83445557e-01 1.77184809e-01 3.79523321e-02 2.41412915e+02] [-1.77060310e-01 9.84177580e-01 -6.64363249e-03 -4.02734523e+01] [-3.85289851e-02 -1.86200824e-04 9.99257466e-01 -1.06403367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20587156000002 meters 0.026316724059900043 Centerline is valid? [True, True] Translation: X:241.44, Y:-40.27, Z:-10.64 [[ 9.82941606e-01 1.80056676e-01 3.74885693e-02 2.41444180e+02] [-1.79937172e-01 9.83656194e-01 -6.56552498e-03 -4.02743632e+01] [-3.80580300e-02 -2.92059454e-04 9.99275488e-01 -1.06418990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23587156000002 meters 0.018715434899222956 Centerline is valid? [True, True] Translation: X:241.48, Y:-40.27, Z:-10.65 [[ 9.82033688e-01 1.85034469e-01 3.70416173e-02 2.41476348e+02] [-1.84921084e-01 9.82731918e-01 -6.49387897e-03 -4.02725120e+01] [-3.76035711e-02 -4.72568130e-04 9.99292624e-01 -1.06454602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26587156000002 meters 0.020532101042935527 Centerline is valid? [True, True] Translation: X:241.51, Y:-40.27, Z:-10.65 [[ 9.81673701e-01 1.86978870e-01 3.68191025e-02 2.41507209e+02] [-1.86868171e-01 9.82363786e-01 -6.45593371e-03 -4.02741740e+01] [-3.73768761e-02 -5.42698002e-04 9.99301093e-01 -1.06475525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29587156000002 meters 0.022205679964638615 Centerline is valid? [True, True] Translation: X:241.54, Y:-40.28, Z:-10.65 [[ 9.81344163e-01 1.88667772e-01 3.69879224e-02 2.41537672e+02] [-1.88557253e-01 9.82040783e-01 -6.48553492e-03 -4.02758980e+01] [-3.75472597e-02 -6.09799216e-04 9.99294667e-01 -1.06484322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32587156000002 meters 0.03152249426579426 Centerline is valid? [True, True] Translation: X:241.57, Y:-40.28, Z:-10.65 [[ 9.80917586e-01 1.90755568e-01 3.75899243e-02 2.41567649e+02] [-1.90642950e-01 9.81637317e-01 -6.59117279e-03 -4.02756285e+01] [-3.81569753e-02 -7.00856764e-04 9.99271512e-01 -1.06483705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35587156000003 meters 0.02702433322209261 Centerline is valid? [True, True] Translation: X:241.60, Y:-40.28, Z:-10.65 [[ 9.80606273e-01 1.92263466e-01 3.80275857e-02 2.41596899e+02] [-1.92149354e-01 9.81343043e-01 -6.66759636e-03 -4.02764652e+01] [-3.86000418e-02 -7.68689212e-04 9.99254445e-01 -1.06500485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38587156000003 meters 0.02702433322209261 Centerline is valid? [True, True] Translation: X:241.63, Y:-40.28, Z:-10.65 [[ 9.80610634e-01 1.92241174e-01 3.80278272e-02 2.41625610e+02] [-1.92127099e-01 9.81347410e-01 -6.66621870e-03 -4.02814523e+01] [-3.86000314e-02 -7.69211160e-04 9.99254445e-01 -1.06513622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41587156000003 meters 0.02614030299894688 Centerline is valid? [True, True] Translation: X:241.65, Y:-40.29, Z:-10.65 [[ 9.80572074e-01 1.92413349e-01 3.81511679e-02 2.41654449e+02] [-1.92298697e-01 9.81313658e-01 -6.68694837e-03 -4.02863008e+01] [-3.87249203e-02 -7.79385063e-04 9.99249605e-01 -1.06514530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44587156000003 meters 0.025762813280646838 Centerline is valid? [True, True] Translation: X:241.68, Y:-40.29, Z:-10.65 [[ 9.80590511e-01 1.92236780e-01 3.85651369e-02 2.41683904e+02] [-1.92119527e-01 9.81348261e-01 -6.75856963e-03 -4.02908779e+01] [-3.91450757e-02 -7.81726591e-04 9.99233232e-01 -1.06523842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47587156000003 meters 0.023414170953440224 Centerline is valid? [True, True] Translation: X:241.71, Y:-40.30, Z:-10.65 [[ 9.80841509e-01 1.90911861e-01 3.87633373e-02 2.41713857e+02] [-1.90792407e-01 9.81606909e-01 -6.79222742e-03 -4.02973821e+01] [-3.93470765e-02 -7.33651829e-04 9.99225335e-01 -1.06528278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50587156000003 meters 0.02262162666602205 Centerline is valid? [True, True] Translation: X:241.74, Y:-40.30, Z:-10.65 [[ 9.81031996e-01 1.89976005e-01 3.85401094e-02 2.41744106e+02] [-1.89857201e-01 9.81788490e-01 -6.75311276e-03 -4.03027857e+01] [-3.91211652e-02 -6.92097607e-04 9.99234235e-01 -1.06548258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53587156000003 meters 0.02205977076913798 Centerline is valid? [True, True] Translation: X:241.77, Y:-40.31, Z:-10.66 [[ 9.81603526e-01 1.87012274e-01 3.84828090e-02 2.41773903e+02] [-1.86891549e-01 9.82357410e-01 -6.74300011e-03 -4.03071280e+01] [-3.90648964e-02 -5.73159120e-04 9.99236511e-01 -1.06579358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56587156000003 meters 0.018700902559414704 Centerline is valid? [True, True] Translation: X:241.80, Y:-40.32, Z:-10.66 [[ 9.81934834e-01 1.85214161e-01 3.87259103e-02 2.41804196e+02] [-1.85090491e-01 9.82698051e-01 -6.78600898e-03 -4.03166073e+01] [-3.93127415e-02 -5.04379147e-04 9.99226828e-01 -1.06584011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59587156000003 meters 0.015087478067924348 Centerline is valid? [True, True] Translation: X:241.83, Y:-40.33, Z:-10.66 [[ 9.82600853e-01 1.81730511e-01 3.83351616e-02 2.41834872e+02] [-1.81606654e-01 9.83348306e-01 -6.71803234e-03 -4.03265926e+01] [-3.89176877e-02 -3.60776108e-04 9.99242355e-01 -1.06598429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62587156000004 meters 0.02886806019082478 Centerline is valid? [True, True] Translation: X:241.87, Y:-40.33, Z:-10.66 [[ 9.82874715e-01 1.80310359e-01 3.80193175e-02 2.41865508e+02] [-1.80187336e-01 9.83609722e-01 -6.66623087e-03 -4.03317665e+01] [-3.85981608e-02 -2.98529780e-04 9.99254769e-01 -1.06613148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65587156000004 meters 0.013183508482338291 Centerline is valid? [True, True] Translation: X:241.90, Y:-40.34, Z:-10.66 [[ 9.83248750e-01 1.78265427e-01 3.79912178e-02 2.41896457e+02] [-1.78140928e-01 9.83982414e-01 -6.66470878e-03 -4.03385589e+01] [-3.85707773e-02 -2.14724210e-04 9.99255848e-01 -1.06637761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68587156000004 meters 0.012612216536583613 Centerline is valid? [True, True] Translation: X:241.93, Y:-40.35, Z:-10.67 [[ 9.83410958e-01 1.77393219e-01 3.78752480e-02 2.41928174e+02] [-1.77268587e-01 9.84140039e-01 -6.65074178e-03 -4.03451722e+01] [-3.84543445e-02 -1.73679337e-04 9.99260343e-01 -1.06654162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71587156000004 meters 0.012040482302335967 Centerline is valid? [True, True] Translation: X:241.96, Y:-40.35, Z:-10.67 [[ 9.83516396e-01 1.76706649e-01 3.83439567e-02 2.41959990e+02] [-1.76578134e-01 9.84263552e-01 -6.73961670e-03 -4.03518088e+01] [-3.89314941e-02 -1.42180811e-04 9.99241872e-01 -1.06664093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74587156000004 meters 0.01172871536248101 Centerline is valid? [True, True] Translation: X:241.99, Y:-40.36, Z:-10.67 [[ 9.83810409e-01 1.75166041e-01 3.78673647e-02 2.41992792e+02] [-1.75039322e-01 9.84538904e-01 -6.66206686e-03 -4.03580125e+01] [-3.84488616e-02 -7.40671366e-05 9.99260566e-01 -1.06691065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77587156000004 meters 0.011532786871412785 Centerline is valid? [True, True] Translation: X:242.03, Y:-40.36, Z:-10.67 [[ 9.84018141e-01 1.73987029e-01 3.79053050e-02 2.42025805e+02] [-1.73858897e-01 9.84747944e-01 -6.67612313e-03 -4.03632141e+01] [-3.84887300e-02 -2.07482701e-05 9.99259034e-01 -1.06700378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80587156000004 meters 0.020085572288267246 Centerline is valid? [True, True] Translation: X:242.06, Y:-40.37, Z:-10.67 [[ 9.84045513e-01 1.73841141e-01 3.78640484e-02 2.42058656e+02] [-1.73712888e-01 9.84773709e-01 -6.67644630e-03 -4.03679255e+01] [-3.84481604e-02 -7.54616012e-06 9.99260596e-01 -1.06699483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83587156000004 meters 0.01154954048713895 Centerline is valid? [True, True] Translation: X:242.09, Y:-40.37, Z:-10.67 [[ 9.83982237e-01 1.74120949e-01 3.82210902e-02 2.42090610e+02] [-1.73990173e-01 9.84724274e-01 -6.74719958e-03 -4.03727630e+01] [-3.88120641e-02 -1.09695685e-05 9.99246528e-01 -1.06722604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86587156000004 meters 0.011828309971851464 Centerline is valid? [True, True] Translation: X:242.12, Y:-40.38, Z:-10.68 [[ 9.83814141e-01 1.75024947e-01 3.84187968e-02 2.42122206e+02] [-1.74893221e-01 9.84563998e-01 -6.78932825e-03 -4.03752531e+01] [-3.90140660e-02 -3.97499770e-05 9.99238661e-01 -1.06750506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89587156000005 meters 0.011695960227375133 Centerline is valid? [True, True] Translation: X:242.15, Y:-40.38, Z:-10.67 [[ 9.83638831e-01 1.75949289e-01 3.86845960e-02 2.42154458e+02] [-1.75816163e-01 9.84399229e-01 -6.84353331e-03 -4.03795358e+01] [-3.92852013e-02 -6.98121453e-05 9.99228036e-01 -1.06742534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92587156000002 meters 0.018680603068697503 Centerline is valid? [True, True] Translation: X:242.19, Y:-40.38, Z:-10.67 [[ 9.83234854e-01 1.78118265e-01 3.90269897e-02 2.42186354e+02] [-1.77984183e-01 9.84009076e-01 -6.91156853e-03 -4.03777222e+01] [-3.96339887e-02 -1.50491789e-04 9.99214253e-01 -1.06738174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95587156000002 meters 0.01284970921989022 Centerline is valid? [True, True] Translation: X:242.22, Y:-40.38, Z:-10.68 [[ 9.82924150e-01 1.79683373e-01 3.96736847e-02 2.42217232e+02] [-1.79546038e-01 9.83724473e-01 -7.02719423e-03 -4.03787505e+01] [-4.02906446e-02 -2.16054012e-04 9.99187979e-01 -1.06754523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98587156000002 meters 0.013749754115393776 Centerline is valid? [True, True] Translation: X:242.25, Y:-40.38, Z:-10.68 [[ 9.82652661e-01 1.81132683e-01 3.98082840e-02 2.42246662e+02] [-1.80995604e-01 9.83458629e-01 -7.05098798e-03 -4.03793970e+01] [-4.04269648e-02 -2.76452311e-04 9.99182458e-01 -1.06769393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01587156000002 meters 0.015536447927107401 Centerline is valid? [True, True] Translation: X:242.28, Y:-40.38, Z:-10.68 [[ 9.82224989e-01 1.83549241e-01 3.92905525e-02 2.42277284e+02] [-1.83417614e-01 9.83010447e-01 -6.95986481e-03 -4.03770540e+01] [-3.99005015e-02 -3.70426265e-04 9.99203589e-01 -1.06791662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04587156000002 meters 0.01694933503061783 Centerline is valid? [True, True] Translation: X:242.31, Y:-40.38, Z:-10.68 [[ 9.81944931e-01 1.85074972e-01 3.91331942e-02 2.42306527e+02] [-1.84945647e-01 9.82724309e-01 -6.93104568e-03 -4.03752672e+01] [-3.97399043e-02 -4.31608736e-04 9.99209965e-01 -1.06810062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07587156000002 meters 0.02193154287446981 Centerline is valid? [True, True] Translation: X:242.34, Y:-40.38, Z:-10.68 [[ 9.81912315e-01 1.85335357e-01 3.87170690e-02 2.42335784e+02] [-1.85209013e-01 9.82675233e-01 -6.85627072e-03 -4.03785614e+01] [-3.93170142e-02 -4.38493480e-04 9.99226691e-01 -1.06812090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10587156000003 meters 0.01701534963286584 Centerline is valid? [True, True] Translation: X:242.36, Y:-40.38, Z:-10.68 [[ 9.81855553e-01 1.85609157e-01 3.88447314e-02 2.42363853e+02] [-1.85482223e-01 9.82623548e-01 -6.87809609e-03 -4.03767841e+01] [-3.94463854e-02 -4.51710298e-04 9.99221586e-01 -1.06837889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13587156000003 meters 0.018845560686033984 Centerline is valid? [True, True] Translation: X:242.39, Y:-40.38, Z:-10.69 [[ 9.81877428e-01 1.85463448e-01 3.89875044e-02 2.42392234e+02] [-1.85335562e-01 9.82651061e-01 -6.90091366e-03 -4.03758314e+01] [-3.95909798e-02 -4.49919664e-04 9.99215869e-01 -1.06865782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16587156000003 meters 0.01771656621526842 Centerline is valid? [True, True] Translation: X:242.42, Y:-40.38, Z:-10.69 [[ 9.81953686e-01 1.85116422e-01 3.87152165e-02 2.42420364e+02] [-1.84990144e-01 9.82716501e-01 -6.85023722e-03 -4.03799215e+01] [-3.93141735e-02 -4.35317805e-04 9.99226804e-01 -1.06873998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19587156000003 meters 0.015937790780612582 Centerline is valid? [True, True] Translation: X:242.45, Y:-40.38, Z:-10.69 [[ 9.82258866e-01 1.83484386e-01 3.87427386e-02 2.42448807e+02] [-1.83356732e-01 9.83022554e-01 -6.85326539e-03 -4.03836185e+01] [-3.93424530e-02 -3.72061262e-04 9.99225717e-01 -1.06888912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22587156000003 meters 0.014139080155824994 Centerline is valid? [True, True] Translation: X:242.48, Y:-40.39, Z:-10.69 [[ 9.82736065e-01 1.81085968e-01 3.79170040e-02 2.42476633e+02] [-1.80961982e-01 9.83467233e-01 -6.70541336e-03 -4.03891770e+01] [-3.85043873e-02 -2.71884674e-04 9.99258394e-01 -1.06909595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25587156000003 meters 0.013095334090650487 Centerline is valid? [True, True] Translation: X:242.51, Y:-40.39, Z:-10.69 [[ 9.83029500e-01 1.79566584e-01 3.75345641e-02 2.42505556e+02] [-1.79444056e-01 9.83745799e-01 -6.63578735e-03 -4.03947432e+01] [-3.81160354e-02 -2.12179706e-04 9.99273297e-01 -1.06924933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28587156000003 meters 0.012599615013134398 Centerline is valid? [True, True] Translation: X:242.53, Y:-40.40, Z:-10.69 [[ 9.83298138e-01 1.78093820e-01 3.75148498e-02 2.42533613e+02] [-1.77970383e-01 9.84013499e-01 -6.63143891e-03 -4.03992334e+01] [-3.80961369e-02 -1.55850637e-04 9.99274067e-01 -1.06946938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31587156000003 meters 0.011533599663382476 Centerline is valid? [True, True] Translation: X:242.56, Y:-40.41, Z:-10.69 [[ 9.83930582e-01 1.74410668e-01 3.82299561e-02 2.42561873e+02] [-1.74279752e-01 9.84673001e-01 -6.75643622e-03 -4.04058087e+01] [-3.88224002e-02 -1.48430601e-05 9.99246126e-01 -1.06948796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34587156000003 meters 0.011537394608228967 Centerline is valid? [True, True] Translation: X:242.59, Y:-40.41, Z:-10.70 [[ 9.84249254e-01 1.72566781e-01 3.83941614e-02 2.42591193e+02] [-1.72433413e-01 9.84997819e-01 -6.78345060e-03 -4.04124167e+01] [-3.89887634e-02 5.61699182e-05 9.99239648e-01 -1.06955866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37587156000004 meters 0.012406972394373845 Centerline is valid? [True, True] Translation: X:242.62, Y:-40.42, Z:-10.70 [[ 9.84804407e-01 1.69202850e-01 3.91238382e-02 2.42620207e+02] [-1.69061752e-01 9.85581229e-01 -6.91125321e-03 -4.04214636e+01] [-3.97291243e-02 1.91887986e-04 9.99210468e-01 -1.06957262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40587156000004 meters 0.013070848454576503 Centerline is valid? [True, True] Translation: X:242.65, Y:-40.43, Z:-10.70 [[ 9.85047657e-01 1.67760676e-01 3.92105725e-02 2.42650277e+02] [-1.67617809e-01 9.85827720e-01 -6.92657489e-03 -4.04287813e+01] [-3.98168762e-02 2.50616125e-04 9.99206962e-01 -1.06968731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43587156000004 meters 0.01497630435565993 Centerline is valid? [True, True] Translation: X:242.68, Y:-40.44, Z:-10.70 [[ 9.85451174e-01 1.65587442e-01 3.82986068e-02 2.42679389e+02] [-1.65449508e-01 9.86195057e-01 -6.76540040e-03 -4.04378916e+01] [-3.88901620e-02 3.30486121e-04 9.99243437e-01 -1.07004483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46587156000004 meters 0.02416175392673626 Centerline is valid? [True, True] Translation: X:242.71, Y:-40.44, Z:-10.70 [[ 9.85638082e-01 1.64520601e-01 3.80860033e-02 2.42709372e+02] [-1.64383377e-01 9.86373577e-01 -6.72839185e-03 -4.04442069e+01] [-3.86739864e-02 3.71053405e-04 9.99251813e-01 -1.07012705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49587156000004 meters 0.02510635461323592 Centerline is valid? [True, True] Translation: X:242.74, Y:-40.45, Z:-10.70 [[ 9.85929774e-01 1.62883863e-01 3.75676347e-02 2.42738468e+02] [-1.62749165e-01 9.86645156e-01 -6.63673365e-03 -4.04522017e+01] [-3.81469416e-02 4.29252122e-04 9.99272048e-01 -1.07032705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52587156000004 meters 0.01753275625245263 Centerline is valid? [True, True] Translation: X:242.77, Y:-40.46, Z:-10.71 [[ 9.86080604e-01 1.61996394e-01 3.74460977e-02 2.42769555e+02] [-1.61861913e-01 9.86791242e-01 -6.61562512e-03 -4.04581850e+01] [-3.80231886e-02 4.62442600e-04 9.99276750e-01 -1.07054683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55587156000004 meters 0.01825208860886177 Centerline is valid? [True, True] Translation: X:242.80, Y:-40.47, Z:-10.71 [[ 9.86148955e-01 1.61529743e-01 3.76613940e-02 2.42799405e+02] [-1.61393369e-01 9.86867726e-01 -6.65369763e-03 -4.04655542e+01] [-3.82415843e-02 4.83237700e-04 9.99268406e-01 -1.07070512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58587156000004 meters 0.03300516141312291 Centerline is valid? [True, True] Translation: X:242.83, Y:-40.47, Z:-10.71 [[ 9.86152813e-01 1.61628879e-01 3.71313337e-02 2.42829783e+02] [-1.61496169e-01 9.86851497e-01 -6.56586253e-03 -4.04728099e+01] [-3.77043452e-02 4.78375659e-04 9.99288824e-01 -1.07074040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61587156000004 meters 0.017653605816435335 Centerline is valid? [True, True] Translation: X:242.86, Y:-40.48, Z:-10.71 [[ 9.86072221e-01 1.61984704e-01 3.77164618e-02 2.42861117e+02] [-1.61847812e-01 9.86793153e-01 -6.67521717e-03 -4.04779660e+01] [-3.82996294e-02 4.77919404e-04 9.99266186e-01 -1.07092516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64587156000005 meters 0.017107690689976553 Centerline is valid? [True, True] Translation: X:242.89, Y:-40.48, Z:-10.71 [[ 9.85878691e-01 1.63062584e-01 3.81287336e-02 2.42891602e+02] [-1.62923223e-01 9.86615626e-01 -6.75500263e-03 -4.04833762e+01] [-3.87198925e-02 4.47556977e-04 9.99250004e-01 -1.07097330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67587156000005 meters 0.01724256637251931 Centerline is valid? [True, True] Translation: X:242.92, Y:-40.49, Z:-10.71 [[ 9.85761441e-01 1.63717728e-01 3.83521373e-02 2.42921919e+02] [-1.63576982e-01 9.86507131e-01 -6.80079020e-03 -4.04892192e+01] [-3.89480669e-02 4.30429862e-04 9.99241143e-01 -1.07111571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70587156000002 meters 0.015669573847878624 Centerline is valid? [True, True] Translation: X:242.95, Y:-40.49, Z:-10.71 [[ 9.85475055e-01 1.65285464e-01 3.89824578e-02 2.42953368e+02] [-1.65140997e-01 9.86245695e-01 -6.91963254e-03 -4.04922513e+01] [-3.95899958e-02 3.81523331e-04 9.99215936e-01 -1.07105788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73587156000002 meters 0.014874556573175983 Centerline is valid? [True, True] Translation: X:242.98, Y:-40.50, Z:-10.71 [[ 9.85309159e-01 1.66198881e-01 3.92911290e-02 2.42984269e+02] [-1.66052804e-01 9.86092192e-01 -6.97538331e-03 -4.04965284e+01] [-3.99039764e-02 3.48506915e-04 9.99203458e-01 -1.07117218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76587156000002 meters 0.014041615597079487 Centerline is valid? [True, True] Translation: X:243.01, Y:-40.50, Z:-10.71 [[ 9.85045019e-01 1.67757380e-01 3.92908557e-02 2.43013869e+02] [-1.67612502e-01 9.85828271e-01 -6.97635410e-03 -4.05008515e+01] [-3.99043712e-02 2.86384210e-04 9.99203462e-01 -1.07138991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79587156000002 meters 0.013589596932997548 Centerline is valid? [True, True] Translation: X:243.04, Y:-40.51, Z:-10.72 [[ 9.84934819e-01 1.68457253e-01 3.90583761e-02 2.43044155e+02] [-1.68314615e-01 9.85708927e-01 -6.93561174e-03 -4.05050909e+01] [-3.96685441e-02 2.57029976e-04 9.99212860e-01 -1.07155481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82587156000002 meters 0.01334468526261207 Centerline is valid? [True, True] Translation: X:243.07, Y:-40.51, Z:-10.72 [[ 9.84883605e-01 1.68814760e-01 3.88054257e-02 2.43073865e+02] [-1.68674242e-01 9.85647766e-01 -6.89069524e-03 -4.05092907e+01] [-3.94117323e-02 2.41057015e-04 9.99223027e-01 -1.07173312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85587156000003 meters 0.013474848965459156 Centerline is valid? [True, True] Translation: X:243.10, Y:-40.51, Z:-10.72 [[ 9.84898055e-01 1.68871242e-01 3.81880319e-02 2.43103393e+02] [-1.68735200e-01 9.85638092e-01 -6.78113792e-03 -4.05132427e+01] [-3.87847181e-02 2.35064339e-04 9.99247562e-01 -1.07198405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88587156000003 meters 0.013805288658721427 Centerline is valid? [True, True] Translation: X:243.13, Y:-40.52, Z:-10.72 [[ 9.85001140e-01 1.68303507e-01 3.80352977e-02 2.43132870e+02] [-1.68168149e-01 9.85735190e-01 -6.75348853e-03 -4.05191984e+01] [-3.86293672e-02 2.55868290e-04 9.99253575e-01 -1.07220645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91587156000003 meters 0.014311759782839314 Centerline is valid? [True, True] Translation: X:243.16, Y:-40.53, Z:-10.72 [[ 9.85102288e-01 1.67847616e-01 3.74253919e-02 2.43161913e+02] [-1.67716240e-01 9.85812916e-01 -6.64512405e-03 -4.05255213e+01] [-3.80098029e-02 2.69280897e-04 9.99277330e-01 -1.07246591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94587156000003 meters 0.014572338165581407 Centerline is valid? [True, True] Translation: X:243.19, Y:-40.53, Z:-10.73 [[ 9.85236194e-01 1.67178017e-01 3.68938102e-02 2.43192145e+02] [-1.67049862e-01 9.85926684e-01 -6.55118420e-03 -4.05317464e+01] [-3.74698059e-02 2.91357887e-04 9.99297718e-01 -1.07268765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97587156000003 meters 0.026718330484444407 Centerline is valid? [True, True] Translation: X:243.22, Y:-40.54, Z:-10.73 [[ 9.85431252e-01 1.66270139e-01 3.57699264e-02 2.43220512e+02] [-1.66149074e-01 9.86080190e-01 -6.35172123e-03 -4.05386956e+01] [-3.63281174e-02 3.16044457e-04 9.99339866e-01 -1.07289386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00587156000003 meters 0.016009806539944268 Centerline is valid? [True, True] Translation: X:243.25, Y:-40.54, Z:-10.73 [[ 9.85524500e-01 1.65759270e-01 3.55714007e-02 2.43250507e+02] [-1.65639232e-01 9.86166190e-01 -6.31593587e-03 -4.05446126e+01] [-3.61262376e-02 3.32490037e-04 9.99347179e-01 -1.07318991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03587156000003 meters 0.016251086256289446 Centerline is valid? [True, True] Translation: X:243.28, Y:-40.55, Z:-10.73 [[ 9.85535271e-01 1.65581025e-01 3.60992207e-02 2.43279692e+02] [-1.65457273e-01 9.86196130e-01 -6.40975192e-03 -4.05508786e+01] [-3.66622450e-02 3.44157976e-04 9.99327655e-01 -1.07331428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06587156000003 meters 0.016094645482400468 Centerline is valid? [True, True] Translation: X:243.31, Y:-40.56, Z:-10.73 [[ 9.85521539e-01 1.65708128e-01 3.58902884e-02 2.43309423e+02] [-1.65585908e-01 9.86174783e-01 -6.37212899e-03 -4.05564264e+01] [-3.64500110e-02 3.36944358e-04 9.99335421e-01 -1.07345244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09587156000003 meters 0.01622551614298666 Centerline is valid? [True, True] Translation: X:243.34, Y:-40.56, Z:-10.74 [[ 9.85538321e-01 1.65766099e-01 3.51542164e-02 2.43339333e+02] [-1.65648880e-01 9.86165043e-01 -6.24144334e-03 -4.05615911e+01] [-3.57024791e-02 3.27925015e-04 9.99362409e-01 -1.07373892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12587156000004 meters 0.01623116581313094 Centerline is valid? [True, True] Translation: X:243.37, Y:-40.57, Z:-10.74 [[ 9.85474116e-01 1.66017077e-01 3.57644649e-02 2.43368701e+02] [-1.65895914e-01 9.86122824e-01 -6.34989144e-03 -4.05667829e+01] [-3.63223455e-02 3.24475078e-04 9.99340073e-01 -1.07385613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15587156000004 meters 0.015718942796775742 Centerline is valid? [True, True] Translation: X:243.40, Y:-40.57, Z:-10.74 [[ 9.85437969e-01 1.66121963e-01 3.62698497e-02 2.43399172e+02] [-1.65997440e-01 9.86105161e-01 -6.43908770e-03 -4.05715636e+01] [-3.68355598e-02 3.24619312e-04 9.99321288e-01 -1.07384314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18587156000004 meters 0.025338606848375467 Centerline is valid? [True, True] Translation: X:243.43, Y:-40.58, Z:-10.74 [[ 9.85431652e-01 1.66179870e-01 3.61760981e-02 2.43427667e+02] [-1.66056026e-01 9.86095405e-01 -6.42253965e-03 -4.05782231e+01] [-3.67403809e-02 3.21714787e-04 9.99324793e-01 -1.07390526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21587156000004 meters 0.0160251837263987 Centerline is valid? [True, True] Translation: X:243.46, Y:-40.58, Z:-10.74 [[ 9.85437973e-01 1.66103252e-01 3.63553566e-02 2.43457978e+02] [-1.65978144e-01 9.86108312e-01 -6.45384073e-03 -4.05842292e+01] [-3.69223233e-02 3.25665103e-04 9.99318085e-01 -1.07416854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24587156000004 meters 0.018071966898265703 Centerline is valid? [True, True] Translation: X:243.49, Y:-40.59, Z:-10.74 [[ 9.85479609e-01 1.65775800e-01 3.67195320e-02 2.43488116e+02] [-1.65647945e-01 9.86163408e-01 -6.51848951e-03 -4.05909613e+01] [-3.72920666e-02 3.41323497e-04 9.99304351e-01 -1.07416323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27587156000004 meters 0.016817378972697007 Centerline is valid? [True, True] Translation: X:243.52, Y:-40.60, Z:-10.74 [[ 9.85516802e-01 1.65477571e-01 3.70648992e-02 2.43516881e+02] [-1.65347085e-01 9.86213489e-01 -6.57988474e-03 -4.05985725e+01] [-3.76427269e-02 3.56013928e-04 9.99291198e-01 -1.07434051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30587156000004 meters 0.016817378972697007 Centerline is valid? [True, True] Translation: X:243.55, Y:-40.60, Z:-10.74 [[ 9.85516802e-01 1.65477549e-01 3.70649887e-02 2.43546391e+02] [-1.65347081e-01 9.86213493e-01 -6.57938092e-03 -4.06038112e+01] [-3.76427318e-02 3.55502753e-04 9.99291198e-01 -1.07447563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33587156000004 meters 0.018711765957978903 Centerline is valid? [True, True] Translation: X:243.58, Y:-40.61, Z:-10.75 [[ 9.85583044e-01 1.65161503e-01 3.67115832e-02 2.43575592e+02] [-1.65033293e-01 9.86266468e-01 -6.51664815e-03 -4.06123832e+01] [-3.72837029e-02 3.64064444e-04 9.99304655e-01 -1.07458494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36587156000004 meters 0.01619916406480637 Centerline is valid? [True, True] Translation: X:243.61, Y:-40.62, Z:-10.75 [[ 9.85578134e-01 1.65181024e-01 3.67555573e-02 2.43606515e+02] [-1.65052527e-01 9.86263199e-01 -6.52427232e-03 -4.06186462e+01] [-3.73283395e-02 3.63582519e-04 9.99302989e-01 -1.07464878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39587156000005 meters 0.016153145896903483 Centerline is valid? [True, True] Translation: X:243.64, Y:-40.63, Z:-10.75 [[ 9.85543354e-01 1.65366999e-01 3.68517582e-02 2.43637398e+02] [-1.65237925e-01 9.86232035e-01 -6.54223344e-03 -4.06254660e+01] [-3.74262540e-02 3.58346618e-04 9.99299328e-01 -1.07476359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42587156000005 meters 0.016197107394845534 Centerline is valid? [True, True] Translation: X:243.67, Y:-40.63, Z:-10.75 [[ 9.85500905e-01 1.65579083e-01 3.70342190e-02 2.43667383e+02] [-1.65448879e-01 9.86196453e-01 -6.57455573e-03 -4.06326422e+01] [-3.76116243e-02 3.51960599e-04 9.99292371e-01 -1.07493195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45587156000002 meters 0.01504343785727835 Centerline is valid? [True, True] Translation: X:243.70, Y:-40.64, Z:-10.75 [[ 9.85318832e-01 1.66437075e-01 3.80197177e-02 2.43699103e+02] [-1.66300253e-01 9.86052021e-01 -6.75552171e-03 -4.06393577e+01] [-3.86137887e-02 3.33654102e-04 9.99254154e-01 -1.07482921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48587156000002 meters 0.0149155276237949 Centerline is valid? [True, True] Translation: X:243.73, Y:-40.65, Z:-10.75 [[ 9.85162921e-01 1.67369406e-01 3.79670985e-02 2.43729795e+02] [-1.67233401e-01 9.85894208e-01 -6.75274581e-03 -4.06464661e+01] [-3.85617455e-02 3.03187799e-04 9.99256173e-01 -1.07500492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51587156000002 meters 0.01395292670822419 Centerline is valid? [True, True] Translation: X:243.76, Y:-40.65, Z:-10.75 [[ 9.84830595e-01 1.69334730e-01 3.78741199e-02 2.43760368e+02] [-1.69200612e-01 9.85558570e-01 -6.74219245e-03 -4.06528241e+01] [-3.84688508e-02 2.31593139e-04 9.99259773e-01 -1.07517685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54587156000002 meters 0.012859773876624517 Centerline is valid? [True, True] Translation: X:243.79, Y:-40.66, Z:-10.75 [[ 9.84692719e-01 1.70001313e-01 3.84682116e-02 2.43791207e+02] [-1.69863199e-01 9.85443812e-01 -6.85466048e-03 -4.06574741e+01] [-3.90735624e-02 2.15400784e-04 9.99236314e-01 -1.07510179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57587156000002 meters 0.012362315620471543 Centerline is valid? [True, True] Translation: X:243.82, Y:-40.66, Z:-10.75 [[ 9.84451336e-01 1.71402126e-01 3.84301697e-02 2.43821338e+02] [-1.71265312e-01 9.85201140e-01 -6.84889013e-03 -4.06635922e+01] [-3.90353613e-02 1.60644028e-04 9.99237817e-01 -1.07523886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60587156000003 meters 0.012152761031749927 Centerline is valid? [True, True] Translation: X:243.85, Y:-40.67, Z:-10.75 [[ 9.84424749e-01 1.71585690e-01 3.82918235e-02 2.43852845e+02] [-1.71450020e-01 9.85169187e-01 -6.82370713e-03 -4.06704264e+01] [-3.88947751e-02 1.52292295e-04 9.99243300e-01 -1.07535675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63587156000003 meters 0.026585084622205532 Centerline is valid? [True, True] Translation: X:243.88, Y:-40.68, Z:-10.76 [[ 9.84410984e-01 1.71610124e-01 3.85354402e-02 2.43883404e+02] [-1.71472460e-01 9.85164930e-01 -6.87425432e-03 -4.06814755e+01] [-3.91434559e-02 1.59324724e-04 9.99233589e-01 -1.07556680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66587156000003 meters 0.012726623048113903 Centerline is valid? [True, True] Translation: X:243.91, Y:-40.69, Z:-10.76 [[ 9.84505889e-01 1.71179698e-01 3.80219031e-02 2.43914947e+02] [-1.71045189e-01 9.85239808e-01 -6.78704996e-03 -4.06890593e+01] [-3.86224976e-02 1.78427063e-04 9.99253857e-01 -1.07576704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69587156000003 meters 0.029290470327771552 Centerline is valid? [True, True] Translation: X:243.95, Y:-40.70, Z:-10.76 [[ 9.84546262e-01 1.71067530e-01 3.74774355e-02 2.43945688e+02] [-1.70936531e-01 9.85259289e-01 -6.69602065e-03 -4.06969161e+01] [-3.80704631e-02 1.86279278e-04 9.99275040e-01 -1.07606669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72587156000003 meters 0.013849673643533 Centerline is valid? [True, True] Translation: X:243.98, Y:-40.71, Z:-10.76 [[ 9.84780817e-01 1.69974613e-01 3.62680702e-02 2.43976513e+02] [-1.69850960e-01 9.85448415e-01 -6.48630146e-03 -4.07059707e+01] [-3.68428189e-02 2.27418717e-04 9.99321047e-01 -1.07642532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75587156000003 meters 0.013880528776862076 Centerline is valid? [True, True] Translation: X:244.01, Y:-40.71, Z:-10.77 [[ 9.84767483e-01 1.70077809e-01 3.61461499e-02 2.44008210e+02] [-1.69954839e-01 9.85430610e-01 -6.47040863e-03 -4.07141849e+01] [-3.67199955e-02 2.28634916e-04 9.99325567e-01 -1.07654882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78587156000003 meters 0.013586426763954933 Centerline is valid? [True, True] Translation: X:244.04, Y:-40.72, Z:-10.77 [[ 9.84666763e-01 1.70684351e-01 3.60307922e-02 2.44040320e+02] [-1.70562315e-01 9.85325737e-01 -6.45673969e-03 -4.07200777e+01] [-3.66041313e-02 2.12241638e-04 9.99329822e-01 -1.07669081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81587156000003 meters 0.012992638275094158 Centerline is valid? [True, True] Translation: X:244.07, Y:-40.72, Z:-10.77 [[ 9.84400067e-01 1.72153486e-01 3.63274635e-02 2.44070740e+02] [-1.72030154e-01 9.85070124e-01 -6.51738079e-03 -4.07247530e+01] [-3.69070888e-02 1.66290922e-04 9.99318687e-01 -1.07683225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84587156000003 meters 0.014938068475572639 Centerline is valid? [True, True] Translation: X:244.10, Y:-40.73, Z:-10.77 [[ 9.84230552e-01 1.73061921e-01 3.66031572e-02 2.44102336e+02] [-1.72937124e-01 9.84910936e-01 -6.57259844e-03 -4.07302857e+01] [-3.71883163e-02 1.38907474e-04 9.99308266e-01 -1.07691707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87587156000004 meters 0.016650037232496192 Centerline is valid? [True, True] Translation: X:244.13, Y:-40.73, Z:-10.77 [[ 9.84035714e-01 1.74254173e-01 3.61828309e-02 2.44134493e+02] [-1.74132812e-01 9.84700703e-01 -6.50308217e-03 -4.07347719e+01] [-3.67624482e-02 9.86470042e-05 9.99324028e-01 -1.07704251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90587156000004 meters 0.012678601593569075 Centerline is valid? [True, True] Translation: X:244.16, Y:-40.74, Z:-10.77 [[ 9.84065777e-01 1.74092518e-01 3.61433468e-02 2.44164576e+02] [-1.73971084e-01 9.84729294e-01 -6.50223669e-03 -4.07409416e+01] [-3.67234032e-02 1.10731377e-04 9.99325462e-01 -1.07739720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93587156000004 meters 0.012505791963616661 Centerline is valid? [True, True] Translation: X:244.20, Y:-40.75, Z:-10.77 [[ 9.84147502e-01 1.73656156e-01 3.60171289e-02 2.44196352e+02] [-1.73535074e-01 9.84806337e-01 -6.48504925e-03 -4.07472216e+01] [-3.65960656e-02 1.32009878e-04 9.99330131e-01 -1.07744414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96587156000004 meters 0.013276385176330925 Centerline is valid? [True, True] Translation: X:244.23, Y:-40.76, Z:-10.78 [[ 9.84407249e-01 1.72197175e-01 3.59235319e-02 2.44227557e+02] [-1.72075527e-01 9.85062483e-01 -6.47433841e-03 -4.07554506e+01] [-3.65017864e-02 1.91824984e-04 9.99333569e-01 -1.07762941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99587156000004 meters 0.014051053332532145 Centerline is valid? [True, True] Translation: X:244.26, Y:-40.76, Z:-10.78 [[ 9.84528871e-01 1.71554358e-01 3.56651596e-02 2.44257374e+02] [-1.71433788e-01 9.85174631e-01 -6.43450983e-03 -4.07628765e+01] [-3.62402786e-02 2.20747292e-04 9.99343081e-01 -1.07786858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02587156000004 meters 0.01471266972555306 Centerline is valid? [True, True] Translation: X:244.29, Y:-40.77, Z:-10.78 [[ 9.84723493e-01 1.70368489e-01 3.59752772e-02 2.44289811e+02] [-1.70244926e-01 9.85380386e-01 -6.49305534e-03 -4.07716436e+01] [-3.65555446e-02 2.69255739e-04 9.99331586e-01 -1.07793788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05587156000004 meters 0.02058221977445709 Centerline is valid? [True, True] Translation: X:244.32, Y:-40.78, Z:-10.78 [[ 9.84772111e-01 1.70048222e-01 3.61592615e-02 2.44322514e+02] [-1.69922917e-01 9.85435700e-01 -6.53327623e-03 -4.07784558e+01] [-3.67435992e-02 2.89501014e-04 9.99324684e-01 -1.07795596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08587156000004 meters 0.015488196725950308 Centerline is valid? [True, True] Translation: X:244.36, Y:-40.79, Z:-10.78 [[ 9.84942538e-01 1.68924326e-01 3.67800013e-02 2.44355004e+02] [-1.68793624e-01 9.85628963e-01 -6.65274895e-03 -4.07856099e+01] [-3.73752457e-02 3.44345721e-04 9.99301242e-01 -1.07795876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11587156000004 meters 0.016080011194044674 Centerline is valid? [True, True] Translation: X:244.39, Y:-40.79, Z:-10.78 [[ 9.84953824e-01 1.68837524e-01 3.68762238e-02 2.44386229e+02] [-1.68705796e-01 9.85643832e-01 -6.67761563e-03 -4.07929116e+01] [-3.74742546e-02 3.55910349e-04 9.99297530e-01 -1.07816605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14587156000005 meters 0.016290942789981198 Centerline is valid? [True, True] Translation: X:244.42, Y:-40.80, Z:-10.78 [[ 9.85123616e-01 1.67724529e-01 3.74158200e-02 2.44417980e+02] [-1.67587842e-01 9.85833816e-01 -6.78246748e-03 -4.07999463e+01] [-3.80233668e-02 4.11132363e-04 9.99276766e-01 -1.07807148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17587156000005 meters 0.0265642303657535 Centerline is valid? [True, True] Translation: X:244.45, Y:-40.81, Z:-10.78 [[ 9.85130841e-01 1.67568286e-01 3.79222242e-02 2.44449072e+02] [-1.67427497e-01 9.85860378e-01 -6.88098468e-03 -4.08091234e+01] [-3.85390531e-02 4.29447141e-04 9.99257002e-01 -1.07817082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20587156000002 meters 0.018216867240132176 Centerline is valid? [True, True] Translation: X:244.48, Y:-40.82, Z:-10.78 [[ 9.85239852e-01 1.66870348e-01 3.81670142e-02 2.44480282e+02] [-1.66726925e-01 9.85978736e-01 -6.93279822e-03 -4.08166336e+01] [-3.87887429e-02 4.67000168e-04 9.99247324e-01 -1.07829814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23587156000002 meters 0.027725896653888103 Centerline is valid? [True, True] Translation: X:244.51, Y:-40.82, Z:-10.78 [[ 9.85478803e-01 1.65526284e-01 3.78494285e-02 2.44511856e+02] [-1.65384007e-01 9.86205241e-01 -6.88136620e-03 -4.08240475e+01] [-3.84663517e-02 5.21750393e-04 9.99259760e-01 -1.07838913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26587156000002 meters 0.02112173867426349 Centerline is valid? [True, True] Translation: X:244.54, Y:-40.83, Z:-10.79 [[ 9.85697612e-01 1.64356608e-01 3.72441023e-02 2.44541646e+02] [-1.64217769e-01 9.86400824e-01 -6.77774484e-03 -4.08335707e+01] [-3.78515803e-02 5.64663515e-04 9.99283213e-01 -1.07881048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29587156000002 meters 0.019981736653812913 Centerline is valid? [True, True] Translation: X:244.57, Y:-40.84, Z:-10.79 [[ 9.85708074e-01 1.64364114e-01 3.69327801e-02 2.44574051e+02] [-1.64227384e-01 9.86399574e-01 -6.72663929e-03 -4.08388956e+01] [-3.75360967e-02 5.65128805e-04 9.99295113e-01 -1.07890262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32587156000002 meters 0.021719016182968606 Centerline is valid? [True, True] Translation: X:244.60, Y:-40.85, Z:-10.79 [[ 9.85710662e-01 1.64455946e-01 3.64517861e-02 2.44604509e+02] [-1.64322549e-01 9.86384269e-01 -6.64629932e-03 -4.08478545e+01] [-3.70484919e-02 5.61477700e-04 9.99313311e-01 -1.07928609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35587156000003 meters 0.019807504402804196 Centerline is valid? [True, True] Translation: X:244.64, Y:-40.85, Z:-10.79 [[ 9.85583281e-01 1.65328802e-01 3.59441749e-02 2.44636214e+02] [-1.65199432e-01 9.86238363e-01 -6.56041684e-03 -4.08529671e+01] [-3.65341500e-02 5.27879894e-04 9.99332266e-01 -1.07946097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38587156000003 meters 0.020733941290272066 Centerline is valid? [True, True] Translation: X:244.67, Y:-40.86, Z:-10.80 [[ 9.85443603e-01 1.66215823e-01 3.56819980e-02 2.44666823e+02] [-1.66088689e-01 9.86089272e-01 -6.51879221e-03 -4.08602231e+01] [-3.62691619e-02 4.97525812e-04 9.99341934e-01 -1.07978895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41587156000003 meters 0.01773128834431355 Centerline is valid? [True, True] Translation: X:244.70, Y:-40.86, Z:-10.80 [[ 9.85131720e-01 1.68195453e-01 3.50111992e-02 2.44699383e+02] [-1.68074115e-01 9.85753576e-01 -6.40157149e-03 -4.08617528e+01] [-3.55891300e-02 4.21914806e-04 9.99366417e-01 -1.07983908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44587156000003 meters 0.01824415528949657 Centerline is valid? [True, True] Translation: X:244.73, Y:-40.87, Z:-10.80 [[ 9.84917446e-01 1.69461469e-01 3.49347235e-02 2.44729864e+02] [-1.69341238e-01 9.85536740e-01 -6.39375321e-03 -4.08682851e+01] [-3.55129483e-02 3.81429774e-04 9.99369144e-01 -1.08019630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47587156000003 meters 0.01697978808530133 Centerline is valid? [True, True] Translation: X:244.76, Y:-40.87, Z:-10.80 [[ 9.84656923e-01 1.70950498e-01 3.50238773e-02 2.44761427e+02] [-1.70830393e-01 9.85279562e-01 -6.41568797e-03 -4.08744068e+01] [-3.56050756e-02 3.34108826e-04 9.99365882e-01 -1.08040291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50587156000003 meters 0.01617348028869939 Centerline is valid? [True, True] Translation: X:244.79, Y:-40.88, Z:-10.80 [[ 9.84593732e-01 1.71297199e-01 3.51063045e-02 2.44792810e+02] [-1.71176510e-01 9.85219347e-01 -6.43747672e-03 -4.08798174e+01] [-3.56901321e-02 3.28924544e-04 9.99362850e-01 -1.08037297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53587156000003 meters 0.01579503646485252 Centerline is valid? [True, True] Translation: X:244.82, Y:-40.89, Z:-10.80 [[ 9.84362487e-01 1.72431569e-01 3.60256634e-02 2.44823568e+02] [-1.72305180e-01 9.85021455e-01 -6.60750857e-03 -4.08856009e+01] [-3.66253944e-02 2.96775172e-04 9.99329021e-01 -1.08038927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56587156000003 meters 0.01675007755909805 Centerline is valid? [True, True] Translation: X:244.86, Y:-40.89, Z:-10.80 [[ 9.84301799e-01 1.72771462e-01 3.60553796e-02 2.44856268e+02] [-1.72644898e-01 9.84961897e-01 -6.61826159e-03 -4.08899497e+01] [-3.66566218e-02 2.89589469e-04 9.99327878e-01 -1.08030210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59587156000003 meters 0.01491383739847867 Centerline is valid? [True, True] Translation: X:244.89, Y:-40.90, Z:-10.81 [[ 9.84225632e-01 1.73149021e-01 3.63224743e-02 2.44887878e+02] [-1.73020558e-01 9.84895596e-01 -6.67466179e-03 -4.08973711e+01] [-3.69295562e-02 2.84838463e-04 9.99317831e-01 -1.08057746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62587156000004 meters 0.014868329198269236 Centerline is valid? [True, True] Translation: X:244.92, Y:-40.90, Z:-10.81 [[ 9.84245667e-01 1.73065004e-01 3.61797043e-02 2.44920017e+02] [-1.72937227e-01 9.84910360e-01 -6.65565324e-03 -4.09045047e+01] [-3.67856263e-02 2.93980123e-04 9.99323137e-01 -1.08070679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65587156000004 meters 0.015831156387851417 Centerline is valid? [True, True] Translation: X:244.95, Y:-40.92, Z:-10.81 [[ 9.84368874e-01 1.72266597e-01 3.66352116e-02 2.44951005e+02] [-1.72134750e-01 9.85050307e-01 -6.74691008e-03 -4.09150935e+01] [-3.72497937e-02 3.35255303e-04 9.99305929e-01 -1.08085629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68587156000004 meters 0.016658097613252626 Centerline is valid? [True, True] Translation: X:244.98, Y:-40.92, Z:-10.81 [[ 9.84475674e-01 1.71625388e-01 3.67746392e-02 2.44982022e+02] [-1.71491831e-01 9.85162216e-01 -6.77943899e-03 -4.09245442e+01] [-3.73925089e-02 3.67642557e-04 9.99300588e-01 -1.08100872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71587156000004 meters 0.01855520517994831 Centerline is valid? [True, True] Translation: X:245.01, Y:-40.94, Z:-10.81 [[ 9.84860154e-01 1.69550933e-01 3.60965103e-02 2.45012401e+02] [-1.69420628e-01 9.85521326e-01 -6.66087052e-03 -4.09377349e+01] [-3.67032375e-02 4.44532506e-04 9.99326110e-01 -1.08123286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74587156000004 meters 0.018744968337992295 Centerline is valid? [True, True] Translation: X:245.04, Y:-40.95, Z:-10.81 [[ 9.85008008e-01 1.68649243e-01 3.62857835e-02 2.45043997e+02] [-1.68516731e-01 9.85676010e-01 -6.70189382e-03 -4.09455388e+01] [-3.68962956e-02 4.86657466e-04 9.99318981e-01 -1.08127703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77587156000004 meters 0.031520241214337746 Centerline is valid? [True, True] Translation: X:245.07, Y:-40.96, Z:-10.81 [[ 9.85219800e-01 1.67372930e-01 3.64451306e-02 2.45073877e+02] [-1.67238139e-01 9.85893507e-01 -6.73776669e-03 -4.09576670e+01] [-3.70587374e-02 5.43165341e-04 9.99312941e-01 -1.08138395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80587156000004 meters 0.022563005061569514 Centerline is valid? [True, True] Translation: X:245.10, Y:-40.97, Z:-10.82 [[ 9.85321544e-01 1.66842898e-01 3.61234299e-02 2.45103895e+02] [-1.66709909e-01 9.85983331e-01 -6.68406774e-03 -4.09680130e+01] [-3.67322890e-02 5.63822222e-04 9.99324983e-01 -1.08169723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83587156000004 meters 0.021732634668270887 Centerline is valid? [True, True] Translation: X:245.14, Y:-40.98, Z:-10.82 [[ 9.85270694e-01 1.67213178e-01 3.57968365e-02 2.45135471e+02] [-1.67082641e-01 9.85920611e-01 -6.62878444e-03 -4.09774845e+01] [-3.64012590e-02 5.50117078e-04 9.99337103e-01 -1.08183975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86587156000004 meters 0.028980001953318416 Centerline is valid? [True, True] Translation: X:245.17, Y:-40.98, Z:-10.82 [[ 9.85200158e-01 1.67735512e-01 3.52908794e-02 2.45167227e+02] [-1.67608739e-01 9.85831891e-01 -6.54166747e-03 -4.09846749e+01] [-3.58881443e-02 5.29792044e-04 9.99355673e-01 -1.08197574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89587156000005 meters 0.02466851378125051 Centerline is valid? [True, True] Translation: X:245.20, Y:-41.00, Z:-10.82 [[ 9.85027668e-01 1.68954285e-01 3.42774350e-02 2.45197176e+02] [-1.68835191e-01 9.85623773e-01 -6.36060559e-03 -4.09952518e+01] [-3.48593064e-02 4.78135204e-04 9.99392115e-01 -1.08235480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92587156000005 meters 0.01943923656361494 Centerline is valid? [True, True] Translation: X:245.23, Y:-41.00, Z:-10.83 [[ 9.84826148e-01 1.70152532e-01 3.41405059e-02 2.45228798e+02] [-1.70034926e-01 9.85417639e-01 -6.34041789e-03 -4.10024395e+01] [-3.47214949e-02 4.39130931e-04 9.99396931e-01 -1.08257359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95587156000002 meters 0.01836590331002299 Centerline is valid? [True, True] Translation: X:245.26, Y:-41.01, Z:-10.83 [[ 9.84581898e-01 1.71609942e-01 3.38897175e-02 2.45259988e+02] [-1.71494726e-01 9.85164898e-01 -6.29950522e-03 -4.10084613e+01] [-3.44680178e-02 3.90471003e-04 9.99405725e-01 -1.08271761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98587156000002 meters 0.01616294473356946 Centerline is valid? [True, True] Translation: X:245.29, Y:-41.01, Z:-10.83 [[ 9.83892798e-01 1.75423258e-01 3.43750316e-02 2.45291370e+02] [-1.75306836e-01 9.84493072e-01 -6.39561023e-03 -4.10119894e+01] [-3.49639193e-02 2.66416821e-04 9.99388540e-01 -1.08291303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01587156 meters 0.014993886926857913 Centerline is valid? [True, True] Translation: X:245.32, Y:-41.01, Z:-10.83 [[ 9.83060327e-01 1.79824836e-01 3.54319286e-02 2.45324208e+02] [-1.79703777e-01 9.83698640e-01 -6.59833989e-03 -4.10129414e+01] [-3.60408853e-02 1.19314766e-04 9.99350309e-01 -1.08256892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04587156 meters 0.011818993598307043 Centerline is valid? [True, True] Translation: X:245.36, Y:-41.02, Z:-10.83 [[ 9.82637501e-01 1.82035304e-01 3.58704444e-02 2.45355361e+02] [-1.81912468e-01 9.83291994e-01 -6.68640791e-03 -4.10173542e+01] [-3.64882831e-02 4.50340979e-05 9.99334080e-01 -1.08270129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07587156 meters 0.011680992104902534 Centerline is valid? [True, True] Translation: X:245.39, Y:-41.02, Z:-10.83 [[ 9.82265269e-01 1.84061164e-01 3.57271477e-02 2.45388147e+02] [-1.83940451e-01 9.82914792e-01 -6.66506298e-03 -4.10223036e+01] [-3.63435212e-02 -2.48077831e-05 9.99339356e-01 -1.08285345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10587156 meters 0.01280280063229713 Centerline is valid? [True, True] Translation: X:245.42, Y:-41.02, Z:-10.83 [[ 9.81513903e-01 1.88042864e-01 3.56418237e-02 2.45419731e+02] [-1.87925085e-01 9.82160809e-01 -6.65645073e-03 -4.10245237e+01] [-3.62577004e-02 -1.64593813e-04 9.99342460e-01 -1.08301018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13587156 meters 0.01485722363733409 Centerline is valid? [True, True] Translation: X:245.45, Y:-41.03, Z:-10.83 [[ 9.80826315e-01 1.91602058e-01 3.56144750e-02 2.45451928e+02] [-1.91486602e-01 9.81472652e-01 -6.65688137e-03 -4.10267409e+01] [-3.62301054e-02 -2.90450386e-04 9.99343432e-01 -1.08320389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16587156 meters 0.01657714917594532 Centerline is valid? [True, True] Translation: X:245.48, Y:-41.03, Z:-10.83 [[ 9.80550656e-01 1.93051324e-01 3.53779182e-02 2.45482691e+02] [-1.92938100e-01 9.81188603e-01 -6.61931792e-03 -4.10308357e+01] [-3.59902782e-02 -3.35171798e-04 9.99352084e-01 -1.08342875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19587156 meters 0.01657714917594532 Centerline is valid? [True, True] Translation: X:245.51, Y:-41.04, Z:-10.84 [[ 9.80520166e-01 1.93206215e-01 3.53774421e-02 2.45513768e+02] [-1.93093001e-01 9.81158114e-01 -6.62186175e-03 -4.10368130e+01] [-3.59902492e-02 -3.38267484e-04 9.99352084e-01 -1.08357143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22587156000003 meters 0.017634734627802046 Centerline is valid? [True, True] Translation: X:245.54, Y:-41.04, Z:-10.84 [[ 9.80314079e-01 1.94301644e-01 3.50881398e-02 2.45544004e+02] [-1.94190761e-01 9.80941759e-01 -6.57371371e-03 -4.10418861e+01] [-3.56967050e-02 -3.69488478e-04 9.99362601e-01 -1.08378218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25587156 meters 0.02364376108124127 Centerline is valid? [True, True] Translation: X:245.57, Y:-41.05, Z:-10.84 [[ 9.80081369e-01 1.95489277e-01 3.49921893e-02 2.45574017e+02] [-1.95379558e-01 9.80705755e-01 -6.56129459e-03 -4.10462908e+01] [-3.55997042e-02 -4.06155921e-04 9.99366047e-01 -1.08388718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28587156000003 meters 0.017778626073101184 Centerline is valid? [True, True] Translation: X:245.61, Y:-41.06, Z:-10.84 [[ 9.79968694e-01 1.96045940e-01 3.50335421e-02 2.45605823e+02] [-1.95936363e-01 9.80594619e-01 -6.56774341e-03 -4.10552170e+01] [-3.56412822e-02 -4.28161904e-04 9.99364556e-01 -1.08388320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31587156 meters 0.01976375401280387 Centerline is valid? [True, True] Translation: X:245.64, Y:-41.06, Z:-10.84 [[ 9.79914215e-01 1.96363754e-01 3.47765462e-02 2.45637617e+02] [-1.96255740e-01 9.80531025e-01 -6.52634370e-03 -4.10627432e+01] [-3.53810199e-02 -4.29839853e-04 9.99373803e-01 -1.08405258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34587156 meters 0.019539745343788117 Centerline is valid? [True, True] Translation: X:245.67, Y:-41.07, Z:-10.84 [[ 9.79868857e-01 1.96562637e-01 3.49306880e-02 2.45669379e+02] [-1.96453539e-01 9.80491174e-01 -6.56229372e-03 -4.10668428e+01] [-3.55391330e-02 -4.32070044e-04 9.99368192e-01 -1.08435282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37587156 meters 0.017895715266247007 Centerline is valid? [True, True] Translation: X:245.70, Y:-41.08, Z:-10.84 [[ 9.79847049e-01 1.96585460e-01 3.54107099e-02 2.45701013e+02] [-1.96473115e-01 9.80486599e-01 -6.65918950e-03 -4.10751483e+01] [-3.60288264e-02 -4.32265325e-04 9.99350658e-01 -1.08429384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40587156 meters 0.017466994387901932 Centerline is valid? [True, True] Translation: X:245.73, Y:-41.08, Z:-10.84 [[ 9.79897754e-01 1.96310498e-01 3.55327973e-02 2.45732075e+02] [-1.96196975e-01 9.80541694e-01 -6.68826444e-03 -4.10818822e+01] [-3.61543658e-02 -4.17612049e-04 9.99346130e-01 -1.08441556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43587156 meters 0.016825596440855402 Centerline is valid? [True, True] Translation: X:245.76, Y:-41.09, Z:-10.85 [[ 9.79920347e-01 1.96290022e-01 3.50191527e-02 2.45763801e+02] [-1.96179545e-01 9.80545799e-01 -6.59720326e-03 -4.10896483e+01] [-3.56328482e-02 -4.05307730e-04 9.99364866e-01 -1.08454812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46587156 meters 0.017558665667715086 Centerline is valid? [True, True] Translation: X:245.80, Y:-41.09, Z:-10.85 [[ 9.79879035e-01 1.96466530e-01 3.51849373e-02 2.45795383e+02] [-1.96354837e-01 9.80510448e-01 -6.63627734e-03 -4.10948739e+01] [-3.58030050e-02 -4.05983598e-04 9.99358784e-01 -1.08478539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49587156 meters 0.017576967415392542 Centerline is valid? [True, True] Translation: X:245.83, Y:-41.10, Z:-10.85 [[ 9.79849395e-01 1.96657778e-01 3.49411278e-02 2.45827902e+02] [-1.96547618e-01 9.80472107e-01 -6.59399409e-03 -4.11011442e+01] [-3.55555614e-02 -4.06474300e-04 9.99367618e-01 -1.08491508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52587156 meters 0.017480067822451043 Centerline is valid? [True, True] Translation: X:245.86, Y:-41.11, Z:-10.85 [[ 9.79777944e-01 1.97017294e-01 3.49194172e-02 2.45860115e+02] [-1.96907258e-01 9.80399926e-01 -6.59667770e-03 -4.11072029e+01] [-3.55346536e-02 -4.12607354e-04 9.99368360e-01 -1.08501904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55587156 meters 0.02062107152761938 Centerline is valid? [True, True] Translation: X:245.89, Y:-41.11, Z:-10.85 [[ 9.79701125e-01 1.97374723e-01 3.50560326e-02 2.45892419e+02] [-1.97263805e-01 9.80328028e-01 -6.62941438e-03 -4.11142664e+01] [-3.56748901e-02 -4.20441664e-04 9.99363360e-01 -1.08501757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58587156 meters 0.02033955392519346 Centerline is valid? [True, True] Translation: X:245.92, Y:-41.11, Z:-10.86 [[ 9.79607219e-01 1.97861892e-01 3.49337823e-02 2.45924220e+02] [-1.97751802e-01 9.80229814e-01 -6.61342895e-03 -4.11147673e+01] [-3.55516804e-02 -4.29655658e-04 9.99367747e-01 -1.08563174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61587156 meters 0.018555523635151835 Centerline is valid? [True, True] Translation: X:245.96, Y:-41.12, Z:-10.86 [[ 9.79634288e-01 1.97841655e-01 3.42832629e-02 2.45955618e+02] [-1.97735374e-01 9.80233905e-01 -6.49722631e-03 -4.11238075e+01] [-3.48910387e-02 -4.14108136e-04 9.99391037e-01 -1.08568419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64587156 meters 0.01747546256220583 Centerline is valid? [True, True] Translation: X:245.99, Y:-41.13, Z:-10.86 [[ 9.79692328e-01 1.97593809e-01 3.40533383e-02 2.45987193e+02] [-1.97488687e-01 9.80283901e-01 -6.45690028e-03 -4.11323774e+01] [-3.46577829e-02 -3.99373398e-04 9.99399159e-01 -1.08577907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67587156 meters 0.017743716010855608 Centerline is valid? [True, True] Translation: X:246.02, Y:-41.14, Z:-10.86 [[ 9.79695515e-01 1.97599759e-01 3.39268875e-02 2.46018463e+02] [-1.97495183e-01 9.80282705e-01 -6.43976707e-03 -4.11382469e+01] [-3.45304375e-02 -3.91385927e-04 9.99403570e-01 -1.08601237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70587156 meters 0.017027481548100024 Centerline is valid? [True, True] Translation: X:246.05, Y:-41.15, Z:-10.86 [[ 9.79852717e-01 1.96944331e-01 3.31901092e-02 2.46050198e+02] [-1.96843676e-01 9.80414609e-01 -6.30574110e-03 -4.11463570e+01] [-3.37819479e-02 -3.54565549e-04 9.99429164e-01 -1.08631299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73587156 meters 0.016920828947662874 Centerline is valid? [True, True] Translation: X:246.08, Y:-41.15, Z:-10.86 [[ 9.79905747e-01 1.96665193e-01 3.32795726e-02 2.46080511e+02] [-1.96563597e-01 9.80470646e-01 -6.32971563e-03 -4.11529732e+01] [-3.38744788e-02 -3.39027767e-04 9.99426038e-01 -1.08647615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76587156 meters 0.016739649963657798 Centerline is valid? [True, True] Translation: X:246.11, Y:-41.16, Z:-10.87 [[ 9.79921819e-01 1.96592880e-01 3.32335409e-02 2.46111391e+02] [-1.96491355e-01 9.80485150e-01 -6.32595649e-03 -4.11595526e+01] [-3.38286314e-02 -3.31160685e-04 9.99427593e-01 -1.08658013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79587156 meters 0.02528345989879989 Centerline is valid? [True, True] Translation: X:246.14, Y:-41.16, Z:-10.87 [[ 9.79757548e-01 1.97334945e-01 3.36758942e-02 2.46143741e+02] [-1.97230927e-01 9.80336061e-01 -6.41627406e-03 -4.11645828e+01] [-3.42798486e-02 -3.55534890e-04 9.99412210e-01 -1.08651577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82587156 meters 0.01724739770023877 Centerline is valid? [True, True] Translation: X:246.18, Y:-41.17, Z:-10.87 [[ 9.79625656e-01 1.97918634e-01 3.40850184e-02 2.46176421e+02] [-1.97812190e-01 9.80218381e-01 -6.50098924e-03 -4.11695129e+01] [-3.46974284e-02 -3.73896275e-04 9.99397793e-01 -1.08666918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85587156 meters 0.018210735555485608 Centerline is valid? [True, True] Translation: X:246.21, Y:-41.17, Z:-10.87 [[ 9.79311602e-01 1.99405106e-01 3.44440049e-02 2.46208838e+02] [-1.99297078e-01 9.79917049e-01 -6.57653883e-03 -4.11723838e+01] [-3.50636630e-02 -4.24108747e-04 9.99384991e-01 -1.08671016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88587156 meters 0.02755425635176849 Centerline is valid? [True, True] Translation: X:246.24, Y:-41.18, Z:-10.87 [[ 9.79075681e-01 2.00561250e-01 3.44382917e-02 2.46240843e+02] [-2.00453765e-01 9.79681057e-01 -6.58135478e-03 -4.11761873e+01] [-3.50585068e-02 -4.59640842e-04 9.99385156e-01 -1.08681144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91587156 meters 0.019989381820434752 Centerline is valid? [True, True] Translation: X:246.27, Y:-41.18, Z:-10.87 [[ 9.78805264e-01 2.01889943e-01 3.43614002e-02 2.46272537e+02] [-2.01783500e-01 9.79408088e-01 -6.57397344e-03 -4.11785573e+01] [-3.49810523e-02 -4.98923784e-04 9.99387851e-01 -1.08697197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94587156 meters 0.021059782847315512 Centerline is valid? [True, True] Translation: X:246.30, Y:-41.18, Z:-10.87 [[ 9.78715670e-01 2.02324313e-01 3.43585500e-02 2.46302652e+02] [-2.02218121e-01 9.79318441e-01 -6.57439963e-03 -4.11816976e+01] [-3.49781225e-02 -5.13453475e-04 9.99387946e-01 -1.08721409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97587156000003 meters 0.02125142986581103 Centerline is valid? [True, True] Translation: X:246.33, Y:-41.18, Z:-10.87 [[ 9.78656067e-01 2.02651923e-01 3.41247890e-02 2.46333810e+02] [-2.02547361e-01 9.79250696e-01 -6.52996292e-03 -4.11841931e+01] [-3.47400329e-02 -5.21298117e-04 9.99396247e-01 -1.08739365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00587156 meters 0.020796474356333975 Centerline is valid? [True, True] Translation: X:246.36, Y:-41.19, Z:-10.88 [[ 9.78696009e-01 2.02480434e-01 3.39969888e-02 2.46364305e+02] [-2.02376522e-01 9.79286174e-01 -6.50632831e-03 -4.11892620e+01] [-3.46101853e-02 -5.12474788e-04 9.99400757e-01 -1.08755959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03587156000003 meters 0.019354065259189143 Centerline is valid? [True, True] Translation: X:246.39, Y:-41.19, Z:-10.88 [[ 9.78999439e-01 2.00812350e-01 3.51354413e-02 2.46393953e+02] [-2.00700250e-01 9.79629614e-01 -6.72521108e-03 -4.11946276e+01] [-3.57702243e-02 -4.67713981e-04 9.99359931e-01 -1.08753830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06587156 meters 0.021489882120002402 Centerline is valid? [True, True] Translation: X:246.43, Y:-41.20, Z:-10.88 [[ 9.79219015e-01 1.99638403e-01 3.57019371e-02 2.46425096e+02] [-1.99521871e-01 9.79869543e-01 -6.83380156e-03 -4.12016012e+01] [-3.63475300e-02 -4.31528862e-04 9.99339117e-01 -1.08750673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09587156 meters 0.01550035893151121 Centerline is valid? [True, True] Translation: X:246.46, Y:-41.21, Z:-10.88 [[ 9.79874873e-01 1.96280683e-01 3.63197724e-02 2.46455672e+02] [-1.96157710e-01 9.80547703e-01 -6.95381765e-03 -4.12109111e+01] [-3.69781695e-02 -3.10532209e-04 9.99316025e-01 -1.08763643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12587156 meters 0.014015048514340728 Centerline is valid? [True, True] Translation: X:246.49, Y:-41.22, Z:-10.88 [[ 9.80252355e-01 1.94353516e-01 3.64970138e-02 2.46486379e+02] [-1.94227993e-01 9.80931524e-01 -6.98806197e-03 -4.12191671e+01] [-3.71592257e-02 -2.38677523e-04 9.99309329e-01 -1.08777637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15587156 meters 0.012408328526453502 Centerline is valid? [True, True] Translation: X:246.52, Y:-41.23, Z:-10.88 [[ 9.80907930e-01 1.91058173e-01 3.62823184e-02 2.46516658e+02] [-1.90931641e-01 9.81578709e-01 -6.95310897e-03 -4.12285474e+01] [-3.69423996e-02 -1.07082843e-04 9.99317391e-01 -1.08799872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18587156 meters 0.01199558361355391 Centerline is valid? [True, True] Translation: X:246.55, Y:-41.24, Z:-10.88 [[ 9.81148185e-01 1.89918919e-01 3.57637066e-02 2.46548961e+02] [-1.89795034e-01 9.81799776e-01 -6.85885778e-03 -4.12367228e+01] [-3.64154260e-02 -5.82180597e-05 9.99336737e-01 -1.08816283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21587156 meters 0.012234954482531018 Centerline is valid? [True, True] Translation: X:246.58, Y:-41.25, Z:-10.88 [[ 9.81536301e-01 1.87965972e-01 3.54299649e-02 2.46580890e+02] [-1.87842869e-01 9.82175541e-01 -6.80173246e-03 -4.12450893e+01] [-3.60769392e-02 2.08810776e-05 9.99349015e-01 -1.08841643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24587156 meters 0.012548744631851252 Centerline is valid? [True, True] Translation: X:246.61, Y:-41.25, Z:-10.89 [[ 9.81603747e-01 1.87698960e-01 3.49740594e-02 2.46612037e+02] [-1.87578592e-01 9.82226603e-01 -6.72106865e-03 -4.12514868e+01] [-3.56139891e-02 3.70413414e-05 9.99365620e-01 -1.08864720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27587156 meters 0.012618299372419055 Centerline is valid? [True, True] Translation: X:246.64, Y:-41.26, Z:-10.89 [[ 9.81631588e-01 1.87590212e-01 3.47755283e-02 2.46643757e+02] [-1.87470913e-01 9.82247377e-01 -6.68927059e-03 -4.12578437e+01] [-3.54130131e-02 4.69992674e-05 9.99372761e-01 -1.08886889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30587156 meters 0.01233086881455526 Centerline is valid? [True, True] Translation: X:246.68, Y:-41.26, Z:-10.89 [[ 9.81376999e-01 1.88877019e-01 3.49951103e-02 2.46676560e+02] [-1.88756807e-01 9.82000749e-01 -6.73768388e-03 -4.12617174e+01] [-3.56378182e-02 6.64270611e-06 9.99364771e-01 -1.08897617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33587156 meters 0.012546247753650748 Centerline is valid? [True, True] Translation: X:246.71, Y:-41.26, Z:-10.89 [[ 9.80844337e-01 1.91517716e-01 3.55717731e-02 2.46707285e+02] [-1.91394939e-01 9.81489153e-01 -6.85707107e-03 -4.12615086e+01] [-3.62265600e-02 -8.25380200e-05 9.99343599e-01 -1.08901059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36587156 meters 0.013293582533457122 Centerline is valid? [True, True] Translation: X:246.74, Y:-41.26, Z:-10.89 [[ 9.80502449e-01 1.93248784e-01 3.56350146e-02 2.46738866e+02] [-1.93126701e-01 9.81149778e-01 -6.86958219e-03 -4.12635786e+01] [-3.62908251e-02 -1.46430664e-04 9.99341260e-01 -1.08909642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39587156 meters 0.014331010459025292 Centerline is valid? [True, True] Translation: X:246.77, Y:-41.26, Z:-10.89 [[ 9.80145460e-01 1.95002317e-01 3.59022744e-02 2.46768378e+02] [-1.94879530e-01 9.80802759e-01 -6.92223773e-03 -4.12649108e+01] [-3.65629022e-02 -2.11818473e-04 9.99331331e-01 -1.08919436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42587156 meters 0.017069976245956756 Centerline is valid? [True, True] Translation: X:246.80, Y:-41.26, Z:-10.89 [[ 9.79499416e-01 1.98210827e-01 3.59633327e-02 2.46798497e+02] [-1.98089790e-01 9.80159353e-01 -6.93378033e-03 -4.12626246e+01] [-3.66241472e-02 -3.32335246e-04 9.99329056e-01 -1.08930444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45587156 meters 0.018279892300491724 Centerline is valid? [True, True] Translation: X:246.83, Y:-41.26, Z:-10.90 [[ 9.79267100e-01 1.99366029e-01 3.59045040e-02 2.46827167e+02] [-1.99246205e-01 9.79925020e-01 -6.92130139e-03 -4.12645840e+01] [-3.65635942e-02 -3.76033437e-04 9.99331257e-01 -1.08951395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48587156 meters 0.019005680910569565 Centerline is valid? [True, True] Translation: X:246.86, Y:-41.27, Z:-10.90 [[ 9.78832869e-01 2.01592806e-01 3.53065885e-02 2.46857131e+02] [-2.01478452e-01 9.79469313e-01 -6.80427034e-03 -4.12658167e+01] [-3.59534120e-02 -4.53273362e-04 9.99353364e-01 -1.08951276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51587156 meters 0.021763472746613336 Centerline is valid? [True, True] Translation: X:246.89, Y:-41.27, Z:-10.90 [[ 9.78683704e-01 2.02319187e-01 3.52867484e-02 2.46885750e+02] [-2.02205457e-01 9.79319517e-01 -6.79980032e-03 -4.12655017e+01] [-3.59327314e-02 -4.80319326e-04 9.99354095e-01 -1.08981287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54587156 meters 0.023619969024973823 Centerline is valid? [True, True] Translation: X:246.91, Y:-41.26, Z:-10.90 [[ 9.78355606e-01 2.03792626e-01 3.59008764e-02 2.46914259e+02] [-2.03675956e-01 9.79013926e-01 -6.91643437e-03 -4.12640112e+01] [-3.65569763e-02 -5.45412980e-04 9.99331422e-01 -1.08979860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57587156 meters 0.0219244042517131 Centerline is valid? [True, True] Translation: X:246.94, Y:-41.27, Z:-10.90 [[ 9.78184156e-01 2.04544101e-01 3.62969520e-02 2.46942911e+02] [-2.04425437e-01 9.78857177e-01 -6.99058240e-03 -4.12695634e+01] [-3.69594144e-02 -5.81943354e-04 9.99316598e-01 -1.08968658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60587156 meters 0.021825232016542594 Centerline is valid? [True, True] Translation: X:246.97, Y:-41.27, Z:-10.90 [[ 9.78017894e-01 2.05259986e-01 3.67333155e-02 2.46971992e+02] [-2.05139024e-01 9.78707288e-01 -7.07282839e-03 -4.12706455e+01] [-3.74029323e-02 -6.18083758e-04 9.99300074e-01 -1.08976098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63587156 meters 0.021782538755205017 Centerline is valid? [True, True] Translation: X:247.00, Y:-41.27, Z:-10.90 [[ 9.78013399e-01 2.05281139e-01 3.67348053e-02 2.47000310e+02] [-2.05160250e-01 9.78702850e-01 -7.07129225e-03 -4.12738673e+01] [-3.74040616e-02 -6.20703285e-04 9.99300030e-01 -1.08985512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66587156 meters 0.02554488476355305 Centerline is valid? [True, True] Translation: X:247.03, Y:-41.27, Z:-10.90 [[ 9.78161654e-01 2.04654623e-01 3.62803663e-02 2.47029501e+02] [-2.04536339e-01 9.78834070e-01 -6.98212679e-03 -4.12693176e+01] [-3.69413831e-02 -5.91004608e-04 9.99317259e-01 -1.09031513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69587156 meters 0.02205560840147986 Centerline is valid? [True, True] Translation: X:247.06, Y:-41.28, Z:-10.90 [[ 9.78314976e-01 2.03961467e-01 3.60489683e-02 2.47057793e+02] [-2.03844294e-01 9.78978755e-01 -6.93550528e-03 -4.12776762e+01] [-3.67057500e-02 -5.63267808e-04 9.99325958e-01 -1.09032351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72587156000003 meters 0.023959396787580946 Centerline is valid? [True, True] Translation: X:247.09, Y:-41.28, Z:-10.91 [[ 9.78556948e-01 2.02826501e-01 3.58846648e-02 2.47086005e+02] [-2.02709739e-01 9.79214552e-01 -6.90093753e-03 -4.12786000e+01] [-3.65384789e-02 -5.21210646e-04 9.99332111e-01 -1.09072986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75587156 meters 0.02112053055450648 Centerline is valid? [True, True] Translation: X:247.11, Y:-41.28, Z:-10.91 [[ 9.79032980e-01 2.00446961e-01 3.62689864e-02 2.47114123e+02] [-2.00326137e-01 9.79704457e-01 -6.97251616e-03 -4.12834438e+01] [-3.69305073e-02 -4.39302676e-04 9.99317740e-01 -1.09073413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78587156000003 meters 0.016954113067262504 Centerline is valid? [True, True] Translation: X:247.14, Y:-41.29, Z:-10.91 [[ 9.79349384e-01 1.98850560e-01 3.65135528e-02 2.47142193e+02] [-1.98727050e-01 9.80029748e-01 -7.01796272e-03 -4.12925491e+01] [-3.71798938e-02 -3.83193168e-04 9.99308515e-01 -1.09055113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81587156 meters 0.014344487320573734 Centerline is valid? [True, True] Translation: X:247.17, Y:-41.30, Z:-10.91 [[ 9.80088203e-01 1.95286653e-01 3.59198899e-02 2.47169746e+02] [-1.95164796e-01 9.80746177e-01 -6.90213952e-03 -4.12998264e+01] [-3.65761904e-02 -2.45592457e-04 9.99330837e-01 -1.09076673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84587156 meters 0.014340005559883745 Centerline is valid? [True, True] Translation: X:247.20, Y:-41.30, Z:-10.91 [[ 9.80492877e-01 1.93251184e-01 3.58845088e-02 2.47196501e+02] [-1.93128264e-01 9.81149301e-01 -6.89369615e-03 -4.13047938e+01] [-3.65402756e-02 -1.71092896e-04 9.99332166e-01 -1.09124256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87587156 meters 0.0125094264051866 Centerline is valid? [True, True] Translation: X:247.22, Y:-41.32, Z:-10.91 [[ 9.81289927e-01 1.89124365e-01 3.60839728e-02 2.47223945e+02] [-1.88997369e-01 9.81953142e-01 -6.92967962e-03 -4.13154697e+01] [-3.67433418e-02 -1.97511224e-05 9.99324735e-01 -1.09135897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90587156 meters 0.02666501155236735 Centerline is valid? [True, True] Translation: X:247.25, Y:-41.32, Z:-10.91 [[ 9.81682238e-01 1.87060717e-01 3.61700401e-02 2.47251316e+02] [-1.86931771e-01 9.82348352e-01 -6.94463858e-03 -4.13234345e+01] [-3.68306484e-02 5.60986734e-05 9.99321520e-01 -1.09132861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93587156 meters 0.01327074859507729 Centerline is valid? [True, True] Translation: X:247.28, Y:-41.33, Z:-10.91 [[ 9.82056670e-01 1.84978977e-01 3.67079652e-02 2.47279159e+02] [-1.84844772e-01 9.82742469e-01 -7.04630505e-03 -4.13311817e+01] [-3.73778946e-02 1.34595429e-04 9.99301193e-01 -1.09145770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96587156 meters 0.01649825100092963 Centerline is valid? [True, True] Translation: X:247.31, Y:-41.34, Z:-10.91 [[ 9.82678627e-01 1.81636124e-01 3.67564342e-02 2.47309268e+02] [-1.81499303e-01 9.83365777e-01 -7.05351282e-03 -4.13393103e+01] [-3.74261922e-02 2.60069096e-04 9.99299361e-01 -1.09124478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99587156 meters 0.01820994247848847 Centerline is valid? [True, True] Translation: X:247.34, Y:-41.35, Z:-10.91 [[ 9.83204002e-01 1.78818063e-01 3.65238364e-02 2.47339898e+02] [-1.78681034e-01 9.83882090e-01 -7.00861572e-03 -4.13496924e+01] [-3.71884156e-02 3.64782167e-04 9.99308205e-01 -1.09141276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02587156 meters 0.017163134255024092 Centerline is valid? [True, True] Translation: X:247.37, Y:-41.36, Z:-10.92 [[ 9.83387932e-01 1.77876119e-01 3.61698873e-02 2.47371200e+02] [-1.77740871e-01 9.84052806e-01 -6.94684186e-03 -4.13575607e+01] [-3.68287564e-02 4.02573167e-04 9.99321510e-01 -1.09164910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05587156 meters 0.019211384131898823 Centerline is valid? [True, True] Translation: X:247.40, Y:-41.37, Z:-10.92 [[ 9.83517322e-01 1.77304632e-01 3.54505942e-02 2.47401182e+02] [-1.77174102e-01 9.84155927e-01 -6.81529465e-03 -4.13662312e+01] [-3.60972957e-02 4.22033147e-04 9.99348191e-01 -1.09202537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08587156 meters 0.019211384131898823 Centerline is valid? [True, True] Translation: X:247.43, Y:-41.37, Z:-10.92 [[ 9.83513388e-01 1.77326596e-01 3.54498690e-02 2.47431426e+02] [-1.77195944e-01 9.84151969e-01 -6.81906446e-03 -4.13720935e+01] [-3.60972599e-02 4.25068186e-04 9.99348191e-01 -1.09216425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11587156 meters 0.01876112459307072 Centerline is valid? [True, True] Translation: X:247.46, Y:-41.38, Z:-10.92 [[ 9.83518377e-01 1.77454382e-01 3.46633134e-02 2.47462253e+02] [-1.77329518e-01 9.84128941e-01 -6.66853422e-03 -4.13757567e+01] [-3.52965306e-02 4.11797295e-04 9.99376798e-01 -1.09240537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14587156 meters 0.018647789080557056 Centerline is valid? [True, True] Translation: X:247.49, Y:-41.38, Z:-10.93 [[ 9.83407913e-01 1.78047474e-01 3.47559162e-02 2.47492412e+02] [-1.77922279e-01 9.84021820e-01 -6.68728036e-03 -4.13803067e+01] [-3.53912333e-02 3.92472591e-04 9.99373457e-01 -1.09254165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17587156 meters 0.016221212976712855 Centerline is valid? [True, True] Translation: X:247.52, Y:-41.38, Z:-10.93 [[ 9.82881782e-01 1.80854695e-01 3.51423153e-02 2.47521838e+02] [-1.80728462e-01 9.83509782e-01 -6.76246127e-03 -4.13798904e+01] [-3.57858337e-02 2.95483381e-04 9.99359438e-01 -1.09255584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20587156 meters 0.027569518852528504 Centerline is valid? [True, True] Translation: X:247.55, Y:-41.38, Z:-10.93 [[ 9.82537589e-01 1.82711342e-01 3.51632043e-02 2.47551518e+02] [-1.82586194e-01 9.83166575e-01 -6.76517112e-03 -4.13814711e+01] [-3.58073607e-02 2.26719265e-04 9.99358685e-01 -1.09255149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23587156 meters 0.018789761308929894 Centerline is valid? [True, True] Translation: X:247.58, Y:-41.38, Z:-10.93 [[ 9.81871664e-01 1.86119586e-01 3.58822404e-02 2.47579917e+02] [-1.85991560e-01 9.82527093e-01 -6.90294623e-03 -4.13789993e+01] [-3.65400468e-02 1.04013421e-04 9.99332184e-01 -1.09259718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26587156 meters 0.012009065892697224 Centerline is valid? [True, True] Translation: X:247.61, Y:-41.38, Z:-10.93 [[ 9.81601344e-01 1.87439597e-01 3.64032692e-02 2.47609409e+02] [-1.87308814e-01 9.82276129e-01 -7.00097564e-03 -4.13802664e+01] [-3.70703224e-02 5.35139154e-05 9.99312658e-01 -1.09263177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29587156 meters 0.011797619704957744 Centerline is valid? [True, True] Translation: X:247.64, Y:-41.38, Z:-10.93 [[ 9.81244510e-01 1.89170941e-01 3.70616689e-02 2.47637523e+02] [-1.89036682e-01 9.81944171e-01 -7.12587817e-03 -4.13804019e+01] [-3.77404988e-02 -1.37860807e-05 9.99287574e-01 -1.09268441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32587156 meters 0.011820771054773851 Centerline is valid? [True, True] Translation: X:247.67, Y:-41.38, Z:-10.93 [[ 9.81196138e-01 1.89407918e-01 3.71319137e-02 2.47666543e+02] [-1.89273405e-01 9.81898488e-01 -7.13709829e-03 -4.13845025e+01] [-3.78115928e-02 -2.51904465e-05 9.99284886e-01 -1.09281552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35587156 meters 0.011996413465785477 Centerline is valid? [True, True] Translation: X:247.69, Y:-41.39, Z:-10.93 [[ 9.81228376e-01 1.89424405e-01 3.61838130e-02 2.47694862e+02] [-1.89296747e-01 9.81895307e-01 -6.95321682e-03 -4.13876470e+01] [-3.68458252e-02 -2.67844637e-05 9.99320962e-01 -1.09315922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38587156 meters 0.014640830327477301 Centerline is valid? [True, True] Translation: X:247.72, Y:-41.39, Z:-10.93 [[ 9.81314146e-01 1.89141590e-01 3.53271360e-02 2.47721803e+02] [-1.89019779e-01 9.81949825e-01 -6.78710027e-03 -4.13921950e+01] [-3.59731980e-02 -1.72499395e-05 9.99352755e-01 -1.09342528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41587156 meters 0.012599965227819568 Centerline is valid? [True, True] Translation: X:247.75, Y:-41.40, Z:-10.94 [[ 9.81395682e-01 1.88885798e-01 3.44190422e-02 2.47749322e+02] [-1.88770081e-01 9.81999061e-01 -6.61069661e-03 -4.13971541e+01] [-3.50481338e-02 -9.57629634e-06 9.99385625e-01 -1.09379830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44587156 meters 0.012907813884148337 Centerline is valid? [True, True] Translation: X:247.78, Y:-41.40, Z:-10.94 [[ 9.81387753e-01 1.88955713e-01 3.42610001e-02 2.47776884e+02] [-1.88841168e-01 9.81985610e-01 -6.57837027e-03 -4.14013661e+01] [-3.48868297e-02 -1.39552659e-05 9.99391269e-01 -1.09407244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47587156000003 meters 0.012525813678509733 Centerline is valid? [True, True] Translation: X:247.81, Y:-41.40, Z:-10.94 [[ 9.81225760e-01 1.89798754e-01 3.42409122e-02 2.47806367e+02] [-1.89684928e-01 9.81823014e-01 -6.57246394e-03 -4.14026853e+01] [-3.48659610e-02 -4.59140329e-05 9.99391996e-01 -1.09390922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50587156 meters 0.027393058163758914 Centerline is valid? [True, True] Translation: X:247.83, Y:-41.41, Z:-10.94 [[ 9.81115268e-01 1.90388458e-01 3.41330568e-02 2.47833564e+02] [-1.90275753e-01 9.81708832e-01 -6.55035248e-03 -4.14054554e+01] [-3.47558348e-02 -6.80422682e-05 9.99395831e-01 -1.09417310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53587156000003 meters 0.015637269989155208 Centerline is valid? [True, True] Translation: X:247.86, Y:-41.41, Z:-10.94 [[ 9.80972869e-01 1.91153299e-01 3.39506495e-02 2.47861475e+02] [-1.91042345e-01 9.81560190e-01 -6.51272779e-03 -4.14068721e+01] [-3.45695354e-02 -9.72024266e-05 9.99402290e-01 -1.09445279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56587156 meters 0.013617343067429726 Centerline is valid? [True, True] Translation: X:247.89, Y:-41.41, Z:-10.95 [[ 9.80935406e-01 1.91358096e-01 3.38793252e-02 2.47889235e+02] [-1.91247792e-01 9.81520284e-01 -6.49723534e-03 -4.14098978e+01] [-3.44965435e-02 -1.05977948e-04 9.99404812e-01 -1.09466967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59587156 meters 0.014076090473463105 Centerline is valid? [True, True] Translation: X:247.92, Y:-41.41, Z:-10.95 [[ 9.80785323e-01 1.92114882e-01 3.39414584e-02 2.47917869e+02] [-1.92004710e-01 9.81372434e-01 -6.50673090e-03 -4.14102480e+01] [-3.45592515e-02 -1.35213701e-04 9.99402642e-01 -1.09483980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62587156 meters 0.014253151273260836 Centerline is valid? [True, True] Translation: X:247.95, Y:-41.41, Z:-10.95 [[ 9.80770574e-01 1.92233841e-01 3.36932073e-02 2.47945850e+02] [-1.92125409e-01 9.81349138e-01 -6.45726277e-03 -4.14134879e+01] [-3.43061044e-02 -1.40227936e-04 9.99411363e-01 -1.09497826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65587156 meters 0.013993047907820544 Centerline is valid? [True, True] Translation: X:247.97, Y:-41.42, Z:-10.95 [[ 9.80795794e-01 1.92012879e-01 3.42149746e-02 2.47974414e+02] [-1.91900999e-01 9.81392396e-01 -6.55519984e-03 -4.14153293e+01] [-3.48369987e-02 -1.36575383e-04 9.99392998e-01 -1.09504590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68587156 meters 0.017327575928980214 Centerline is valid? [True, True] Translation: X:248.00, Y:-41.42, Z:-10.95 [[ 9.80850164e-01 1.91774364e-01 3.39933749e-02 2.48002503e+02] [-1.91663829e-01 9.81439034e-01 -6.51152866e-03 -4.14206096e+01] [-3.46111693e-02 -1.28466430e-04 9.99400846e-01 -1.09486102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71587156 meters 0.01366806483782837 Centerline is valid? [True, True] Translation: X:248.03, Y:-41.42, Z:-10.95 [[ 9.81038592e-01 1.90828159e-01 3.38806088e-02 2.48029549e+02] [-1.90717872e-01 9.81623453e-01 -6.48759344e-03 -4.14235160e+01] [-3.44960158e-02 -9.70581000e-05 9.99404831e-01 -1.09539782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74587156 meters 0.013313259866551522 Centerline is valid? [True, True] Translation: X:248.06, Y:-41.43, Z:-10.95 [[ 9.81194489e-01 1.89991805e-01 3.40659474e-02 2.48056745e+02] [-1.89879915e-01 9.81785674e-01 -6.51988714e-03 -4.14280976e+01] [-3.46841842e-02 -7.11618501e-05 9.99398320e-01 -1.09549658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77587156 meters 0.024959869746024047 Centerline is valid? [True, True] Translation: X:248.09, Y:-41.43, Z:-10.95 [[ 9.81452199e-01 1.88634369e-01 3.41856032e-02 2.48085557e+02] [-1.88520935e-01 9.82047389e-01 -6.54084819e-03 -4.14312602e+01] [-3.48057111e-02 -2.51720381e-05 9.99394097e-01 -1.09510686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80587156 meters 0.025874475815505317 Centerline is valid? [True, True] Translation: X:248.11, Y:-41.44, Z:-10.95 [[ 9.81545606e-01 1.88087812e-01 3.45137376e-02 2.48112902e+02] [-1.87971908e-01 9.82152216e-01 -6.60204766e-03 -4.14353818e+01] [-3.51395086e-02 -7.40224774e-06 9.99382417e-01 -1.09519443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83587156 meters 0.011942200539874298 Centerline is valid? [True, True] Translation: X:248.14, Y:-41.44, Z:-10.95 [[ 9.81622545e-01 1.87547925e-01 3.52555724e-02 2.48141900e+02] [-1.87426716e-01 9.82255453e-01 -6.74166694e-03 -4.14396642e+01] [-3.58943639e-02 9.93608622e-06 9.99355590e-01 -1.09529546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86587156 meters 0.011797001980959202 Centerline is valid? [True, True] Translation: X:248.17, Y:-41.44, Z:-10.95 [[ 9.81786564e-01 1.86604424e-01 3.56921896e-02 2.48170540e+02] [-1.86479634e-01 9.82435131e-01 -6.82342295e-03 -4.14430361e+01] [-3.63385419e-02 4.32785379e-05 9.99339536e-01 -1.09532488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89587156 meters 0.01195522949275863 Centerline is valid? [True, True] Translation: X:248.20, Y:-41.45, Z:-10.95 [[ 9.81949869e-01 1.85793473e-01 3.54293770e-02 2.48199568e+02] [-1.85670049e-01 9.82588816e-01 -6.77146448e-03 -4.14466466e+01] [-3.60706035e-02 7.10645189e-05 9.99349242e-01 -1.09547694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92587156 meters 0.02165230761905856 Centerline is valid? [True, True] Translation: X:248.23, Y:-41.45, Z:-10.96 [[ 9.82026165e-01 1.85351290e-01 3.56301958e-02 2.48226298e+02] [-1.85226223e-01 9.82672322e-01 -6.80840118e-03 -4.14507992e+01] [-3.62747532e-02 8.63815167e-05 9.99341851e-01 -1.09558683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95587156 meters 0.012020017787675273 Centerline is valid? [True, True] Translation: X:248.25, Y:-41.45, Z:-10.96 [[ 9.82093028e-01 1.85029251e-01 3.54606987e-02 2.48254861e+02] [-1.84905282e-01 9.82733009e-01 -6.77270409e-03 -4.14544926e+01] [-3.61015475e-02 9.45549784e-05 9.99348122e-01 -1.09575023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98587156 meters 0.012350834343356654 Centerline is valid? [True, True] Translation: X:248.28, Y:-41.46, Z:-10.96 [[ 9.82193971e-01 1.84552530e-01 3.51477748e-02 2.48282922e+02] [-1.84430488e-01 9.82822645e-01 -6.71145163e-03 -4.14564269e+01] [-3.57826444e-02 1.09626082e-04 9.99359590e-01 -1.09598822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01587156 meters 0.012315562654689804 Centerline is valid? [True, True] Translation: X:248.31, Y:-41.46, Z:-10.96 [[ 9.82229873e-01 1.84331671e-01 3.53031368e-02 2.48310397e+02] [-1.84208498e-01 9.82864091e-01 -6.73852030e-03 -4.14599473e+01] [-3.59403082e-02 1.15638127e-04 9.99353932e-01 -1.09603699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04587156 meters 0.012174923043799335 Centerline is valid? [True, True] Translation: X:248.34, Y:-41.46, Z:-10.96 [[ 9.82194184e-01 1.84518716e-01 3.53189415e-02 2.48338404e+02] [-1.84395645e-01 9.82828994e-01 -6.73900657e-03 -4.14625650e+01] [-3.59559526e-02 1.06354075e-04 9.99353370e-01 -1.09609288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07587156 meters 0.012306470957893492 Centerline is valid? [True, True] Translation: X:248.37, Y:-41.47, Z:-10.96 [[ 9.82189533e-01 1.84545825e-01 3.53066432e-02 2.48365496e+02] [-1.84422944e-01 9.82823905e-01 -6.73422125e-03 -4.14658242e+01] [-3.59429853e-02 1.02926530e-04 9.99353837e-01 -1.09624630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10587156 meters 0.012256022539464695 Centerline is valid? [True, True] Translation: X:248.39, Y:-41.47, Z:-10.96 [[ 9.82148424e-01 1.84690228e-01 3.56930302e-02 2.48393646e+02] [-1.84564855e-01 9.82796780e-01 -6.80467428e-03 -4.14679995e+01] [-3.63357520e-02 9.55211745e-05 9.99339634e-01 -1.09639805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13587156 meters 0.012112133504177208 Centerline is valid? [True, True] Translation: X:248.42, Y:-41.47, Z:-10.96 [[ 9.82178684e-01 1.84536014e-01 3.56579882e-02 2.48421511e+02] [-1.84410858e-01 9.82825747e-01 -6.79600449e-03 -4.14717485e+01] [-3.62996964e-02 9.91705550e-05 9.99340944e-01 -1.09641854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16587156 meters 0.020450358593162625 Centerline is valid? [True, True] Translation: X:248.45, Y:-41.48, Z:-10.96 [[ 9.82199697e-01 1.84438876e-01 3.55816836e-02 2.48448992e+02] [-1.84314283e-01 9.82843981e-01 -6.77893604e-03 -4.14752791e+01] [-3.62215429e-02 1.00056412e-04 9.99343780e-01 -1.09635821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19587156 meters 0.012400030061891821 Centerline is valid? [True, True] Translation: X:248.48, Y:-41.48, Z:-10.97 [[ 9.82218210e-01 1.84351977e-01 3.55209364e-02 2.48475552e+02] [-1.84227844e-01 9.82860284e-01 -6.76482893e-03 -4.14775564e+01] [-3.61592272e-02 1.00592630e-04 9.99346036e-01 -1.09682406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22587156000003 meters 0.012142201598489744 Centerline is valid? [True, True] Translation: X:248.50, Y:-41.48, Z:-10.97 [[ 9.82246094e-01 1.84290026e-01 3.50684516e-02 2.48504169e+02] [-1.84169116e-01 9.82871902e-01 -6.67534180e-03 -4.14819409e+01] [-3.56979947e-02 9.83026774e-05 9.99362619e-01 -1.09687100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25587156 meters 0.020392767175603316 Centerline is valid? [True, True] Translation: X:248.53, Y:-41.49, Z:-10.97 [[ 9.82408032e-01 1.83583948e-01 3.42256145e-02 2.48532525e+02] [-1.83468409e-01 9.83004028e-01 -6.51331163e-03 -4.14869712e+01] [-3.48396564e-02 1.19410628e-04 9.99392908e-01 -1.09701526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28587156000003 meters 0.012646234698652737 Centerline is valid? [True, True] Translation: X:248.56, Y:-41.49, Z:-10.97 [[ 9.82496956e-01 1.83133786e-01 3.40844105e-02 2.48560712e+02] [-1.83018986e-01 9.83087991e-01 -6.48477162e-03 -4.14914356e+01] [-3.46955554e-02 1.33174159e-04 9.99397919e-01 -1.09724832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31587156 meters 0.01255598502260008 Centerline is valid? [True, True] Translation: X:248.59, Y:-41.49, Z:-10.97 [[ 9.82473157e-01 1.83211600e-01 3.43511979e-02 2.48588669e+02] [-1.83095098e-01 9.83073493e-01 -6.53395440e-03 -4.14939231e+01] [-3.49668484e-02 1.29898873e-04 9.99388464e-01 -1.09729050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34587156 meters 0.012290742460755582 Centerline is valid? [True, True] Translation: X:248.62, Y:-41.50, Z:-10.97 [[ 9.82367067e-01 1.83756602e-01 3.44740043e-02 2.48617502e+02] [-1.83639679e-01 9.82971769e-01 -6.55507797e-03 -4.14968887e+01] [-3.50915119e-02 1.08697626e-04 9.99384097e-01 -1.09732778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37587156 meters 0.014275255619843854 Centerline is valid? [True, True] Translation: X:248.65, Y:-41.50, Z:-10.97 [[ 9.82120913e-01 1.84894170e-01 3.53929271e-02 2.48645892e+02] [-1.84771726e-01 9.82758435e-01 -6.72813855e-03 -4.14978706e+01] [-3.60266912e-02 6.82333470e-05 9.99350826e-01 -1.09727147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40587156 meters 0.011654467614134734 Centerline is valid? [True, True] Translation: X:248.67, Y:-41.50, Z:-10.97 [[ 9.82064681e-01 1.85130408e-01 3.57168661e-02 2.48674126e+02] [-1.85005951e-01 9.82713961e-01 -6.78743494e-03 -4.15026962e+01] [-3.63560235e-02 5.78673577e-05 9.99338900e-01 -1.09738387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43587156 meters 0.011587338211725497 Centerline is valid? [True, True] Translation: X:248.70, Y:-41.51, Z:-10.98 [[ 9.82014511e-01 1.85368888e-01 3.58591050e-02 2.48700367e+02] [-1.85243650e-01 9.82669005e-01 -6.81301418e-03 -4.15077171e+01] [-3.65005519e-02 4.78072841e-05 9.99333632e-01 -1.09757498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46587156 meters 0.01161157457310662 Centerline is valid? [True, True] Translation: X:248.73, Y:-41.51, Z:-10.98 [[ 9.81982659e-01 1.85588011e-01 3.55970267e-02 2.48729123e+02] [-1.85464861e-01 9.82627645e-01 -6.75990225e-03 -4.15118267e+01] [-3.62331793e-02 3.61091744e-05 9.99343362e-01 -1.09773991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49587156 meters 0.011685740925490616 Centerline is valid? [True, True] Translation: X:248.76, Y:-41.51, Z:-10.98 [[ 9.81932865e-01 1.85945370e-01 3.51022393e-02 2.48758064e+02] [-1.85825909e-01 9.82560084e-01 -6.66427860e-03 -4.15145984e+01] [-3.57292510e-02 2.09686445e-05 9.99361506e-01 -1.09793836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52587156 meters 0.011622021297295315 Centerline is valid? [True, True] Translation: X:248.79, Y:-41.52, Z:-10.98 [[ 9.81958964e-01 1.85824954e-01 3.50097041e-02 2.48785845e+02] [-1.85706098e-01 9.82582865e-01 -6.64522051e-03 -4.15189376e+01] [-3.56347831e-02 2.38182949e-05 9.99364879e-01 -1.09805033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55587156 meters 0.011774639928486253 Centerline is valid? [True, True] Translation: X:248.81, Y:-41.52, Z:-10.98 [[ 9.82132344e-01 1.84995326e-01 3.45367793e-02 2.48814578e+02] [-1.84879245e-01 9.82739399e-01 -6.55271693e-03 -4.15234018e+01] [-3.51528758e-02 5.05015666e-05 9.99381945e-01 -1.09819587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58587156 meters 0.011879450447340874 Centerline is valid? [True, True] Translation: X:248.84, Y:-41.53, Z:-10.98 [[ 9.82269930e-01 1.84297377e-01 3.43549319e-02 2.48842425e+02] [-1.84182148e-01 9.82870526e-01 -6.51651490e-03 -4.15291846e+01] [-3.49674266e-02 7.34114673e-05 9.99388450e-01 -1.09836071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61587156 meters 0.012789542202667344 Centerline is valid? [True, True] Translation: X:248.87, Y:-41.54, Z:-10.99 [[ 9.82678211e-01 1.82194935e-01 3.38900994e-02 2.48869326e+02] [-1.82081606e-01 9.83262419e-01 -6.42680352e-03 -4.15376025e+01] [-3.44937922e-02 1.44716050e-04 9.99404902e-01 -1.09863134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64587156 meters 0.013402413593677033 Centerline is valid? [True, True] Translation: X:248.90, Y:-41.54, Z:-10.99 [[ 9.82930937e-01 1.80768717e-01 3.41971351e-02 2.48897788e+02] [-1.80652542e-01 9.83525614e-01 -6.48273007e-03 -4.15447600e+01] [-3.48056331e-02 1.94276566e-04 9.99394082e-01 -1.09869576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67587156 meters 0.014663617605695498 Centerline is valid? [True, True] Translation: X:248.93, Y:-41.55, Z:-10.99 [[ 9.83505753e-01 1.77415381e-01 3.52167207e-02 2.48925705e+02] [-1.77290086e-01 9.84136007e-01 -6.67425309e-03 -4.15533599e+01] [-3.58421580e-02 3.20590884e-04 9.99357412e-01 -1.09854470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70587156 meters 0.01658862013754817 Centerline is valid? [True, True] Translation: X:248.95, Y:-41.56, Z:-10.99 [[ 9.83860878e-01 1.75437237e-01 3.52072179e-02 2.48952438e+02] [-1.75310802e-01 9.84490540e-01 -6.67079754e-03 -4.15625433e+01] [-3.58314792e-02 3.90931124e-04 9.99357770e-01 -1.09872486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73587156 meters 0.019927118168105776 Centerline is valid? [True, True] Translation: X:248.98, Y:-41.58, Z:-10.99 [[ 9.84637122e-01 1.71070310e-01 3.49955171e-02 2.48980047e+02] [-1.70942723e-01 9.85258673e-01 -6.62817490e-03 -4.15757071e+01] [-3.56135207e-02 5.44118083e-04 9.99365489e-01 -1.09887929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76587156 meters 0.022679597698846945 Centerline is valid? [True, True] Translation: X:249.01, Y:-41.59, Z:-10.99 [[ 9.85272981e-01 1.67433004e-01 3.46892247e-02 2.49008093e+02] [-1.67305416e-01 9.85883229e-01 -6.56932479e-03 -4.15879477e+01] [-3.52994467e-02 6.68883033e-04 9.99376556e-01 -1.09904138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79587156 meters 0.0316623149432302 Centerline is valid? [True, True] Translation: X:249.03, Y:-41.60, Z:-10.99 [[ 9.85485636e-01 1.66250090e-01 3.43361100e-02 2.49034192e+02] [-1.66124386e-01 9.86083370e-01 -6.50197499e-03 -4.15992141e+01] [-3.49392210e-02 7.03537764e-04 9.99389191e-01 -1.09929431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82587156 meters 0.025978115217145537 Centerline is valid? [True, True] Translation: X:249.06, Y:-41.61, Z:-10.99 [[ 9.85637120e-01 1.65351133e-01 3.43288561e-02 2.49062221e+02] [-1.65225016e-01 9.86234488e-01 -6.49834291e-03 -4.16068730e+01] [-3.49308102e-02 7.33022191e-04 9.99389464e-01 -1.09948966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85587156 meters 0.026109381505802245 Centerline is valid? [True, True] Translation: X:249.09, Y:-41.62, Z:-11.00 [[ 9.85709228e-01 1.64966959e-01 3.41060214e-02 2.49089698e+02] [-1.64842301e-01 9.86298816e-01 -6.45454896e-03 -4.16153122e+01] [-3.47035159e-02 7.40193420e-04 9.99397377e-01 -1.09957095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88587156 meters 0.024899891888975935 Centerline is valid? [True, True] Translation: X:249.12, Y:-41.62, Z:-11.00 [[ 9.85613534e-01 1.65432005e-01 3.46152146e-02 2.49118293e+02] [-1.65303942e-01 9.86220926e-01 -6.54922518e-03 -4.16206303e+01] [-3.52217005e-02 7.32973539e-04 9.99379255e-01 -1.09957957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91587156 meters 0.024065078783370476 Centerline is valid? [True, True] Translation: X:249.15, Y:-41.63, Z:-11.00 [[ 9.85351383e-01 1.66844304e-01 3.52934883e-02 2.49145342e+02] [-1.66712136e-01 9.85983010e-01 -6.67588804e-03 -4.16278057e+01] [-3.59126138e-02 6.94242683e-04 9.99354693e-01 -1.09960365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94587156 meters 0.022839377773898314 Centerline is valid? [True, True] Translation: X:249.17, Y:-41.63, Z:-11.00 [[ 9.85105128e-01 1.68213665e-01 3.56658000e-02 2.49174235e+02] [-1.68079677e-01 9.85750345e-01 -6.74389257e-03 -4.16330988e+01] [-3.62919895e-02 6.48747029e-04 9.99341018e-01 -1.09964806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97587156000003 meters 0.018825823924294438 Centerline is valid? [True, True] Translation: X:249.20, Y:-41.64, Z:-11.00 [[ 9.84515560e-01 1.71561014e-01 3.59990345e-02 2.49203435e+02] [-1.71426788e-01 9.85173355e-01 -6.80570348e-03 -4.16351824e+01] [-3.66328829e-02 5.29122118e-04 9.99328651e-01 -1.09963333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00587156 meters 0.018825823924294438 Centerline is valid? [True, True] Translation: X:249.23, Y:-41.64, Z:-11.00 [[ 9.84523761e-01 1.71513877e-01 3.59993591e-02 2.49231259e+02] [-1.71379683e-01 9.85181562e-01 -6.80398563e-03 -4.16403550e+01] [-3.66328828e-02 5.29126788e-04 9.99328651e-01 -1.09976093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03587156000003 meters 0.018684990259719928 Centerline is valid? [True, True] Translation: X:249.26, Y:-41.65, Z:-11.00 [[ 9.84272684e-01 1.72993045e-01 3.57867364e-02 2.49258789e+02] [-1.72861469e-01 9.84922934e-01 -6.76214101e-03 -4.16463184e+01] [-3.64169807e-02 4.69642853e-04 9.99336571e-01 -1.10004812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06587156 meters 0.016582481532729985 Centerline is valid? [True, True] Translation: X:249.29, Y:-41.65, Z:-11.00 [[ 9.83878170e-01 1.75387906e-01 3.49689582e-02 2.49287708e+02] [-1.75263872e-01 9.84499337e-01 -6.60528631e-03 -4.16508937e+01] [-3.55854035e-02 3.70002008e-04 9.99366570e-01 -1.10034810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09587156 meters 0.016365259270408154 Centerline is valid? [True, True] Translation: X:249.32, Y:-41.66, Z:-11.01 [[ 9.83748239e-01 1.76170196e-01 3.46909800e-02 2.49315188e+02] [-1.76048648e-01 9.84359664e-01 -6.55177071e-03 -4.16569273e+01] [-3.53026281e-02 3.37992781e-04 9.99376611e-01 -1.10059402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12587156 meters 0.027127474804914876 Centerline is valid? [True, True] Translation: X:249.34, Y:-41.66, Z:-11.01 [[ 9.83511109e-01 1.77589971e-01 3.41716366e-02 2.49343169e+02] [-1.77472967e-01 9.84104529e-01 -6.45157471e-03 -4.16618344e+01] [-3.47741973e-02 2.80653682e-04 9.99395155e-01 -1.10052227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15587156 meters 0.014782847739637325 Centerline is valid? [True, True] Translation: X:249.37, Y:-41.67, Z:-11.01 [[ 9.83407874e-01 1.78122492e-01 3.43705128e-02 2.49369726e+02] [-1.78004502e-01 9.84008287e-01 -6.48750811e-03 -4.16683088e+01] [-3.49764405e-02 2.61760541e-04 9.99388103e-01 -1.10087021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18587156 meters 0.013477281646309567 Centerline is valid? [True, True] Translation: X:249.40, Y:-41.67, Z:-11.01 [[ 9.83108429e-01 1.79724631e-01 3.45958565e-02 2.49398136e+02] [-1.79606161e-01 9.83716939e-01 -6.52774133e-03 -4.16733469e+01] [-3.52057259e-02 2.03848575e-04 9.99380065e-01 -1.10090988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21587156 meters 0.012775744593882376 Centerline is valid? [True, True] Translation: X:249.43, Y:-41.68, Z:-11.01 [[ 9.82927671e-01 1.80706338e-01 3.46181107e-02 2.49427102e+02] [-1.80588383e-01 9.83537082e-01 -6.53026953e-03 -4.16775104e+01] [-3.52282567e-02 1.67153977e-04 9.99379278e-01 -1.10099159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24587156 meters 0.01178952143119487 Centerline is valid? [True, True] Translation: X:249.46, Y:-41.68, Z:-11.01 [[ 9.82458839e-01 1.83165058e-01 3.50027285e-02 2.49456027e+02] [-1.83046088e-01 9.83082171e-01 -6.60108677e-03 -4.16794264e+01] [-3.56196468e-02 7.81835338e-05 9.99365416e-01 -1.10097830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27587156 meters 0.011512909541863138 Centerline is valid? [True, True] Translation: X:249.48, Y:-41.68, Z:-11.01 [[ 9.82219043e-01 1.84372726e-01 3.53899640e-02 2.49484259e+02] [-1.84251955e-01 9.82856397e-01 -6.67235365e-03 -4.16835183e+01] [-3.60134525e-02 3.30427601e-05 9.99351305e-01 -1.10104656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30587156 meters 0.011471367216321832 Centerline is valid? [True, True] Translation: X:249.51, Y:-41.69, Z:-11.01 [[ 9.82058328e-01 1.85136703e-01 3.58586441e-02 2.49511567e+02] [-1.85013281e-01 9.82712777e-01 -6.75902750e-03 -4.16877278e+01] [-3.64900917e-02 3.43384686e-06 9.99334015e-01 -1.10117215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33587156 meters 0.01137642806037671 Centerline is valid? [True, True] Translation: X:249.54, Y:-41.69, Z:-11.01 [[ 9.81844694e-01 1.86062002e-01 3.69043208e-02 2.49539201e+02] [-1.85932015e-01 9.82538004e-01 -6.95384028e-03 -4.16912309e+01] [-3.75537432e-02 -3.41035358e-05 9.99294609e-01 -1.10112627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36587156 meters 0.020098596852300886 Centerline is valid? [True, True] Translation: X:249.57, Y:-41.70, Z:-11.01 [[ 9.81965246e-01 1.85353509e-01 3.72603226e-02 2.49567238e+02] [-1.85220594e-01 9.82671907e-01 -7.01819625e-03 -4.16987458e+01] [-3.79155195e-02 -9.75425133e-06 9.99280948e-01 -1.10112550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39587156 meters 0.011071868356363614 Centerline is valid? [True, True] Translation: X:249.59, Y:-41.71, Z:-11.01 [[ 9.82159472e-01 1.84311307e-01 3.73110382e-02 2.49594949e+02] [-1.84177347e-01 9.82867916e-01 -7.02594169e-03 -4.17057620e+01] [-3.79667829e-02 2.87471657e-05 9.99279001e-01 -1.10127924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42587156 meters 0.011190470307034704 Centerline is valid? [True, True] Translation: X:249.62, Y:-41.71, Z:-11.01 [[ 9.82404482e-01 1.82943628e-01 3.75907181e-02 2.49622932e+02] [-1.82806720e-01 9.83123402e-01 -7.07675331e-03 -4.17130504e+01] [-3.82509616e-02 8.03982860e-05 9.99268161e-01 -1.10133485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45587156 meters 0.0119597328586455 Centerline is valid? [True, True] Translation: X:249.65, Y:-41.72, Z:-11.01 [[ 9.82930113e-01 1.79981670e-01 3.81443385e-02 2.49650649e+02] [-1.79838541e-01 9.83669945e-01 -7.17909672e-03 -4.17221764e+01] [-3.88135452e-02 1.96728176e-04 9.99246451e-01 -1.10127007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48587156 meters 0.014229598664807764 Centerline is valid? [True, True] Translation: X:249.68, Y:-41.73, Z:-11.02 [[ 9.83461835e-01 1.77222898e-01 3.73478678e-02 2.49677296e+02] [-1.77083770e-01 9.84170695e-01 -7.02726076e-03 -4.17349229e+01] [-3.80020685e-02 2.97341531e-04 9.99277616e-01 -1.10165989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51587156 meters 0.014505943346562095 Centerline is valid? [True, True] Translation: X:249.71, Y:-41.74, Z:-11.02 [[ 9.83692228e-01 1.76068439e-01 3.67356256e-02 2.49706084e+02] [-1.75933086e-01 9.84377871e-01 -6.91061358e-03 -4.17431211e+01] [-3.73784778e-02 3.34904881e-04 9.99301124e-01 -1.10184071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54587156 meters 0.016025834756602044 Centerline is valid? [True, True] Translation: X:249.73, Y:-41.75, Z:-11.02 [[ 9.83882342e-01 1.75150320e-01 3.60264202e-02 2.49733532e+02] [-1.75019559e-01 9.84541637e-01 -6.77641436e-03 -4.17523569e+01] [-3.66564019e-02 3.61866260e-04 9.99327863e-01 -1.10218252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57587156 meters 0.016602364191563173 Centerline is valid? [True, True] Translation: X:249.76, Y:-41.76, Z:-11.02 [[ 9.84073353e-01 1.74237431e-01 3.52271590e-02 2.49762132e+02] [-1.74111879e-01 9.84703594e-01 -6.62455837e-03 -4.17608543e+01] [-3.58425561e-02 3.85584531e-04 9.99357375e-01 -1.10243839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60587156 meters 0.016401655153022228 Centerline is valid? [True, True] Translation: X:249.79, Y:-41.77, Z:-11.03 [[ 9.84123382e-01 1.74013574e-01 3.49348803e-02 2.49790646e+02] [-1.73889967e-01 9.84743177e-01 -6.56929162e-03 -4.17671145e+01] [-3.55450309e-02 3.90168308e-04 9.99368000e-01 -1.10255302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63587156 meters 0.016575197943890063 Centerline is valid? [True, True] Translation: X:249.82, Y:-41.78, Z:-11.03 [[ 9.84036393e-01 1.74471998e-01 3.50984147e-02 2.49817845e+02] [-1.74347549e-01 9.84662065e-01 -6.59927266e-03 -4.17756461e+01] [-3.57114658e-02 3.74601868e-04 9.99362072e-01 -1.10274640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66587156 meters 0.016174230881722197 Centerline is valid? [True, True] Translation: X:249.85, Y:-41.78, Z:-11.03 [[ 9.83933207e-01 1.75066462e-01 3.50311039e-02 2.49847107e+02] [-1.74942917e-01 9.84556555e-01 -6.58520392e-03 -4.17816355e+01] [-3.56429513e-02 3.50957301e-04 9.99364527e-01 -1.10290124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69587156 meters 0.015481066435413447 Centerline is valid? [True, True] Translation: X:249.88, Y:-41.79, Z:-11.03 [[ 9.83771065e-01 1.76094512e-01 3.44269324e-02 2.49875536e+02] [-1.75975851e-01 9.84373216e-01 -6.47082021e-03 -4.17887358e+01] [-3.50284260e-02 3.07496966e-04 9.99386269e-01 -1.10314360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72587156000003 meters 0.015193609726470603 Centerline is valid? [True, True] Translation: X:249.90, Y:-41.80, Z:-11.03 [[ 9.83690826e-01 1.76579367e-01 3.42357504e-02 2.49904302e+02] [-1.76462343e-01 9.84286363e-01 -6.43406485e-03 -4.17950580e+01] [-3.48339053e-02 2.87809833e-04 9.99393074e-01 -1.10333693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75587156 meters 0.01433212970389243 Centerline is valid? [True, True] Translation: X:249.93, Y:-41.80, Z:-11.04 [[ 9.83438834e-01 1.78078409e-01 3.37066805e-02 2.49932356e+02] [-1.77965874e-01 9.84016274e-01 -6.33409218e-03 -4.17998406e+01] [-3.42958872e-02 2.30553378e-04 9.99411696e-01 -1.10357411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78587156000003 meters 0.013692438078270983 Centerline is valid? [True, True] Translation: X:249.96, Y:-41.80, Z:-11.04 [[ 9.83293269e-01 1.78936429e-01 3.34081095e-02 2.49961208e+02] [-1.78826427e-01 9.83860618e-01 -6.27640994e-03 -4.18043076e+01] [-3.39920016e-02 1.97298798e-04 9.99422085e-01 -1.10369362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81587156 meters 0.012432349605815636 Centerline is valid? [True, True] Translation: X:249.99, Y:-41.81, Z:-11.04 [[ 9.82863289e-01 1.81204600e-01 3.38326324e-02 2.49989705e+02] [-1.81093185e-01 9.83445412e-01 -6.35448817e-03 -4.18081187e+01] [-3.44240096e-02 1.18733967e-04 9.99407311e-01 -1.10369721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84587156 meters 0.012396930587763642 Centerline is valid? [True, True] Translation: X:250.02, Y:-41.81, Z:-11.04 [[ 9.82685167e-01 1.82202682e-01 3.36458828e-02 2.50017379e+02] [-1.82093131e-01 9.83260991e-01 -6.31786550e-03 -4.18122201e+01] [-3.42338161e-02 8.17885603e-05 9.99413848e-01 -1.10389344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87587156 meters 0.01209510351741482 Centerline is valid? [True, True] Translation: X:250.05, Y:-41.82, Z:-11.04 [[ 9.82404710e-01 1.83758897e-01 3.33714612e-02 2.50045624e+02] [-1.83652099e-01 9.82971346e-01 -6.26414236e-03 -4.18163132e+01] [-3.39542820e-02 2.51840644e-05 9.99423387e-01 -1.10403986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90587156 meters 0.012125417657632946 Centerline is valid? [True, True] Translation: X:250.07, Y:-41.82, Z:-11.04 [[ 9.82317065e-01 1.84190139e-01 3.35734635e-02 2.50072971e+02] [-1.84082347e-01 9.82890631e-01 -6.30055057e-03 -4.18215562e+01] [-3.41595420e-02 8.85639110e-06 9.99416393e-01 -1.10423966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93587156 meters 0.012145264458173592 Centerline is valid? [True, True] Translation: X:250.10, Y:-41.83, Z:-11.04 [[ 9.82198468e-01 1.84835952e-01 3.34938888e-02 2.50101552e+02] [-1.84729129e-01 9.82769388e-01 -6.28318533e-03 -4.18270858e+01] [-3.40781272e-02 -1.59619092e-05 9.99419172e-01 -1.10439799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96587156 meters 0.012095160234574194 Centerline is valid? [True, True] Translation: X:250.13, Y:-41.83, Z:-11.04 [[ 9.82271812e-01 1.84378784e-01 3.38607766e-02 2.50129880e+02] [-1.84269393e-01 9.82855261e-01 -6.35032283e-03 -4.18334155e+01] [-3.44511072e-02 -1.76165173e-06 9.99406384e-01 -1.10448551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99587156 meters 0.01206545645384488 Centerline is valid? [True, True] Translation: X:250.16, Y:-41.84, Z:-11.04 [[ 9.82588339e-01 1.82532632e-01 3.46697925e-02 2.50156238e+02] [-1.82416860e-01 9.83199794e-01 -6.50039757e-03 -4.18420893e+01] [-3.52738675e-02 6.28601829e-05 9.99377682e-01 -1.10449778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02587156 meters 0.026420752102095386 Centerline is valid? [True, True] Translation: X:250.19, Y:-41.85, Z:-11.04 [[ 9.82780981e-01 1.81496134e-01 3.46510785e-02 2.50185194e+02] [-1.81379930e-01 9.83391653e-01 -6.49441583e-03 -4.18497432e+01] [-3.52542928e-02 9.75781711e-05 9.99378369e-01 -1.10449336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05587156 meters 0.013487475499431028 Centerline is valid? [True, True] Translation: X:250.21, Y:-41.86, Z:-11.05 [[ 9.83224275e-01 1.79176571e-01 3.41435362e-02 2.50211741e+02] [-1.79062373e-01 9.83816916e-01 -6.39857698e-03 -4.18608358e+01] [-3.47374636e-02 1.77413612e-04 9.99396456e-01 -1.10487535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08587156 meters 0.01425072167585909 Centerline is valid? [True, True] Translation: X:250.24, Y:-41.87, Z:-11.05 [[ 9.83525131e-01 1.77553178e-01 3.39585756e-02 2.50239824e+02] [-1.77439294e-01 9.84111180e-01 -6.36251416e-03 -4.18708000e+01] [-3.45486985e-02 2.32106883e-04 9.99402989e-01 -1.10501320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11587156 meters 0.014244901624992354 Centerline is valid? [True, True] Translation: X:250.27, Y:-41.88, Z:-11.05 [[ 9.83544510e-01 1.77460752e-01 3.38803608e-02 2.50269133e+02] [-1.77347367e-01 9.84127851e-01 -6.34703721e-03 -4.18771503e+01] [-3.44689566e-02 2.34000849e-04 9.99405742e-01 -1.10516155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14587156 meters 0.014264946137159396 Centerline is valid? [True, True] Translation: X:250.30, Y:-41.88, Z:-11.05 [[ 9.83537822e-01 1.77465955e-01 3.40468313e-02 2.50296854e+02] [-1.77351480e-01 9.84126913e-01 -6.37751187e-03 -4.18828857e+01] [-3.46381942e-02 2.34268209e-04 9.99399890e-01 -1.10525743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17587156 meters 0.013773358150494729 Centerline is valid? [True, True] Translation: X:250.33, Y:-41.89, Z:-11.05 [[ 9.83376275e-01 1.78313669e-01 3.42831889e-02 2.50325514e+02] [-1.78198157e-01 9.83973675e-01 -6.42052214e-03 -4.18874958e+01] [-3.48786222e-02 2.04588065e-04 9.99391535e-01 -1.10542014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20587156 meters 0.013396743586266314 Centerline is valid? [True, True] Translation: X:250.36, Y:-41.89, Z:-11.06 [[ 9.83311980e-01 1.78753669e-01 3.38330458e-02 2.50356044e+02] [-1.78641487e-01 9.83893842e-01 -6.33464149e-03 -4.18924271e+01] [-3.44204658e-02 1.84943261e-04 9.99407423e-01 -1.10554120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23587156 meters 0.013523203494139414 Centerline is valid? [True, True] Translation: X:250.38, Y:-41.90, Z:-11.06 [[ 9.83227077e-01 1.79302973e-01 3.33910098e-02 2.50384307e+02] [-1.79194024e-01 9.83793890e-01 -6.25174982e-03 -4.18991056e+01] [-3.39708288e-02 1.63420270e-04 9.99422811e-01 -1.10589012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26587156 meters 0.013520632958314209 Centerline is valid? [True, True] Translation: X:250.41, Y:-41.90, Z:-11.06 [[ 9.83185529e-01 1.79549594e-01 3.32890257e-02 2.50412712e+02] [-1.79441421e-01 9.83748911e-01 -6.23357208e-03 -4.19047094e+01] [-3.38672781e-02 1.55327790e-04 9.99426327e-01 -1.10606375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29587156 meters 0.01304346625669694 Centerline is valid? [True, True] Translation: X:250.44, Y:-41.91, Z:-11.06 [[ 9.83003651e-01 1.80520567e-01 3.34087898e-02 2.50442370e+02] [-1.80412220e-01 9.83571202e-01 -6.25465718e-03 -4.19093786e+01] [-3.39890179e-02 1.20996902e-04 9.99422199e-01 -1.10611599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32587156 meters 0.01261601599237681 Centerline is valid? [True, True] Translation: X:250.47, Y:-41.91, Z:-11.06 [[ 9.82891214e-01 1.81139695e-01 3.33657257e-02 2.50471245e+02] [-1.81032011e-01 9.83457371e-01 -6.24579867e-03 -4.19137832e+01] [-3.39451309e-02 9.86762285e-05 9.99423693e-01 -1.10614323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35587156 meters 0.012298655486183837 Centerline is valid? [True, True] Translation: X:250.50, Y:-41.92, Z:-11.06 [[ 9.82535042e-01 1.82990437e-01 3.37548815e-02 2.50500174e+02] [-1.82881342e-01 9.83114693e-01 -6.31792011e-03 -4.19159486e+01] [-3.43410389e-02 3.44398889e-05 9.99410172e-01 -1.10631990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38587156 meters 0.01239564526411546 Centerline is valid? [True, True] Translation: X:250.53, Y:-41.92, Z:-11.07 [[ 9.82337034e-01 1.84073837e-01 3.36269818e-02 2.50527858e+02] [-1.83966235e-01 9.82912419e-01 -6.29298371e-03 -4.19184710e+01] [-3.42107516e-02 -4.39828102e-06 9.99414641e-01 -1.10650641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41587156 meters 0.013028526337903527 Centerline is valid? [True, True] Translation: X:250.56, Y:-41.92, Z:-11.07 [[ 9.81861002e-01 1.86661622e-01 3.32627576e-02 2.50556615e+02] [-1.86557895e-01 9.82424262e-01 -6.22272475e-03 -4.19193055e+01] [-3.38396840e-02 -9.55792701e-05 9.99427269e-01 -1.10669139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44587156 meters 0.015604423285880561 Centerline is valid? [True, True] Translation: X:250.59, Y:-41.92, Z:-11.07 [[ 9.81455906e-01 1.88621363e-01 3.41509449e-02 2.50586065e+02] [-1.88513264e-01 9.82049873e-01 -6.38720262e-03 -4.19202354e+01] [-3.47426939e-02 -1.69148362e-04 9.99396276e-01 -1.10660441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47587156000003 meters 0.013609723472435484 Centerline is valid? [True, True] Translation: X:250.61, Y:-41.92, Z:-11.07 [[ 9.81392797e-01 1.88921774e-01 3.43036518e-02 2.50614195e+02] [-1.88812945e-01 9.81992123e-01 -6.41418257e-03 -4.19231596e+01] [-3.48976946e-02 -1.82140936e-04 9.99390873e-01 -1.10677903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50587156 meters 0.013664529315089236 Centerline is valid? [True, True] Translation: X:250.64, Y:-41.92, Z:-11.07 [[ 9.81370694e-01 1.88794734e-01 3.56105265e-02 2.50641829e+02] [-1.88677452e-01 9.82016555e-01 -6.65624590e-03 -4.19245948e+01] [-3.62267907e-02 -1.86658732e-04 9.99343577e-01 -1.10681494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53587156000003 meters 0.012746616347769196 Centerline is valid? [True, True] Translation: X:250.67, Y:-41.93, Z:-11.07 [[ 9.81484766e-01 1.88166323e-01 3.57922989e-02 2.50669945e+02] [-1.88047505e-01 9.82137163e-01 -6.68797078e-03 -4.19298090e+01] [-3.64113978e-02 -1.66511064e-04 9.99336871e-01 -1.10674472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56587156 meters 0.0124915684409606 Centerline is valid? [True, True] Translation: X:250.70, Y:-41.94, Z:-11.07 [[ 9.81843121e-01 1.86460906e-01 3.48771598e-02 2.50697433e+02] [-1.86347067e-01 9.82462376e-01 -6.51542428e-03 -4.19357593e+01] [-3.54803692e-02 -1.02131896e-04 9.99370368e-01 -1.10713830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59587156 meters 0.01278727323754687 Centerline is valid? [True, True] Translation: X:250.72, Y:-41.94, Z:-11.08 [[ 9.82025919e-01 1.85598383e-01 3.43268756e-02 2.50724705e+02] [-1.85487654e-01 9.82625684e-01 -6.41055958e-03 -4.19412580e+01] [-3.49202591e-02 -7.18759635e-05 9.99390099e-01 -1.10751443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62587156 meters 0.01213271517172292 Centerline is valid? [True, True] Translation: X:250.75, Y:-41.95, Z:-11.07 [[ 9.82199635e-01 1.84698993e-01 3.42075862e-02 2.50753166e+02] [-1.84588562e-01 9.82795137e-01 -6.38611642e-03 -4.19474859e+01] [-3.47985587e-02 -4.18879322e-05 9.99394346e-01 -1.10749417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65587156 meters 0.012324655601098723 Centerline is valid? [True, True] Translation: X:250.78, Y:-41.95, Z:-11.08 [[ 9.82626124e-01 1.82500656e-01 3.37551767e-02 2.50780002e+02] [-1.82391882e-01 9.83205731e-01 -6.30016442e-03 -4.19534744e+01] [-3.43380673e-02 3.40359555e-05 9.99410274e-01 -1.10772319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68587156 meters 0.012503936564707763 Centerline is valid? [True, True] Translation: X:250.81, Y:-41.96, Z:-11.08 [[ 9.82913895e-01 1.80913651e-01 3.39193935e-02 2.50808061e+02] [-1.80802946e-01 9.83498980e-01 -6.32862757e-03 -4.19597441e+01] [-3.45046240e-02 8.77697073e-05 9.99404534e-01 -1.10780179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71587156 meters 0.013600208436385203 Centerline is valid? [True, True] Translation: X:250.84, Y:-41.97, Z:-11.08 [[ 9.83499265e-01 1.77605791e-01 3.44293286e-02 2.50836676e+02] [-1.77489771e-01 9.84101692e-01 -6.42184136e-03 -4.19692351e+01] [-3.50225168e-02 2.05022588e-04 9.99386502e-01 -1.10787765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74587156 meters 0.014695229821550486 Centerline is valid? [True, True] Translation: X:250.87, Y:-41.98, Z:-11.08 [[ 9.83811636e-01 1.75873648e-01 3.43965733e-02 2.50865434e+02] [-1.75756819e-01 9.84412713e-01 -6.41489840e-03 -4.19775835e+01] [-3.49886356e-02 2.65619367e-04 9.99387675e-01 -1.10797221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77587156 meters 0.01665282536770433 Centerline is valid? [True, True] Translation: X:250.89, Y:-41.99, Z:-11.08 [[ 9.84400357e-01 1.72420200e-01 3.50315760e-02 2.50894326e+02] [-1.72296869e-01 9.85023410e-01 -6.53222857e-03 -4.19886781e+01] [-3.56332106e-02 3.94497281e-04 9.99364858e-01 -1.10796354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80587156 meters 0.0254270234212197 Centerline is valid? [True, True] Translation: X:250.92, Y:-42.00, Z:-11.08 [[ 9.84874338e-01 1.69589323e-01 3.55246252e-02 2.50922820e+02] [-1.69460657e-01 9.85514692e-01 -6.62405719e-03 -4.20011529e+01] [-3.61334094e-02 5.03837617e-04 9.99346848e-01 -1.10799998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83587156 meters 0.020701589243258916 Centerline is valid? [True, True] Translation: X:250.95, Y:-42.01, Z:-11.08 [[ 9.85098528e-01 1.68179389e-01 3.60081111e-02 2.50952787e+02] [-1.68046240e-01 9.85756246e-01 -6.71456743e-03 -4.20092600e+01] [-3.66244722e-02 5.63482809e-04 9.99328940e-01 -1.10809458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86587156 meters 0.02652011439809954 Centerline is valid? [True, True] Translation: X:250.98, Y:-42.02, Z:-11.08 [[ 9.85383990e-01 1.66337952e-01 3.67434078e-02 2.50981382e+02] [-1.66198031e-01 9.86068593e-01 -6.85160336e-03 -4.20242478e+01] [-3.73712021e-02 6.44778203e-04 9.99301245e-01 -1.10833993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89587156 meters 0.02652011439809954 Centerline is valid? [True, True] Translation: X:251.01, Y:-42.03, Z:-11.08 [[ 9.85380495e-01 1.66358921e-01 3.67421933e-02 2.51011661e+02] [-1.66218772e-01 9.86065052e-01 -6.85810988e-03 -4.20299435e+01] [-3.73711005e-02 6.50605437e-04 9.99301245e-01 -1.10847881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92587156 meters 0.02336189057391533 Centerline is valid? [True, True] Translation: X:251.04, Y:-42.03, Z:-11.08 [[ 9.85506565e-01 1.65608315e-01 3.67518153e-02 2.51043814e+02] [-1.65467583e-01 9.86191373e-01 -6.85959421e-03 -4.20332077e+01] [-3.73803290e-02 6.78941081e-04 9.99300881e-01 -1.10839927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95587156 meters 0.028977546549868387 Centerline is valid? [True, True] Translation: X:251.07, Y:-42.05, Z:-11.09 [[ 9.85613598e-01 1.65050377e-01 3.63896805e-02 2.51072206e+02] [-1.64911796e-01 9.86284890e-01 -6.79819893e-03 -4.20478067e+01] [-3.70126373e-02 6.99309731e-04 9.99314553e-01 -1.10887196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98587156 meters 0.024503075593396817 Centerline is valid? [True, True] Translation: X:251.10, Y:-42.05, Z:-11.09 [[ 9.85809277e-01 1.63958401e-01 3.60237631e-02 2.51104439e+02] [-1.63821666e-01 9.86466978e-01 -6.73527590e-03 -4.20506563e+01] [-3.66405578e-02 7.38224579e-04 9.99328237e-01 -1.10874832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01587156 meters 0.027039519148441347 Centerline is valid? [True, True] Translation: X:251.13, Y:-42.06, Z:-11.09 [[ 9.85940189e-01 1.63268025e-01 3.55738014e-02 2.51134023e+02] [-1.63134013e-01 9.86581458e-01 -6.65733450e-03 -4.20626097e+01] [-3.61833827e-02 7.60436649e-04 9.99344878e-01 -1.10904146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04587156 meters 0.02542581179519008 Centerline is valid? [True, True] Translation: X:251.17, Y:-42.07, Z:-11.09 [[ 9.85972194e-01 1.63107766e-01 3.54216095e-02 2.51166058e+02] [-1.62974598e-01 9.86607960e-01 -6.63432256e-03 -4.20679879e+01] [-3.60293514e-02 7.68435014e-04 9.99350437e-01 -1.10912768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07587156 meters 0.03477716531989258 Centerline is valid? [True, True] Translation: X:251.19, Y:-42.09, Z:-11.10 [[ 9.86117228e-01 1.62320755e-01 3.49969259e-02 2.51193111e+02] [-1.62190025e-01 9.86737727e-01 -6.56157397e-03 -4.20886051e+01] [-3.55978667e-02 7.94328862e-04 9.99365879e-01 -1.10983095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10587156 meters 0.028117647468579 Centerline is valid? [True, True] Translation: X:251.23, Y:-42.09, Z:-11.10 [[ 9.86181707e-01 1.61931089e-01 3.49851958e-02 2.51226157e+02] [-1.61800121e-01 9.86801736e-01 -6.56161456e-03 -4.20878623e+01] [-3.55859813e-02 8.10335318e-04 9.99366290e-01 -1.10961137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13587156 meters 0.030730419629280387 Centerline is valid? [True, True] Translation: X:251.26, Y:-42.10, Z:-11.10 [[ 9.86377454e-01 1.60603003e-01 3.55836224e-02 2.51255705e+02] [-1.60466424e-01 9.87018694e-01 -6.68013592e-03 -4.21004012e+01] [-3.61945504e-02 8.79158832e-04 9.99344376e-01 -1.10972586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16587156 meters 0.031643029258011185 Centerline is valid? [True, True] Translation: X:251.29, Y:-42.11, Z:-11.10 [[ 9.86536921e-01 1.59546558e-01 3.59137831e-02 2.51286281e+02] [-1.59406524e-01 9.87189965e-01 -6.74783639e-03 -4.21096033e+01] [-3.65303204e-02 9.32098410e-04 9.99332110e-01 -1.10980336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19587156 meters 0.0338026010416335 Centerline is valid? [True, True] Translation: X:251.32, Y:-42.12, Z:-11.10 [[ 9.86870394e-01 1.57423109e-01 3.61218897e-02 2.51315977e+02] [-1.57279816e-01 9.87530719e-01 -6.79258751e-03 -4.21231202e+01] [-3.67407860e-02 1.02215932e-03 9.99324307e-01 -1.10997044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22587156000003 meters 0.03558153476560088 Centerline is valid? [True, True] Translation: X:251.35, Y:-42.13, Z:-11.10 [[ 9.87106632e-01 1.56030597e-01 3.57064450e-02 2.51346220e+02] [-1.55889473e-01 9.87751646e-01 -6.71996244e-03 -4.21335557e+01] [-3.63176195e-02 1.06706060e-03 9.99339728e-01 -1.11018880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25587156 meters 0.03661297558132349 Centerline is valid? [True, True] Translation: X:251.38, Y:-42.15, Z:-11.10 [[ 9.87391925e-01 1.54312880e-01 3.52806025e-02 2.51376411e+02] [-1.54173781e-01 9.88021393e-01 -6.64617471e-03 -4.21463260e+01] [-3.58835804e-02 1.12303537e-03 9.99355346e-01 -1.11044358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28587156000003 meters 0.04057599986128544 Centerline is valid? [True, True] Translation: X:251.41, Y:-42.16, Z:-11.11 [[ 9.87415437e-01 1.54297231e-01 3.46860058e-02 2.51405411e+02] [-1.54162751e-01 9.88023857e-01 -6.53477329e-03 -4.21597112e+01] [-3.52788987e-02 1.10524594e-03 9.99376895e-01 -1.11077737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31587156 meters 0.04437767316338515 Centerline is valid? [True, True] Translation: X:251.44, Y:-42.16, Z:-11.11 [[ 9.87275134e-01 1.55340121e-01 3.40184733e-02 2.51437269e+02] [-1.55211214e-01 9.87860486e-01 -6.41402586e-03 -4.21626356e+01] [-3.46018611e-02 1.05235969e-03 9.99400622e-01 -1.11064121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34587156 meters 0.03537604811402558 Centerline is valid? [True, True] Translation: X:251.47, Y:-42.17, Z:-11.11 [[ 9.87136006e-01 1.56095299e-01 3.45942719e-02 2.51466866e+02] [-1.55962210e-01 9.87741441e-01 -6.52948776e-03 -4.21732631e+01] [-3.51894183e-02 1.05009338e-03 9.99380109e-01 -1.11095900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37587156 meters 0.037285086178329166 Centerline is valid? [True, True] Translation: X:251.50, Y:-42.18, Z:-11.11 [[ 9.86721948e-01 1.58617074e-01 3.49345362e-02 2.51495707e+02] [-1.58482777e-01 9.87339696e-01 -6.59804565e-03 -4.21830175e+01] [-3.55388170e-02 9.73914165e-04 9.99367822e-01 -1.11088883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40587156 meters 0.03199827305242983 Centerline is valid? [True, True] Translation: X:251.53, Y:-42.19, Z:-11.11 [[ 9.86486678e-01 1.59980178e-01 3.53606785e-02 2.51527694e+02] [-1.59843467e-01 9.87119783e-01 -6.67826207e-03 -4.21897118e+01] [-3.59736148e-02 9.35843118e-04 9.99352302e-01 -1.11106840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43587156 meters 0.034769963833579734 Centerline is valid? [True, True] Translation: X:251.56, Y:-42.20, Z:-11.11 [[ 9.85850118e-01 1.63722106e-01 3.59807892e-02 2.51557911e+02] [-1.63582902e-01 9.86506160e-01 -6.79927389e-03 -4.21962946e+01] [-3.66084617e-02 8.17223059e-04 9.99329351e-01 -1.11099096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46587156 meters 0.023973208637167186 Centerline is valid? [True, True] Translation: X:251.59, Y:-42.20, Z:-11.11 [[ 9.85211142e-01 1.67497486e-01 3.61053746e-02 2.51589044e+02] [-1.67359819e-01 9.85872268e-01 -6.82358262e-03 -4.22019365e+01] [-3.67382205e-02 6.80080663e-04 9.99324692e-01 -1.11118163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49587156 meters 0.03084812272298082 Centerline is valid? [True, True] Translation: X:251.62, Y:-42.21, Z:-11.11 [[ 9.84821280e-01 1.69868124e-01 3.56632517e-02 2.51620167e+02] [-1.69735357e-01 9.85466630e-01 -6.74015231e-03 -4.22085274e+01] [-3.62898815e-02 5.84530655e-04 9.99341134e-01 -1.11134704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52587156 meters 0.02437802211946951 Centerline is valid? [True, True] Translation: X:251.65, Y:-42.21, Z:-11.12 [[ 9.84084478e-01 1.74157950e-01 3.53093295e-02 2.51651527e+02] [-1.74030352e-01 9.84717637e-01 -6.67916641e-03 -4.22147949e+01] [-3.59329494e-02 4.27968965e-04 9.99354111e-01 -1.11150656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55587156 meters 0.016281759373077107 Centerline is valid? [True, True] Translation: X:251.68, Y:-42.22, Z:-11.12 [[ 9.83638064e-01 1.76596777e-01 3.56333883e-02 2.51682325e+02] [-1.76468194e-01 9.84283220e-01 -6.74680788e-03 -4.22200270e+01] [-3.62648107e-02 3.48257375e-04 9.99342155e-01 -1.11174727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58587156 meters 0.01450542763834509 Centerline is valid? [True, True] Translation: X:251.71, Y:-42.22, Z:-11.12 [[ 9.83117551e-01 1.79452246e-01 3.57319644e-02 2.51713076e+02] [-1.79324625e-01 9.83766654e-01 -6.77123450e-03 -4.22246097e+01] [-3.63670283e-02 2.49298377e-04 9.99338470e-01 -1.11190764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61587156 meters 0.02209642780685896 Centerline is valid? [True, True] Translation: X:251.74, Y:-42.23, Z:-11.12 [[ 9.82169185e-01 1.84661994e-01 3.52652779e-02 2.51744702e+02] [-1.84540849e-01 9.82802088e-01 -6.68812423e-03 -4.22282580e+01] [-3.58938312e-02 6.09851915e-05 9.99355607e-01 -1.11194053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64587156 meters 0.012588462671177853 Centerline is valid? [True, True] Translation: X:251.78, Y:-42.23, Z:-11.12 [[ 9.81162219e-01 1.89980033e-01 3.50469169e-02 2.51776418e+02] [-1.89863563e-01 9.81787946e-01 -6.65257383e-03 -4.22308197e+01] [-3.56724967e-02 -1.26878397e-04 9.99363526e-01 -1.11231307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67587156 meters 0.019815670586957244 Centerline is valid? [True, True] Translation: X:251.81, Y:-42.24, Z:-11.12 [[ 9.80656779e-01 1.92605502e-01 3.48626150e-02 2.51808239e+02] [-1.92491680e-01 9.81276248e-01 -6.62408507e-03 -4.22354893e+01] [-3.54856913e-02 -2.14809412e-04 9.99370161e-01 -1.11238031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70587156 meters 0.014725117225023988 Centerline is valid? [True, True] Translation: X:251.84, Y:-42.24, Z:-11.13 [[ 9.80230437e-01 1.94711895e-01 3.51506496e-02 2.51839335e+02] [-1.94597298e-01 9.80860436e-01 -6.68551606e-03 -4.22412064e+01] [-3.57796310e-02 -2.86875112e-04 9.99359663e-01 -1.11253631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73587156 meters 0.021078820081689292 Centerline is valid? [True, True] Translation: X:251.87, Y:-42.25, Z:-11.13 [[ 9.79504719e-01 1.98329094e-01 3.51578662e-02 2.51869600e+02] [-1.98216633e-01 9.80135398e-01 -6.69091642e-03 -4.22458586e+01] [-3.57864726e-02 -4.15089651e-04 9.99359373e-01 -1.11260279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76587156 meters 0.01932357484452058 Centerline is valid? [True, True] Translation: X:251.90, Y:-42.25, Z:-11.13 [[ 9.79136208e-01 2.00086914e-01 3.54614333e-02 2.51899778e+02] [-1.99973656e-01 9.79778033e-01 -6.74862920e-03 -4.22509878e+01] [-3.60946457e-02 -4.83525238e-04 9.99348259e-01 -1.11278446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79587156 meters 0.021710951118780446 Centerline is valid? [True, True] Translation: X:251.93, Y:-42.26, Z:-11.13 [[ 9.78509238e-01 2.03057437e-01 3.58796384e-02 2.51931156e+02] [-2.02943318e-01 9.79166647e-01 -6.83278491e-03 -4.22570812e+01] [-3.65195930e-02 -5.95589735e-04 9.99332760e-01 -1.11286840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82587156 meters 0.02552455312367376 Centerline is valid? [True, True] Translation: X:251.96, Y:-42.26, Z:-11.13 [[ 9.78149881e-01 2.04751543e-01 3.60501940e-02 2.51962411e+02] [-2.04637255e-01 9.78813759e-01 -6.87155934e-03 -4.22593114e+01] [-3.66933883e-02 -6.55797797e-04 9.99326356e-01 -1.11312994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85587156 meters 0.026350845937897053 Centerline is valid? [True, True] Translation: X:251.99, Y:-42.27, Z:-11.13 [[ 9.77414230e-01 2.08123625e-01 3.66876030e-02 2.51993462e+02] [-2.08007410e-01 9.78102209e-01 -6.99896346e-03 -4.22658364e+01] [-3.73408752e-02 -7.90406799e-04 9.99302274e-01 -1.11300253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88587156 meters 0.02788338939342415 Centerline is valid? [True, True] Translation: X:252.03, Y:-42.27, Z:-11.13 [[ 9.76996707e-01 2.10071387e-01 3.67075933e-02 2.52025103e+02] [-2.09956205e-01 9.77685672e-01 -7.00847380e-03 -4.22701170e+01] [-3.73607678e-02 -8.59731146e-04 9.99301473e-01 -1.11309849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91587156 meters 0.03082031751224671 Centerline is valid? [True, True] Translation: X:252.06, Y:-42.27, Z:-11.13 [[ 9.76573358e-01 2.12025116e-01 3.67399970e-02 2.52055205e+02] [-2.11910846e-01 9.77263776e-01 -7.02175428e-03 -4.22720395e+01] [-3.73934565e-02 -9.28345707e-04 9.99300189e-01 -1.11327685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94587156 meters 0.03258271774945985 Centerline is valid? [True, True] Translation: X:252.09, Y:-42.28, Z:-11.13 [[ 9.75802491e-01 2.15591193e-01 3.64682929e-02 2.52086485e+02] [-2.15481001e-01 9.76483141e-01 -6.97229918e-03 -4.22755484e+01] [-3.71138395e-02 -1.05463737e-03 9.99310488e-01 -1.11342022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97587156000003 meters 0.03496341932981145 Centerline is valid? [True, True] Translation: X:252.12, Y:-42.28, Z:-11.14 [[ 9.75194311e-01 2.18466299e-01 3.56164476e-02 2.52117520e+02] [-2.18363075e-01 9.75843833e-01 -6.81040086e-03 -4.22780387e+01] [-3.62439338e-02 -1.13585282e-03 9.99342327e-01 -1.11364105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00587156 meters 0.03939713920874395 Centerline is valid? [True, True] Translation: X:252.15, Y:-42.28, Z:-11.14 [[ 9.74953819e-01 2.19581756e-01 3.53398151e-02 2.52146353e+02] [-2.19480829e-01 9.75593404e-01 -6.75838351e-03 -4.22773878e+01] [-3.59613082e-02 -1.16730010e-03 9.99352501e-01 -1.11395389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03587156000003 meters 0.03830788501431208 Centerline is valid? [True, True] Translation: X:252.18, Y:-42.28, Z:-11.14 [[ 9.74758108e-01 2.20375685e-01 3.57936909e-02 2.52175438e+02] [-2.20272736e-01 9.75414315e-01 -6.84372401e-03 -4.22819725e+01] [-3.64218689e-02 -1.21339877e-03 9.99335767e-01 -1.11399718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06587156 meters 0.038452848355359885 Centerline is valid? [True, True] Translation: X:252.20, Y:-42.29, Z:-11.14 [[ 9.74732601e-01 2.20467221e-01 3.59243799e-02 2.52204465e+02] [-2.20363614e-01 9.75393618e-01 -6.86782830e-03 -4.22861140e+01] [-3.65545419e-02 -1.22213003e-03 9.99330912e-01 -1.11407392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09587156 meters 0.03808799149915941 Centerline is valid? [True, True] Translation: X:252.23, Y:-42.29, Z:-11.14 [[ 9.74832717e-01 2.19916573e-01 3.65769710e-02 2.52232802e+02] [-2.19808809e-01 9.75517915e-01 -6.99176330e-03 -4.22902908e+01] [-3.72190951e-02 -1.22414084e-03 9.99306380e-01 -1.11408862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12587156 meters 0.03810933972953345 Centerline is valid? [True, True] Translation: X:252.26, Y:-42.29, Z:-11.14 [[ 9.74976351e-01 2.19285874e-01 3.65351996e-02 2.52261253e+02] [-2.19177964e-01 9.75659913e-01 -6.98244225e-03 -4.22948028e+01] [-3.71770806e-02 -1.19999459e-03 9.99307973e-01 -1.11426254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15587156 meters 0.03631011709020207 Centerline is valid? [True, True] Translation: X:252.29, Y:-42.30, Z:-11.14 [[ 9.75212918e-01 2.18300025e-01 3.61228927e-02 2.52290167e+02] [-2.18193912e-01 9.75881025e-01 -6.90226013e-03 -4.23014728e+01] [-3.67584092e-02 -1.15062206e-03 9.99323519e-01 -1.11447226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18587156 meters 0.035496706372731446 Centerline is valid? [True, True] Translation: X:252.32, Y:-42.30, Z:-11.15 [[ 9.75591149e-01 2.16776808e-01 3.50674558e-02 2.52318493e+02] [-2.16675855e-01 9.76220614e-01 -6.69972559e-03 -4.23047251e+01] [-3.56859183e-02 -1.06207796e-03 9.99362490e-01 -1.11484000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21587156 meters 0.03530122333739558 Centerline is valid? [True, True] Translation: X:252.35, Y:-42.31, Z:-11.15 [[ 9.75731776e-01 2.16142932e-01 3.50675706e-02 2.52347272e+02] [-2.16041585e-01 9.76361180e-01 -6.69929600e-03 -4.23082124e+01] [-3.56866201e-02 -1.03933757e-03 9.99362489e-01 -1.11498532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24587156 meters 0.03482666663846368 Centerline is valid? [True, True] Translation: X:252.38, Y:-42.31, Z:-11.15 [[ 9.75849084e-01 2.15628772e-01 3.49685181e-02 2.52376546e+02] [-2.15527728e-01 9.76474881e-01 -6.67868085e-03 -4.23092431e+01] [-3.55859953e-02 -1.01930064e-03 9.99366098e-01 -1.11508229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27587156 meters 0.034914929306466634 Centerline is valid? [True, True] Translation: X:252.41, Y:-42.31, Z:-11.15 [[ 9.75916420e-01 2.15381900e-01 3.46089300e-02 2.52405503e+02] [-2.15282827e-01 9.76529382e-01 -6.60834478e-03 -4.23122324e+01] [-3.52199549e-02 -1.00151612e-03 9.99379083e-01 -1.11527790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30587156 meters 0.03937740564198281 Centerline is valid? [True, True] Translation: X:252.43, Y:-42.31, Z:-11.15 [[ 9.75950805e-01 2.15198561e-01 3.47793726e-02 2.52433868e+02] [-2.15098448e-01 9.76569801e-01 -6.63935319e-03 -4.23131915e+01] [-3.53932643e-02 -1.00130699e-03 9.99372961e-01 -1.11528594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33587156 meters 0.038526170260863794 Centerline is valid? [True, True] Translation: X:252.46, Y:-42.32, Z:-11.15 [[ 9.75995014e-01 2.14908947e-01 3.53252999e-02 2.52462212e+02] [-2.14805563e-01 9.76633568e-01 -6.74114249e-03 -4.23171770e+01] [-3.59486055e-02 -1.00874947e-03 9.99353131e-01 -1.11527582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36587156 meters 0.035833322636990156 Centerline is valid? [True, True] Translation: X:252.49, Y:-42.32, Z:-11.15 [[ 9.76124754e-01 2.14200502e-01 3.60362276e-02 2.52491157e+02] [-2.14092494e-01 9.76789198e-01 -6.87514269e-03 -4.23154257e+01] [-3.66724569e-02 -1.00408887e-03 9.99326835e-01 -1.11544179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39587156 meters 0.035678748702628556 Centerline is valid? [True, True] Translation: X:252.52, Y:-42.32, Z:-11.16 [[ 9.76216311e-01 2.13749878e-01 3.62312491e-02 2.52520195e+02] [-2.13640470e-01 9.76887916e-01 -6.91009616e-03 -4.23182532e+01] [-3.68709016e-02 -9.94712492e-04 9.99319542e-01 -1.11558609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42587156 meters 0.02923268958172182 Centerline is valid? [True, True] Translation: X:252.55, Y:-42.33, Z:-11.15 [[ 9.76534737e-01 2.12221386e-01 3.66331887e-02 2.52548557e+02] [-2.12108528e-01 9.77221153e-01 -6.98497884e-03 -4.23270054e+01] [-3.72810888e-02 -9.49137244e-04 9.99304368e-01 -1.11543252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45587156 meters 0.031504565876193685 Centerline is valid? [True, True] Translation: X:252.58, Y:-42.33, Z:-11.16 [[ 9.76787194e-01 2.11009727e-01 3.69008465e-02 2.52577014e+02] [-2.10894395e-01 9.77483537e-01 -7.03479466e-03 -4.23268688e+01] [-3.75543800e-02 -9.10684348e-04 9.99294171e-01 -1.11562853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48587156 meters 0.03311869149772996 Centerline is valid? [True, True] Translation: X:252.61, Y:-42.33, Z:-11.15 [[ 9.77420649e-01 2.07910651e-01 3.77098865e-02 2.52606323e+02] [-2.07788001e-01 9.78147485e-01 -7.18636833e-03 -4.23321533e+01] [-3.83799532e-02 -8.11557144e-04 9.99262889e-01 -1.11544631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51587156 meters 0.024900723612425776 Centerline is valid? [True, True] Translation: X:252.63, Y:-42.34, Z:-11.16 [[ 9.77734769e-01 2.06444350e-01 3.76224854e-02 2.52634409e+02] [-2.06321211e-01 9.78458054e-01 -7.16898269e-03 -4.23384767e+01] [-3.82920198e-02 -7.52953116e-04 9.99266308e-01 -1.11567635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54587156 meters 0.021860817948656065 Centerline is valid? [True, True] Translation: X:252.66, Y:-42.34, Z:-11.16 [[ 9.78474222e-01 2.03041650e-01 3.69091494e-02 2.52662672e+02] [-2.02920791e-01 9.79169912e-01 -7.03109320e-03 -4.23446545e+01] [-3.75679334e-02 -6.09890339e-04 9.99293890e-01 -1.11593172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57587156 meters 0.01967129746783921 Centerline is valid? [True, True] Translation: X:252.69, Y:-42.35, Z:-11.16 [[ 9.78790966e-01 2.01564034e-01 3.66085263e-02 2.52691312e+02] [-2.01444136e-01 9.79475185e-01 -6.97294338e-03 -4.23518242e+01] [-3.72626376e-02 -5.49518946e-04 9.99305356e-01 -1.11608455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60587156 meters 0.018331958647985078 Centerline is valid? [True, True] Translation: X:252.72, Y:-42.36, Z:-11.16 [[ 9.79347283e-01 1.99077036e-01 3.53161793e-02 2.52720155e+02] [-1.98963869e-01 9.79983745e-01 -6.72593160e-03 -4.23557343e+01] [-3.59482602e-02 -4.39620844e-04 9.99353556e-01 -1.11643643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63587156 meters 0.0180751522043849 Centerline is valid? [True, True] Translation: X:252.75, Y:-42.36, Z:-11.17 [[ 9.79578552e-01 1.97985479e-01 3.50372633e-02 2.52747305e+02] [-1.97873415e-01 9.80204873e-01 -6.67227059e-03 -4.23591942e+01] [-3.56647089e-02 -3.96929761e-04 9.99363733e-01 -1.11672386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66587156 meters 0.01592162243340805 Centerline is valid? [True, True] Translation: X:252.78, Y:-42.36, Z:-11.17 [[ 9.79885530e-01 1.96466127e-01 3.50058510e-02 2.52776518e+02] [-1.96353383e-01 9.80510552e-01 -6.66380227e-03 -4.23647346e+01] [-3.56328177e-02 -3.43753856e-04 9.99364890e-01 -1.11677587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69587156 meters 0.01558032989446843 Centerline is valid? [True, True] Translation: X:252.81, Y:-42.37, Z:-11.17 [[ 9.80110893e-01 1.95385157e-01 3.47458943e-02 2.52805587e+02] [-1.95273433e-01 9.80726541e-01 -6.61342884e-03 -4.23669637e+01] [-3.53683866e-02 -3.03056427e-04 9.99374297e-01 -1.11696118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72587156000003 meters 0.01516123838632056 Centerline is valid? [True, True] Translation: X:252.83, Y:-42.37, Z:-11.17 [[ 9.80206222e-01 1.94891154e-01 3.48310306e-02 2.52834035e+02] [-1.94778592e-01 9.80824835e-01 -6.62903678e-03 -4.23715186e+01] [-3.54550804e-02 -2.86515982e-04 9.99371230e-01 -1.11709436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75587156 meters 0.015077391993983424 Centerline is valid? [True, True] Translation: X:252.86, Y:-42.38, Z:-11.17 [[ 9.80281310e-01 1.94509914e-01 3.48489000e-02 2.52862407e+02] [-1.94397066e-01 9.80900514e-01 -6.63044995e-03 -4.23758616e+01] [-3.54729922e-02 -2.74817763e-04 9.99370598e-01 -1.11722981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78587156000003 meters 0.029608398754625415 Centerline is valid? [True, True] Translation: X:252.89, Y:-42.38, Z:-11.17 [[ 9.80268119e-01 1.94568282e-01 3.48941055e-02 2.52890720e+02] [-1.94455196e-01 9.80888937e-01 -6.63854193e-03 -4.23751590e+01] [-3.55188917e-02 -2.77789113e-04 9.99368966e-01 -1.11743835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81587156 meters 0.029608398754625415 Centerline is valid? [True, True] Translation: X:252.92, Y:-42.38, Z:-11.18 [[ 9.80276468e-01 1.94526138e-01 3.48945279e-02 2.52918541e+02] [-1.94413104e-01 9.80897295e-01 -6.63632049e-03 -4.23803530e+01] [-3.55188859e-02 -2.78524679e-04 9.99368966e-01 -1.11756594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84587156 meters 0.015509060543681369 Centerline is valid? [True, True] Translation: X:252.95, Y:-42.39, Z:-11.18 [[ 9.80185328e-01 1.94941391e-01 3.51365525e-02 2.52946918e+02] [-1.94827105e-01 9.80814848e-01 -6.68081676e-03 -4.23850830e+01] [-3.57648201e-02 -2.97114260e-04 9.99360190e-01 -1.11755477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87587156 meters 0.02776575625190424 Centerline is valid? [True, True] Translation: X:252.98, Y:-42.39, Z:-11.18 [[ 9.80130864e-01 1.95245798e-01 3.49652238e-02 2.52975053e+02] [-1.95132875e-01 9.80754293e-01 -6.64663946e-03 -4.23856199e+01] [-3.55900217e-02 -3.08288154e-04 9.99366427e-01 -1.11756449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90587156 meters 0.023025572926578256 Centerline is valid? [True, True] Translation: X:253.00, Y:-42.39, Z:-11.18 [[ 9.80093819e-01 1.95442610e-01 3.49040453e-02 2.53003802e+02] [-1.95330287e-01 9.80715089e-01 -6.63275009e-03 -4.23893273e+01] [-3.55272459e-02 -3.17099812e-04 9.99368658e-01 -1.11771898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93587156 meters 0.021228459443092495 Centerline is valid? [True, True] Translation: X:253.03, Y:-42.39, Z:-11.18 [[ 9.80164560e-01 1.95163939e-01 3.44742174e-02 2.53033087e+02] [-1.95054252e-01 9.80770587e-01 -6.54940716e-03 -4.23918525e+01] [-3.50895065e-02 -3.04845897e-04 9.99384127e-01 -1.11791451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96587156 meters 0.02234027274866822 Centerline is valid? [True, True] Translation: X:253.06, Y:-42.40, Z:-11.18 [[ 9.80293254e-01 1.94546289e-01 3.43056447e-02 2.53060982e+02] [-1.94437348e-01 9.80893298e-01 -6.51582638e-03 -4.23959327e+01] [-3.49178068e-02 -2.82877944e-04 9.99390147e-01 -1.11808587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99587156 meters 0.023561184326127835 Centerline is valid? [True, True] Translation: X:253.09, Y:-42.40, Z:-11.18 [[ 9.80441685e-01 1.93800930e-01 3.42826895e-02 2.53089051e+02] [-1.93691757e-01 9.81040842e-01 -6.50924917e-03 -4.24008943e+01] [-3.48942171e-02 -2.58335147e-04 9.99390978e-01 -1.11818874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02587156 meters 0.014132662165150588 Centerline is valid? [True, True] Translation: X:253.12, Y:-42.41, Z:-11.18 [[ 9.80721527e-01 1.92394591e-01 3.41995403e-02 2.53117457e+02] [-1.92285150e-01 9.81317623e-01 -6.49180963e-03 -4.24053826e+01] [-3.48096007e-02 -2.09406293e-04 9.99393940e-01 -1.11838372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05587156 meters 0.013501370030019411 Centerline is valid? [True, True] Translation: X:253.15, Y:-42.41, Z:-11.18 [[ 9.80858356e-01 1.91715713e-01 3.40877005e-02 2.53145668e+02] [-1.91606634e-01 9.81450483e-01 -6.46892128e-03 -4.24109495e+01] [-3.46955840e-02 -1.86334067e-04 9.99397910e-01 -1.11846386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08587156 meters 0.012660472042274608 Centerline is valid? [True, True] Translation: X:253.17, Y:-42.42, Z:-11.19 [[ 9.81195265e-01 1.89917652e-01 3.44548506e-02 2.53173646e+02] [-1.89805164e-01 9.81800015e-01 -6.53681921e-03 -4.24171286e+01] [-3.50692302e-02 -1.25812524e-04 9.99384877e-01 -1.11855806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11587156 meters 0.01283693370237564 Centerline is valid? [True, True] Translation: X:253.20, Y:-42.42, Z:-11.19 [[ 9.81351282e-01 1.89050873e-01 3.47768395e-02 2.53201071e+02] [-1.88935787e-01 9.81967290e-01 -6.59625081e-03 -4.24223242e+01] [-3.53967458e-02 -9.73503439e-05 9.99373334e-01 -1.11885758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14587156 meters 0.012429213854574357 Centerline is valid? [True, True] Translation: X:253.23, Y:-42.43, Z:-11.19 [[ 9.81526794e-01 1.88102842e-01 3.49638887e-02 2.53229166e+02] [-1.87985997e-01 9.82149335e-01 -6.62936168e-03 -4.24286054e+01] [-3.55867618e-02 -6.58253543e-05 9.99366588e-01 -1.11895477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17587156 meters 0.016507658278045373 Centerline is valid? [True, True] Translation: X:253.26, Y:-42.44, Z:-11.19 [[ 9.81872469e-01 1.86287924e-01 3.49751776e-02 2.53256921e+02] [-1.86169910e-01 9.82495196e-01 -6.62987776e-03 -4.24361398e+01] [-3.55980101e-02 -1.63122038e-06 9.99366190e-01 -1.11887430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20587156 meters 0.012614108291656915 Centerline is valid? [True, True] Translation: X:253.28, Y:-42.44, Z:-11.19 [[ 9.82087783e-01 1.85297556e-01 3.41818910e-02 2.53284058e+02] [-1.85184293e-01 9.82682459e-01 -6.47787737e-03 -4.24430248e+01] [-3.47902795e-02 3.18949184e-05 9.99394634e-01 -1.11937616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23587156 meters 0.012419273372902545 Centerline is valid? [True, True] Translation: X:253.31, Y:-42.45, Z:-11.19 [[ 9.82145037e-01 1.85047585e-01 3.38897824e-02 2.53312641e+02] [-1.84936157e-01 9.82729561e-01 -6.42089600e-03 -4.24489766e+01] [-3.44926623e-02 3.88050281e-05 9.99404950e-01 -1.11939133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26587156 meters 0.012308083683743252 Centerline is valid? [True, True] Translation: X:253.34, Y:-42.45, Z:-11.19 [[ 9.82137643e-01 1.85064141e-01 3.40134257e-02 2.53341294e+02] [-1.84951966e-01 9.82726443e-01 -6.44266939e-03 -4.24545312e+01] [-3.46181999e-02 3.67381836e-05 9.99400610e-01 -1.11947513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29587156 meters 0.01260800545161191 Centerline is valid? [True, True] Translation: X:253.37, Y:-42.46, Z:-11.20 [[ 9.82012110e-01 1.85716091e-01 3.40844430e-02 2.53368809e+02] [-1.85603892e-01 9.82603447e-01 -6.45461059e-03 -4.24577855e+01] [-3.46902162e-02 1.23004865e-05 9.99398113e-01 -1.11976947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32587156 meters 0.012222986506714634 Centerline is valid? [True, True] Translation: X:253.40, Y:-42.46, Z:-11.20 [[ 9.81870211e-01 1.86457475e-01 3.41247684e-02 2.53397278e+02] [-1.86345541e-01 9.82463032e-01 -6.45984520e-03 -4.24613929e+01] [-3.47308099e-02 -1.62688611e-05 9.99396703e-01 -1.11972854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35587156 meters 0.01224063528760167 Centerline is valid? [True, True] Translation: X:253.43, Y:-42.46, Z:-11.20 [[ 9.81586020e-01 1.87791409e-01 3.49753002e-02 2.53425823e+02] [-1.87674733e-01 9.82208930e-01 -6.61909855e-03 -4.24639046e+01] [-3.55960620e-02 -6.67655003e-05 9.99366257e-01 -1.11972142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38587156 meters 0.02219250204025873 Centerline is valid? [True, True] Translation: X:253.45, Y:-42.47, Z:-11.20 [[ 9.81272416e-01 1.89482815e-01 3.46512393e-02 2.53454025e+02] [-1.89369399e-01 9.81884029e-01 -6.55622669e-03 -4.24658696e+01] [-3.52657908e-02 -1.28439977e-04 9.99377960e-01 -1.11976621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41587156 meters 0.013313242996643332 Centerline is valid? [True, True] Translation: X:253.48, Y:-42.47, Z:-11.20 [[ 9.81103483e-01 1.90336904e-01 3.47536847e-02 2.53482086e+02] [-1.90223427e-01 9.81718818e-01 -6.57349904e-03 -4.24694342e+01] [-3.53695257e-02 -1.61682200e-04 9.99374290e-01 -1.12001808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44587156 meters 0.013492135337541707 Centerline is valid? [True, True] Translation: X:253.51, Y:-42.47, Z:-11.20 [[ 9.80937357e-01 1.91185230e-01 3.47866311e-02 2.53510577e+02] [-1.91072149e-01 9.81553957e-01 -6.57754636e-03 -4.24731907e+01] [-3.54024851e-02 -1.94595400e-04 9.99373117e-01 -1.12002630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47587156000003 meters 0.01863572814442566 Centerline is valid? [True, True] Translation: X:253.54, Y:-42.47, Z:-11.20 [[ 9.80665818e-01 1.92570357e-01 3.48024692e-02 2.53539332e+02] [-1.92458101e-01 9.81283138e-01 -6.57892934e-03 -4.24731186e+01] [-3.54179829e-02 -2.46286008e-04 9.99372556e-01 -1.12015798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50587156 meters 0.01578100998971132 Centerline is valid? [True, True] Translation: X:253.57, Y:-42.48, Z:-11.20 [[ 9.80460619e-01 1.93605993e-01 3.48381012e-02 2.53567296e+02] [-1.93494242e-01 9.81079323e-01 -6.58336582e-03 -4.24758292e+01] [-3.54535198e-02 -2.86241049e-04 9.99371285e-01 -1.12040834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53587156000003 meters 0.017465753495120598 Centerline is valid? [True, True] Translation: X:253.60, Y:-42.48, Z:-11.21 [[ 9.80094744e-01 1.95410838e-01 3.50556204e-02 2.53595630e+02] [-1.95298893e-01 9.80721407e-01 -6.62300688e-03 -4.24770400e+01] [-3.56740047e-02 -3.55149618e-04 9.99363417e-01 -1.12052694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56587156 meters 0.01848438595225263 Centerline is valid? [True, True] Translation: X:253.62, Y:-42.48, Z:-11.21 [[ 9.79925990e-01 1.96273041e-01 3.49563545e-02 2.53624423e+02] [-1.96162372e-01 9.80549205e-01 -6.60160390e-03 -4.24798381e+01] [-3.55721425e-02 -3.88038174e-04 9.99367036e-01 -1.12066330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59587156 meters 0.02004489837417631 Centerline is valid? [True, True] Translation: X:253.65, Y:-42.48, Z:-11.21 [[ 9.79682978e-01 1.97581348e-01 3.43929327e-02 2.53653282e+02] [-1.97475075e-01 9.80286400e-01 -6.49373393e-03 -4.24788920e+01] [-3.49979649e-02 -4.29946382e-04 9.99387291e-01 -1.12087030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62587156 meters 0.02191809487191879 Centerline is valid? [True, True] Translation: X:253.68, Y:-42.48, Z:-11.21 [[ 9.79659915e-01 1.97739231e-01 3.41415964e-02 2.53682235e+02] [-1.97634675e-01 9.80254563e-01 -6.44417685e-03 -4.24816256e+01] [-3.47417222e-02 -4.34461567e-04 9.99396230e-01 -1.12107952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65587156 meters 0.01980984376154112 Centerline is valid? [True, True] Translation: X:253.71, Y:-42.49, Z:-11.22 [[ 9.79911820e-01 1.96727919e-01 3.27253799e-02 2.53709520e+02] [-1.96631339e-01 9.80458045e-01 -6.17556337e-03 -4.24851222e+01] [-3.33007678e-02 -3.83327735e-04 9.99445302e-01 -1.12154986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68587156 meters 0.020731522651491717 Centerline is valid? [True, True] Translation: X:253.74, Y:-42.49, Z:-11.22 [[ 9.80104738e-01 1.95828446e-01 3.23407127e-02 2.53738014e+02] [-1.95733700e-01 9.80638107e-01 -6.10097939e-03 -4.24905577e+01] [-3.29092806e-02 -3.50568553e-04 9.99458281e-01 -1.12175699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71587156 meters 0.017328554860784665 Centerline is valid? [True, True] Translation: X:253.77, Y:-42.50, Z:-11.22 [[ 9.80605361e-01 1.93372481e-01 3.19407292e-02 2.53765084e+02] [-1.93278804e-01 9.81125381e-01 -6.02421993e-03 -4.24979164e+01] [-3.25027785e-02 -2.66083591e-04 9.99471610e-01 -1.12211263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74587156 meters 0.014898449446776174 Centerline is valid? [True, True] Translation: X:253.79, Y:-42.51, Z:-11.22 [[ 9.81188535e-01 1.90258099e-01 3.27248305e-02 2.53791667e+02] [-1.90158091e-01 9.81734092e-01 -6.17033510e-03 -4.25062172e+01] [-3.33010380e-02 -1.68629252e-04 9.99445352e-01 -1.12205210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77587156 meters 0.023551328167994347 Centerline is valid? [True, True] Translation: X:253.82, Y:-42.52, Z:-11.22 [[ 9.81502890e-01 1.88543778e-01 3.32162692e-02 2.53820064e+02] [-1.88439855e-01 9.82064779e-01 -6.26023215e-03 -4.25151929e+01] [-3.38008559e-02 -1.14832989e-04 9.99428581e-01 -1.12157968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80587156 meters 0.011878127943791433 Centerline is valid? [True, True] Translation: X:253.85, Y:-42.52, Z:-11.22 [[ 9.82144276e-01 1.84951488e-01 3.44320732e-02 2.53846705e+02] [-1.84837646e-01 9.82747652e-01 -6.48825092e-03 -4.25237513e+01] [-3.50380508e-02 8.05513450e-06 9.99385979e-01 -1.12167792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83587156 meters 0.01262314393354239 Centerline is valid? [True, True] Translation: X:253.87, Y:-42.53, Z:-11.22 [[ 9.82464499e-01 1.83219458e-01 3.45563173e-02 2.53873388e+02] [-1.83103797e-01 9.83072035e-01 -6.50952490e-03 -4.25314097e+01] [-3.51640208e-02 6.79842169e-05 9.99381552e-01 -1.12208294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86587156 meters 0.01335393807576215 Centerline is valid? [True, True] Translation: X:253.90, Y:-42.54, Z:-11.22 [[ 9.82789125e-01 1.81450282e-01 3.46602292e-02 2.53899805e+02] [-1.81332909e-01 9.83400111e-01 -6.52668382e-03 -4.25389717e+01] [-3.52691419e-02 1.29313693e-04 9.99377842e-01 -1.12220465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89587156 meters 0.03136289273730261 Centerline is valid? [True, True] Translation: X:253.93, Y:-42.55, Z:-11.22 [[ 9.83363776e-01 1.78241233e-01 3.50106810e-02 2.53927492e+02] [-1.78119519e-01 9.83986790e-01 -6.59042900e-03 -4.25477820e+01] [-3.56247338e-02 2.44703488e-04 9.99365208e-01 -1.12185427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92587156 meters 0.014432182548252777 Centerline is valid? [True, True] Translation: X:253.96, Y:-42.55, Z:-11.22 [[ 9.83590471e-01 1.76948542e-01 3.51994102e-02 2.53956569e+02] [-1.76824753e-01 9.84220061e-01 -6.62403641e-03 -4.25540823e+01] [-3.58160792e-02 2.91212067e-04 9.99358356e-01 -1.12204521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95587156 meters 0.026758499815347933 Centerline is valid? [True, True] Translation: X:253.98, Y:-42.56, Z:-11.22 [[ 9.83943475e-01 1.75044033e-01 3.48543426e-02 2.53983982e+02] [-1.74921492e-01 9.84560541e-01 -6.55835974e-03 -4.25616076e+01] [-3.54642122e-02 3.56281658e-04 9.99370883e-01 -1.12207360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98587156 meters 0.016680866120670556 Centerline is valid? [True, True] Translation: X:254.01, Y:-42.57, Z:-11.22 [[ 9.84017189e-01 1.74653399e-01 3.47327065e-02 2.54011508e+02] [-1.74531515e-01 9.84629908e-01 -6.53418712e-03 -4.25677154e+01] [-3.53400796e-02 3.67800569e-04 9.99375277e-01 -1.12244151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01587156 meters 0.018291948983215824 Centerline is valid? [True, True] Translation: X:254.04, Y:-42.57, Z:-11.23 [[ 9.83967933e-01 1.75041972e-01 3.41674547e-02 2.54040322e+02] [-1.74924310e-01 9.84560911e-01 -6.42636219e-03 -4.25727259e+01] [-3.47648234e-02 3.46615898e-04 9.99395461e-01 -1.12255805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04587156 meters 0.021651271565758252 Centerline is valid? [True, True] Translation: X:254.07, Y:-42.58, Z:-11.23 [[ 9.83905934e-01 1.75447626e-01 3.38709834e-02 2.54068176e+02] [-1.75332242e-01 9.84488711e-01 -6.37044717e-03 -4.25778263e+01] [-3.44632806e-02 3.29245304e-04 9.99405910e-01 -1.12271385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07587156 meters 0.015115055874945951 Centerline is valid? [True, True] Translation: X:254.10, Y:-42.58, Z:-11.23 [[ 9.83795488e-01 1.76069500e-01 3.38521695e-02 2.54097610e+02] [-1.75954659e-01 9.84377691e-01 -6.36556591e-03 -4.25822233e+01] [-3.44441025e-02 3.05968077e-04 9.99406579e-01 -1.12286554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10587156 meters 0.014884493739313817 Centerline is valid? [True, True] Translation: X:254.13, Y:-42.59, Z:-11.23 [[ 9.83530128e-01 1.77668003e-01 3.32049322e-02 2.54126065e+02] [-1.77558451e-01 9.84090454e-01 -6.24304620e-03 -4.25872994e+01] [-3.37858464e-02 2.44407714e-04 9.99429065e-01 -1.12326006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13587156 meters 0.01366274914679845 Centerline is valid? [True, True] Translation: X:254.15, Y:-42.59, Z:-11.23 [[ 9.83175266e-01 1.79605634e-01 3.32898314e-02 2.54153720e+02] [-1.79496645e-01 9.83738677e-01 -6.25856442e-03 -4.25891012e+01] [-3.38725681e-02 1.77852688e-04 9.99426144e-01 -1.12341625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16587156 meters 0.013363050089413539 Centerline is valid? [True, True] Translation: X:254.18, Y:-42.59, Z:-11.24 [[ 9.83024189e-01 1.80400646e-01 3.34522228e-02 2.54180996e+02] [-1.80291121e-01 9.83593201e-01 -6.28704720e-03 -4.25935457e+01] [-3.40375662e-02 1.49180732e-04 9.99420543e-01 -1.12358053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19587156 meters 0.012918430983297608 Centerline is valid? [True, True] Translation: X:254.21, Y:-42.60, Z:-11.24 [[ 9.82936231e-01 1.80833992e-01 3.36961918e-02 2.54209282e+02] [-1.80723192e-01 9.83513624e-01 -6.33074660e-03 -4.25990728e+01] [-3.42854779e-02 1.33036857e-04 9.99412071e-01 -1.12363021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22587156000003 meters 0.015145018541928939 Centerline is valid? [True, True] Translation: X:254.24, Y:-42.61, Z:-11.24 [[ 9.82887052e-01 1.81076097e-01 3.38303019e-02 2.54237568e+02] [-1.80964612e-01 9.83469080e-01 -6.35430681e-03 -4.26058405e+01] [-3.44216690e-02 1.23478435e-04 9.99407391e-01 -1.12359080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25587156 meters 0.027618396988078994 Centerline is valid? [True, True] Translation: X:254.27, Y:-42.61, Z:-11.24 [[ 9.82906304e-01 1.80896968e-01 3.42269624e-02 2.54266176e+02] [-1.80782804e-01 9.83502044e-01 -6.42712246e-03 -4.26121794e+01] [-3.48249345e-02 1.29612949e-04 9.99393420e-01 -1.12361223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28587156000003 meters 0.027871374244978497 Centerline is valid? [True, True] Translation: X:254.29, Y:-42.62, Z:-11.24 [[ 9.83054651e-01 1.80110847e-01 3.41120948e-02 2.54293792e+02] [-1.79997031e-01 9.83646308e-01 -6.40391495e-03 -4.26211846e+01] [-3.47076506e-02 1.55322582e-04 9.99397496e-01 -1.12377297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31587156 meters 0.013194072942929725 Centerline is valid? [True, True] Translation: X:254.32, Y:-42.63, Z:-11.24 [[ 9.83128158e-01 1.79818203e-01 3.35326508e-02 2.54321865e+02] [-1.79708115e-01 9.83699847e-01 -6.29327040e-03 -4.26298813e+01] [-3.41177080e-02 1.61001868e-04 9.99417809e-01 -1.12415084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34587156 meters 0.02676732167582205 Centerline is valid? [True, True] Translation: X:254.35, Y:-42.64, Z:-11.24 [[ 9.83112469e-01 1.79909120e-01 3.35049511e-02 2.54349967e+02] [-1.79799291e-01 9.83683223e-01 -6.28737030e-03 -4.26369026e+01] [-3.40894136e-02 1.57025685e-04 9.99418775e-01 -1.12422968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37587156 meters 0.013597578469070427 Centerline is valid? [True, True] Translation: X:254.38, Y:-42.64, Z:-11.25 [[ 9.82992570e-01 1.80617785e-01 3.32087743e-02 2.54377315e+02] [-1.80510331e-01 9.83553353e-01 -6.23068795e-03 -4.26429152e+01] [-3.37879744e-02 1.30193122e-04 9.99429015e-01 -1.12469582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40587156 meters 0.012760624024453828 Centerline is valid? [True, True] Translation: X:254.41, Y:-42.65, Z:-11.25 [[ 9.82612264e-01 1.82725068e-01 3.29346040e-02 2.54406128e+02] [-1.82620616e-01 9.83164049e-01 -6.17771612e-03 -4.26467897e+01] [-3.35089422e-02 5.57619590e-05 9.99438416e-01 -1.12475584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43587156 meters 0.024964679925212833 Centerline is valid? [True, True] Translation: X:254.43, Y:-42.65, Z:-11.25 [[ 9.82158913e-01 1.85171523e-01 3.27929257e-02 2.54434738e+02] [-1.85069382e-01 9.82706216e-01 -6.14959758e-03 -4.26498549e+01] [-3.33645423e-02 -2.90844234e-05 9.99443248e-01 -1.12456051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46587156 meters 0.012753818035235558 Centerline is valid? [True, True] Translation: X:254.46, Y:-42.65, Z:-11.25 [[ 9.82006697e-01 1.85911734e-01 3.31613393e-02 2.54461967e+02] [-1.85807759e-01 9.82566448e-01 -6.21712137e-03 -4.26540946e+01] [-3.37390551e-02 -5.63793241e-05 9.99430674e-01 -1.12492937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49587156 meters 0.012798291496497706 Centerline is valid? [True, True] Translation: X:254.49, Y:-42.66, Z:-11.25 [[ 9.81675953e-01 1.87519884e-01 3.38912348e-02 2.54490856e+02] [-1.87412318e-01 9.82260800e-01 -6.35165113e-03 -4.26591643e+01] [-3.44810923e-02 -1.16371689e-04 9.99405344e-01 -1.12488789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52587156 meters 0.013049086313334724 Centerline is valid? [True, True] Translation: X:254.52, Y:-42.66, Z:-11.25 [[ 9.81568224e-01 1.88038155e-01 3.41390345e-02 2.54518670e+02] [-1.87929383e-01 9.82161714e-01 -6.39639798e-03 -4.26648240e+01] [-3.47328196e-02 -1.37226673e-04 9.99396624e-01 -1.12500710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55587156 meters 0.013507496582914792 Centerline is valid? [True, True] Translation: X:254.55, Y:-42.67, Z:-11.25 [[ 9.81488240e-01 1.88441293e-01 3.42156997e-02 2.54545870e+02] [-1.88332328e-01 9.82084444e-01 -6.40924314e-03 -4.26696473e+01] [-3.48104725e-02 -1.53325609e-04 9.99393920e-01 -1.12514385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58587156 meters 0.013581777805541692 Centerline is valid? [True, True] Translation: X:254.57, Y:-42.67, Z:-11.25 [[ 9.81296546e-01 1.89316226e-01 3.48777334e-02 2.54574787e+02] [-1.89203645e-01 9.81916152e-01 -6.53072285e-03 -4.26742548e+01] [-3.54833816e-02 -1.90418520e-04 9.99370248e-01 -1.12509888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61587156 meters 0.013355593593398099 Centerline is valid? [True, True] Translation: X:254.60, Y:-42.68, Z:-11.25 [[ 9.81211998e-01 1.89671586e-01 3.53228595e-02 2.54602699e+02] [-1.89556405e-01 9.81847568e-01 -6.61231364e-03 -4.26797253e+01] [-3.59358317e-02 -2.07592797e-04 9.99354078e-01 -1.12513305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64587156 meters 0.02597151081600562 Centerline is valid? [True, True] Translation: X:254.63, Y:-42.69, Z:-11.25 [[ 9.81150089e-01 1.89942536e-01 3.55856190e-02 2.54629499e+02] [-1.89825875e-01 9.81795184e-01 -6.65980315e-03 -4.26856176e+01] [-3.62027692e-02 -2.20804803e-04 9.99344440e-01 -1.12525836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67587156 meters 0.02952091800702782 Centerline is valid? [True, True] Translation: X:254.66, Y:-42.69, Z:-11.25 [[ 9.81228616e-01 1.89641646e-01 3.50207082e-02 2.54657506e+02] [-1.89528551e-01 9.81853351e-01 -6.55178909e-03 -4.26919339e+01] [-3.56276918e-02 -2.08621149e-04 9.99365110e-01 -1.12545314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70587156 meters 0.02952091800702782 Centerline is valid? [True, True] Translation: X:254.69, Y:-42.70, Z:-11.26 [[ 9.81237130e-01 1.89597531e-01 3.50210023e-02 2.54685341e+02] [-1.89484463e-01 9.81861871e-01 -6.55021674e-03 -4.26970458e+01] [-3.56276918e-02 -2.08619952e-04 9.99365110e-01 -1.12558072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73587156 meters 0.013187143853939652 Centerline is valid? [True, True] Translation: X:254.71, Y:-42.71, Z:-11.26 [[ 9.81542108e-01 1.88184414e-01 3.40839763e-02 2.54713384e+02] [-1.88076518e-01 9.82133699e-01 -6.37346225e-03 -4.27058220e+01] [-3.46744080e-02 -1.54574023e-04 9.99398650e-01 -1.12590829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76587156 meters 0.012732899648611008 Centerline is valid? [True, True] Translation: X:254.74, Y:-42.71, Z:-11.26 [[ 9.81745177e-01 1.87119858e-01 3.40964210e-02 2.54741760e+02] [-1.87011300e-01 9.82337083e-01 -6.37409045e-03 -4.27132652e+01] [-3.46868976e-02 -1.18683473e-04 9.99398221e-01 -1.12608354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79587156 meters 0.012108308458313228 Centerline is valid? [True, True] Translation: X:254.77, Y:-42.72, Z:-11.26 [[ 9.82154606e-01 1.84945331e-01 3.41695081e-02 2.54770289e+02] [-1.84835059e-01 9.82748810e-01 -6.38579344e-03 -4.27225600e+01] [-3.47610661e-02 -4.38866017e-05 9.99395651e-01 -1.12616450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82587156 meters 0.01217108025041832 Centerline is valid? [True, True] Translation: X:254.80, Y:-42.73, Z:-11.26 [[ 9.82361596e-01 1.83860324e-01 3.40745787e-02 2.54798148e+02] [-1.83750040e-01 9.82952380e-01 -6.36720409e-03 -4.27296482e+01] [-3.46643644e-02 -6.30844460e-06 9.99399010e-01 -1.12636172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85587156 meters 0.013031725775751967 Centerline is valid? [True, True] Translation: X:254.83, Y:-42.74, Z:-11.27 [[ 9.82840589e-01 1.81392848e-01 3.34814974e-02 2.54825999e+02] [-1.81284981e-01 9.83410712e-01 -6.25517307e-03 -4.27423623e+01] [-3.40607068e-02 7.81453688e-05 9.99419763e-01 -1.12681620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88587156 meters 0.012974767527645495 Centerline is valid? [True, True] Translation: X:254.86, Y:-42.75, Z:-11.27 [[ 9.83076474e-01 1.80155378e-01 3.32368303e-02 2.54855275e+02] [-1.80048359e-01 9.83638158e-01 -6.20993832e-03 -4.27512495e+01] [-3.38117683e-02 1.20607521e-04 9.99428211e-01 -1.12677338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91587156 meters 0.014146687086091184 Centerline is valid? [True, True] Translation: X:254.88, Y:-42.76, Z:-11.27 [[ 9.83334353e-01 1.78614892e-01 3.39156381e-02 2.54883701e+02] [-1.78502544e-01 9.83919046e-01 -6.33663685e-03 -4.27629905e+01] [-3.45020600e-02 1.77005023e-04 9.99404611e-01 -1.12699646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94587156 meters 0.013491487090273622 Centerline is valid? [True, True] Translation: X:254.91, Y:-42.77, Z:-11.27 [[ 9.83361699e-01 1.78468050e-01 3.38957749e-02 2.54914027e+02] [-1.78355736e-01 9.83945690e-01 -6.33322102e-03 -4.27692578e+01] [-3.44818793e-02 1.82341109e-04 9.99405307e-01 -1.12694647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97587156000003 meters 0.013504664964455348 Centerline is valid? [True, True] Translation: X:254.94, Y:-42.78, Z:-11.27 [[ 9.83272682e-01 1.78885368e-01 3.42762004e-02 2.54943499e+02] [-1.78770789e-01 9.83869908e-01 -6.40380758e-03 -4.27787446e+01] [-3.48688696e-02 1.69105667e-04 9.99391882e-01 -1.12705691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00587156 meters 0.013075677571389046 Centerline is valid? [True, True] Translation: X:254.97, Y:-42.79, Z:-11.27 [[ 9.83162623e-01 1.79406874e-01 3.47049007e-02 2.54974309e+02] [-1.79289488e-01 9.83774948e-01 -6.49086568e-03 -4.27858070e+01] [-3.53063178e-02 1.59352637e-04 9.99376525e-01 -1.12708392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03587156000003 meters 0.012170911598038472 Centerline is valid? [True, True] Translation: X:255.01, Y:-42.79, Z:-11.27 [[ 9.82728101e-01 1.81596583e-01 3.56112287e-02 2.55005443e+02] [-1.81474388e-01 9.83373110e-01 -6.66127424e-03 -4.27916249e+01] [-3.62287894e-02 8.36954576e-05 9.99343518e-01 -1.12705456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06587156 meters 0.011997154345388545 Centerline is valid? [True, True] Translation: X:255.04, Y:-42.80, Z:-11.27 [[ 9.82181332e-01 1.84521488e-01 3.56602276e-02 2.55035063e+02] [-1.84400847e-01 9.82828479e-01 -6.67141835e-03 -4.27965761e+01] [-3.62789073e-02 -2.32335919e-05 9.99341703e-01 -1.12721548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09587156 meters 0.0123638986441161 Centerline is valid? [True, True] Translation: X:255.07, Y:-42.80, Z:-11.27 [[ 9.81843619e-01 1.86382718e-01 3.52787580e-02 2.55065447e+02] [-1.86265826e-01 9.82477213e-01 -6.60058636e-03 -4.28011557e+01] [-3.58908110e-02 -9.04833889e-05 9.99355713e-01 -1.12740369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12587156 meters 0.013167962809456289 Centerline is valid? [True, True] Translation: X:255.10, Y:-42.81, Z:-11.28 [[ 9.81519418e-01 1.88160682e-01 3.48595719e-02 2.55095471e+02] [-1.88047673e-01 9.82138246e-01 -6.52215747e-03 -4.28052363e+01] [-3.54641324e-02 -1.53637170e-04 9.99370938e-01 -1.12759890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15587156 meters 0.015955349902841646 Centerline is valid? [True, True] Translation: X:255.12, Y:-42.81, Z:-11.28 [[ 9.80781896e-01 1.91931726e-01 3.50583228e-02 2.55124910e+02] [-1.91819819e-01 9.81408237e-01 -6.55967658e-03 -4.28057881e+01] [-3.56655368e-02 -2.91269097e-04 9.99363740e-01 -1.12778800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18587156 meters 0.01665009867463024 Centerline is valid? [True, True] Translation: X:255.15, Y:-42.81, Z:-11.28 [[ 9.80464126e-01 1.93575112e-01 3.49109357e-02 2.55154547e+02] [-1.93465234e-01 9.81085395e-01 -6.53073285e-03 -4.28108188e+01] [-3.55147965e-02 -3.50903067e-04 9.99369089e-01 -1.12782242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21587156 meters 0.018938590712200918 Centerline is valid? [True, True] Translation: X:255.18, Y:-42.81, Z:-11.28 [[ 9.79774964e-01 1.97032351e-01 3.49180968e-02 2.55184373e+02] [-1.96924650e-01 9.80396871e-01 -6.53122403e-03 -4.28132872e+01] [-3.55204553e-02 -4.77104225e-04 9.99368836e-01 -1.12789959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24587156 meters 0.025041742439399276 Centerline is valid? [True, True] Translation: X:255.21, Y:-42.81, Z:-11.28 [[ 9.78962863e-01 2.01091575e-01 3.45527381e-02 2.55214222e+02] [-2.00988667e-01 9.79572252e-01 -6.46217859e-03 -4.28100150e+01] [-3.51463932e-02 -6.18475924e-04 9.99381983e-01 -1.12825550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27587156 meters 0.026075700405964474 Centerline is valid? [True, True] Translation: X:255.24, Y:-42.81, Z:-11.28 [[ 9.78535772e-01 2.03215818e-01 3.42209618e-02 2.55242408e+02] [-2.03116215e-01 9.79133728e-01 -6.39896363e-03 -4.28137115e+01] [-3.48072686e-02 -6.89217424e-04 9.99393806e-01 -1.12834602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30587156 meters 0.02983006605877542 Centerline is valid? [True, True] Translation: X:255.27, Y:-42.81, Z:-11.29 [[ 9.78099248e-01 2.05341210e-01 3.40124662e-02 2.55270426e+02] [-2.05244172e-01 9.78690148e-01 -6.35792173e-03 -4.28131644e+01] [-3.45932089e-02 -7.62182003e-04 9.99401185e-01 -1.12863696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33587156 meters 0.032212092034865074 Centerline is valid? [True, True] Translation: X:255.30, Y:-42.81, Z:-11.29 [[ 9.77415712e-01 2.08593019e-01 3.38744463e-02 2.55300582e+02] [-2.08498800e-01 9.78002140e-01 -6.32971608e-03 -4.28144189e+01] [-3.44496156e-02 -8.76017468e-04 9.99406052e-01 -1.12873369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36587156 meters 0.03275483162591605 Centerline is valid? [True, True] Translation: X:255.33, Y:-42.82, Z:-11.29 [[ 9.77213310e-01 2.09521204e-01 3.39854546e-02 2.55329303e+02] [-2.09426947e-01 9.77803678e-01 -6.34989434e-03 -4.28184135e+01] [-3.45615400e-02 -9.12268734e-04 9.99402155e-01 -1.12884940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39587156 meters 0.03261576209778121 Centerline is valid? [True, True] Translation: X:255.36, Y:-42.82, Z:-11.29 [[ 9.77255025e-01 2.09281270e-01 3.42631963e-02 2.55358290e+02] [-2.09185377e-01 9.77855059e-01 -6.40010959e-03 -4.28225892e+01] [-3.48438629e-02 -9.12820368e-04 9.99392351e-01 -1.12892024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42587156 meters 0.034158931287766425 Centerline is valid? [True, True] Translation: X:255.39, Y:-42.82, Z:-11.29 [[ 9.77372753e-01 2.08702117e-01 3.44373133e-02 2.55386313e+02] [-2.08604942e-01 9.77978844e-01 -6.43107027e-03 -4.28245023e+01] [-3.50211418e-02 -8.98240893e-04 9.99386168e-01 -1.12914805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45587156 meters 0.028819433612969417 Centerline is valid? [True, True] Translation: X:255.41, Y:-42.84, Z:-11.29 [[ 9.77738374e-01 2.07014136e-01 3.42464604e-02 2.55413445e+02] [-2.06917075e-01 9.78337595e-01 -6.39329059e-03 -4.28350935e+01] [-3.48281012e-02 -8.35211850e-04 9.99392969e-01 -1.12916308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48587156 meters 0.028980047154818514 Centerline is valid? [True, True] Translation: X:255.44, Y:-42.84, Z:-11.29 [[ 9.77974452e-01 2.05886975e-01 3.43004966e-02 2.55441432e+02] [-2.05788974e-01 9.78575453e-01 -6.40166688e-03 -4.28391299e+01] [-3.48836438e-02 -7.97997344e-04 9.99391062e-01 -1.12939514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51587156 meters 0.02661188633551746 Centerline is valid? [True, True] Translation: X:255.47, Y:-42.85, Z:-11.29 [[ 9.78295633e-01 2.04401639e-01 3.40238736e-02 2.55469089e+02] [-2.04304373e-01 9.78886828e-01 -6.34836817e-03 -4.28460476e+01] [-3.46031386e-02 -7.40645317e-04 9.99400858e-01 -1.12946757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54587156 meters 0.022247519815849194 Centerline is valid? [True, True] Translation: X:255.50, Y:-42.86, Z:-11.30 [[ 9.79073240e-01 2.00711452e-01 3.36229681e-02 2.55497160e+02] [-2.00614340e-01 9.79650217e-01 -6.27207513e-03 -4.28553610e+01] [-3.41976253e-02 -6.04428621e-04 9.99414907e-01 -1.12959542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57587156 meters 0.023859053417011816 Centerline is valid? [True, True] Translation: X:255.52, Y:-42.86, Z:-11.30 [[ 9.79474409e-01 1.98783344e-01 3.33925831e-02 2.55524001e+02] [-1.98686511e-01 9.80043313e-01 -6.22694517e-03 -4.28617242e+01] [-3.39639907e-02 -5.35522386e-04 9.99422914e-01 -1.12964131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60587156 meters 0.026349047693589044 Centerline is valid? [True, True] Translation: X:255.55, Y:-42.87, Z:-11.30 [[ 9.79837047e-01 1.96985116e-01 3.34099707e-02 2.55552296e+02] [-1.96887214e-01 9.80406364e-01 -6.22792812e-03 -4.28680327e+01] [-3.39821571e-02 -4.75641357e-04 9.99422327e-01 -1.12970188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63587156 meters 0.017210577183300265 Centerline is valid? [True, True] Translation: X:255.58, Y:-42.87, Z:-11.30 [[ 9.80684616e-01 1.92683357e-01 3.36274977e-02 2.55580495e+02] [-1.92581714e-01 9.81260931e-01 -6.26648604e-03 -4.28744164e+01] [-3.42047973e-02 -3.30594686e-04 9.99414790e-01 -1.13023774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66587156 meters 0.015920304495333472 Centerline is valid? [True, True] Translation: X:255.61, Y:-42.88, Z:-11.30 [[ 9.81152050e-01 1.90276457e-01 3.36975588e-02 2.55607191e+02] [-1.90172987e-01 9.81730517e-01 -6.27906798e-03 -4.28811574e+01] [-3.42766806e-02 -2.47644982e-04 9.99412351e-01 -1.13046422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69587156 meters 0.018656088543893435 Centerline is valid? [True, True] Translation: X:255.64, Y:-42.89, Z:-11.30 [[ 9.82061206e-01 1.85515616e-01 3.37600791e-02 2.55635022e+02] [-1.85409031e-01 9.82641313e-01 -6.28825919e-03 -4.28942530e+01] [-3.43406187e-02 -8.39681259e-05 9.99410183e-01 -1.13021345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72587156000003 meters 0.01207066813012408 Centerline is valid? [True, True] Translation: X:255.66, Y:-42.90, Z:-11.30 [[ 9.82493486e-01 1.83129621e-01 3.42066028e-02 2.55664685e+02] [-1.83018789e-01 9.83088776e-01 -6.37032223e-03 -4.29029412e+01] [-3.47947220e-02 -1.65090841e-06 9.99394480e-01 -1.13039981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75587156 meters 0.012964366535476567 Centerline is valid? [True, True] Translation: X:255.69, Y:-42.92, Z:-11.30 [[ 9.83280501e-01 1.78638615e-01 3.53228277e-02 2.55694332e+02] [-1.78517582e-01 9.83914742e-01 -6.57675696e-03 -4.29151069e+01] [-3.59295136e-02 1.61051093e-04 9.99354314e-01 -1.13043418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78587156000003 meters 0.01621138340564187 Centerline is valid? [True, True] Translation: X:255.73, Y:-42.92, Z:-11.30 [[ 9.83649867e-01 1.76543528e-01 3.55713697e-02 2.55725192e+02] [-1.76419209e-01 9.84292803e-01 -6.62871589e-03 -4.29242655e+01] [-3.61829001e-02 2.44862579e-04 9.99345154e-01 -1.13040895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81587156 meters 0.02102546040192253 Centerline is valid? [True, True] Translation: X:255.76, Y:-42.93, Z:-11.30 [[ 9.83985176e-01 1.74605223e-01 3.58634734e-02 2.55756053e+02] [-1.74477338e-01 9.84638467e-01 -6.68937195e-03 -4.29330243e+01] [-3.64805548e-02 3.24879450e-04 9.99334310e-01 -1.13040772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84587156 meters 0.019358495621835673 Centerline is valid? [True, True] Translation: X:255.79, Y:-42.95, Z:-11.31 [[ 9.84681933e-01 1.70624573e-01 3.58991064e-02 2.55785461e+02] [-1.70493558e-01 9.85335996e-01 -6.70231628e-03 -4.29450670e+01] [-3.65162616e-02 4.79083377e-04 9.99332944e-01 -1.13078686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87587156 meters 0.021252757181890385 Centerline is valid? [True, True] Translation: X:255.82, Y:-42.95, Z:-11.31 [[ 9.84999433e-01 1.68884389e-01 3.54144199e-02 2.55816473e+02] [-1.68755568e-01 9.85635719e-01 -6.61728666e-03 -4.29546525e+01] [-3.60232736e-02 5.41643080e-04 9.99350804e-01 -1.13104047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90587156 meters 0.023083843513835803 Centerline is valid? [True, True] Translation: X:255.85, Y:-42.97, Z:-11.31 [[ 9.85638779e-01 1.65229390e-01 3.48632520e-02 2.55847258e+02] [-1.65102020e-01 9.86254936e-01 -6.52113267e-03 -4.29663508e+01] [-3.54615371e-02 6.71487921e-04 9.99370816e-01 -1.13114279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93587156 meters 0.034347876210564836 Centerline is valid? [True, True] Translation: X:255.88, Y:-42.98, Z:-11.31 [[ 9.85888226e-01 1.63800998e-01 3.45490723e-02 2.55876299e+02] [-1.63675015e-01 9.86493142e-01 -6.46300205e-03 -4.29789768e+01] [-3.51410691e-02 7.16977675e-04 9.99382105e-01 -1.13126591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96587156 meters 0.030342714519256495 Centerline is valid? [True, True] Translation: X:255.91, Y:-42.99, Z:-11.32 [[ 9.86353219e-01 1.60980072e-01 3.45361172e-02 2.55906094e+02] [-1.60852219e-01 9.86957313e-01 -6.46729787e-03 -4.29924797e+01] [-3.51267795e-02 8.23828992e-04 9.99382525e-01 -1.13161975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99587156 meters 0.030982208431021833 Centerline is valid? [True, True] Translation: X:255.94, Y:-43.00, Z:-11.32 [[ 9.86461664e-01 1.60332426e-01 3.44513889e-02 2.55936998e+02] [-1.60204789e-01 9.87062713e-01 -6.45189442e-03 -4.30007738e+01] [-3.50401293e-02 8.45269021e-04 9.99385549e-01 -1.13173659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02587156 meters 0.03243533246987641 Centerline is valid? [True, True] Translation: X:255.97, Y:-43.01, Z:-11.32 [[ 9.86452559e-01 1.60290575e-01 3.49038620e-02 2.55967328e+02] [-1.60159330e-01 9.87069494e-01 -6.54242939e-03 -4.30104673e+01] [-3.55012272e-02 8.63617079e-04 9.99369260e-01 -1.13187918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05587156 meters 0.035800569839333114 Centerline is valid? [True, True] Translation: X:256.00, Y:-43.02, Z:-11.32 [[ 9.86300756e-01 1.61137291e-01 3.52929383e-02 2.55998672e+02] [-1.61003414e-01 9.86931635e-01 -6.62174688e-03 -4.30171486e+01] [-3.58987277e-02 8.48750391e-04 9.99355073e-01 -1.13165563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08587156 meters 0.030639454739024567 Centerline is valid? [True, True] Translation: X:256.03, Y:-43.03, Z:-11.32 [[ 9.86130335e-01 1.62112083e-01 3.55898122e-02 2.56028448e+02] [-1.61976353e-01 9.86772005e-01 -6.68366172e-03 -4.30267841e+01] [-3.62025327e-02 8.26253579e-04 9.99344132e-01 -1.13206835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11587156 meters 0.0261453559634249 Centerline is valid? [True, True] Translation: X:256.06, Y:-43.03, Z:-11.32 [[ 9.85701593e-01 1.64678614e-01 3.56836732e-02 2.56060254e+02] [-1.64543604e-01 9.86347001e-01 -6.70795644e-03 -4.30307116e+01] [-3.63011410e-02 7.40523146e-04 9.99340622e-01 -1.13206227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14587156 meters 0.02332119146504862 Centerline is valid? [True, True] Translation: X:256.09, Y:-43.03, Z:-11.32 [[ 9.85403081e-01 1.66413162e-01 3.58807316e-02 2.56092329e+02] [-1.66277799e-01 9.86055879e-01 -6.74516384e-03 -4.30346860e+01] [-3.65028904e-02 6.80536171e-04 9.99333316e-01 -1.13214426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17587156 meters 0.022499615237997577 Centerline is valid? [True, True] Translation: X:256.12, Y:-43.04, Z:-11.33 [[ 9.84769777e-01 1.70217260e-01 3.54199129e-02 2.56121719e+02] [-1.70087541e-01 9.85406410e-01 -6.66600108e-03 -4.30425520e+01] [-3.60376777e-02 5.39990498e-04 9.99350286e-01 -1.13259202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20587156 meters 0.027825848031438883 Centerline is valid? [True, True] Translation: X:256.15, Y:-43.05, Z:-11.33 [[ 9.84412332e-01 1.72438272e-01 3.46035068e-02 2.56153878e+02] [-1.72315876e-01 9.85020224e-01 -6.51125557e-03 -4.30459562e+01] [-3.52079437e-02 4.47026684e-04 9.99379908e-01 -1.13253215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23587156 meters 0.01703988035813804 Centerline is valid? [True, True] Translation: X:256.18, Y:-43.05, Z:-11.33 [[ 9.83674980e-01 1.76743780e-01 3.38403517e-02 2.56184273e+02] [-1.76629074e-01 9.84256852e-01 -6.37333797e-03 -4.30512096e+01] [-3.44340459e-02 2.92103122e-04 9.99406930e-01 -1.13316902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26587156 meters 0.020039891447123676 Centerline is valid? [True, True] Translation: X:256.22, Y:-43.05, Z:-11.33 [[ 9.83240671e-01 1.79239645e-01 3.33306686e-02 2.56216782e+02] [-1.79129636e-01 9.83805421e-01 -6.28223848e-03 -4.30531803e+01] [-3.39169187e-02 2.06441855e-04 9.99424634e-01 -1.13294184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29587156 meters 0.026966119945424565 Centerline is valid? [True, True] Translation: X:256.25, Y:-43.06, Z:-11.33 [[ 9.82775667e-01 1.81791157e-01 3.32259389e-02 2.56247765e+02] [-1.81683092e-01 9.83337155e-01 -6.26848672e-03 -4.30579209e+01] [-3.38118557e-02 1.23924894e-04 9.99428208e-01 -1.13332894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32587156 meters 0.01696171713524417 Centerline is valid? [True, True] Translation: X:256.28, Y:-43.06, Z:-11.33 [[ 9.81932680e-01 1.86202593e-01 3.37165663e-02 2.56280852e+02] [-1.86093720e-01 9.82511371e-01 -6.36661149e-03 -4.30583172e+01] [-3.43123893e-02 -2.28573614e-05 9.99411156e-01 -1.13332419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35587156 meters 0.014153496857851755 Centerline is valid? [True, True] Translation: X:256.31, Y:-43.06, Z:-11.34 [[ 9.81192923e-01 1.90021517e-01 3.39451251e-02 2.56311883e+02] [-1.89913206e-01 9.81779914e-01 -6.41669760e-03 -4.30575755e+01] [-3.45459527e-02 -1.50609266e-04 9.99403099e-01 -1.13376354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38587156 meters 0.02969063662823168 Centerline is valid? [True, True] Translation: X:256.34, Y:-43.06, Z:-11.33 [[ 9.80800202e-01 1.92005061e-01 3.41323858e-02 2.56343552e+02] [-1.91896675e-01 9.81393911e-01 -6.45427334e-03 -4.30617580e+01] [-3.47365687e-02 -2.19538745e-04 9.99396479e-01 -1.13331627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41587156 meters 0.016304684803239322 Centerline is valid? [True, True] Translation: X:256.37, Y:-43.06, Z:-11.34 [[ 9.80433786e-01 1.93653613e-01 3.53251892e-02 2.56372910e+02] [-1.93538550e-01 9.81069924e-01 -6.68084777e-03 -4.30624997e+01] [-3.59502510e-02 -2.86657020e-04 9.99353540e-01 -1.13374280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44587156 meters 0.01958226535131723 Centerline is valid? [True, True] Translation: X:256.40, Y:-43.06, Z:-11.34 [[ 9.79799371e-01 1.96690247e-01 3.61405473e-02 2.56401509e+02] [-1.96571835e-01 9.80465594e-01 -6.83609247e-03 -4.30605656e+01] [-3.67791559e-02 -4.06214586e-04 9.99323335e-01 -1.13365752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47587156000003 meters 0.02314258205094838 Centerline is valid? [True, True] Translation: X:256.43, Y:-43.06, Z:-11.34 [[ 9.79253026e-01 1.99493302e-01 3.55799747e-02 2.56429623e+02] [-1.99380455e-01 9.79899060e-01 -6.72807833e-03 -4.30584733e+01] [-3.62069903e-02 -5.05460480e-04 9.99344184e-01 -1.13386582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50587156 meters 0.025042890471932346 Centerline is valid? [True, True] Translation: X:256.46, Y:-43.06, Z:-11.34 [[ 9.78991016e-01 2.00795818e-01 3.54630789e-02 2.56458516e+02] [-2.00684637e-01 9.79632958e-01 -6.70399990e-03 -4.30597758e+01] [-3.60869360e-02 -5.53739424e-04 9.99348501e-01 -1.13406969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53587156000003 meters 0.027940924006617674 Centerline is valid? [True, True] Translation: X:256.49, Y:-43.06, Z:-11.34 [[ 9.78525010e-01 2.03050961e-01 3.54839549e-02 2.56488091e+02] [-2.02941186e-01 9.79167963e-01 -6.70639643e-03 -4.30570788e+01] [-3.61064921e-02 -6.38779262e-04 9.99347744e-01 -1.13418898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56587156 meters 0.028810057287778898 Centerline is valid? [True, True] Translation: X:256.52, Y:-43.06, Z:-11.34 [[ 9.78370991e-01 2.03768658e-01 3.56165417e-02 2.56517374e+02] [-2.03658593e-01 9.79018838e-01 -6.72988966e-03 -4.30593551e+01] [-3.62406059e-02 -6.69285974e-04 9.99342869e-01 -1.13428725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59587156 meters 0.028810057287778898 Centerline is valid? [True, True] Translation: X:256.54, Y:-43.06, Z:-11.34 [[ 9.78383832e-01 2.03706950e-01 3.56167915e-02 2.56544394e+02] [-2.03596893e-01 9.79031681e-01 -6.72856760e-03 -4.30643135e+01] [-3.62406232e-02 -6.68346325e-04 9.99342869e-01 -1.13441109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62587156 meters 0.025330581172303582 Centerline is valid? [True, True] Translation: X:256.57, Y:-43.07, Z:-11.34 [[ 9.78335981e-01 2.03910319e-01 3.57671727e-02 2.56572176e+02] [-2.03799557e-01 9.78989335e-01 -6.75447908e-03 -4.30722969e+01] [-3.63929886e-02 -6.81184025e-04 9.99337324e-01 -1.13427274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65587156 meters 0.024717149426167484 Centerline is valid? [True, True] Translation: X:256.60, Y:-43.07, Z:-11.34 [[ 9.78509745e-01 2.03053512e-01 3.58880255e-02 2.56600371e+02] [-2.02941483e-01 9.79167424e-01 -6.77568044e-03 -4.30740700e+01] [-3.65162112e-02 -6.53099778e-04 9.99332847e-01 -1.13440213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68587156 meters 0.02275204034500275 Centerline is valid? [True, True] Translation: X:256.63, Y:-43.08, Z:-11.35 [[ 9.78831751e-01 2.01521197e-01 3.57436777e-02 2.56629434e+02] [-2.01409126e-01 9.79483973e-01 -6.74621549e-03 -4.30772975e+01] [-3.63698648e-02 -5.95692970e-04 9.99338220e-01 -1.13456574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71587156 meters 0.02645539617544601 Centerline is valid? [True, True] Translation: X:256.66, Y:-43.08, Z:-11.35 [[ 9.79012787e-01 2.00675774e-01 3.55414797e-02 2.56658015e+02] [-2.00564469e-01 9.79657551e-01 -6.70645323e-03 -4.30754566e+01] [-3.61643016e-02 -5.62654518e-04 9.99345699e-01 -1.13506554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74587156 meters 0.02537262759339185 Centerline is valid? [True, True] Translation: X:256.69, Y:-43.08, Z:-11.35 [[ 9.79203300e-01 1.99785091e-01 3.53102560e-02 2.56686810e+02] [-1.99674733e-01 9.79839598e-01 -6.66055976e-03 -4.30800191e+01] [-3.59290676e-02 -5.28523828e-04 9.99354203e-01 -1.13520499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77587156 meters 0.023032230333449696 Centerline is valid? [True, True] Translation: X:256.72, Y:-43.08, Z:-11.35 [[ 9.79577513e-01 1.97907582e-01 3.55033009e-02 2.56715261e+02] [-1.97794837e-01 9.80220574e-01 -6.69542765e-03 -4.30831649e+01] [-3.61261419e-02 -4.63679227e-04 9.99347130e-01 -1.13526131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80587156 meters 0.0195002091809121 Centerline is valid? [True, True] Translation: X:256.74, Y:-43.09, Z:-11.35 [[ 9.79762109e-01 1.96993713e-01 3.54920722e-02 2.56743002e+02] [-1.96880493e-01 9.80404657e-01 -6.69180986e-03 -4.30906914e+01] [-3.61148374e-02 -4.31314954e-04 9.99347553e-01 -1.13513367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83587156 meters 0.022878897317175233 Centerline is valid? [True, True] Translation: X:256.77, Y:-43.09, Z:-11.35 [[ 9.80058068e-01 1.95558465e-01 3.52572028e-02 2.56770558e+02] [-1.95445866e-01 9.80691972e-01 -6.64599781e-03 -4.30935875e+01] [-3.58761369e-02 -3.77410767e-04 9.99356173e-01 -1.13513837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86587156 meters 0.0158167152839205 Centerline is valid? [True, True] Translation: X:256.80, Y:-43.10, Z:-11.35 [[ 9.80391700e-01 1.93785190e-01 3.57688972e-02 2.56799151e+02] [-1.93668198e-01 9.81043933e-01 -6.74026124e-03 -4.30978167e+01] [-3.63970224e-02 -3.19201674e-04 9.99337358e-01 -1.13520607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89587156 meters 0.015982542929043306 Centerline is valid? [True, True] Translation: X:256.83, Y:-43.10, Z:-11.35 [[ 9.80598052e-01 1.92754239e-01 3.56828210e-02 2.56826976e+02] [-1.92637186e-01 9.81247025e-01 -6.72241119e-03 -4.30997655e+01] [-3.63094352e-02 -2.81854897e-04 9.99340555e-01 -1.13548408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92587156 meters 0.02232206674281282 Centerline is valid? [True, True] Translation: X:256.86, Y:-43.10, Z:-11.35 [[ 9.80728848e-01 1.92148390e-01 3.53542573e-02 2.56856030e+02] [-1.92033171e-01 9.81365849e-01 -6.65825799e-03 -4.31037490e+01] [-3.59748343e-02 -2.59244438e-04 9.99352663e-01 -1.13548267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95587156 meters 0.024675211463481627 Centerline is valid? [True, True] Translation: X:256.88, Y:-43.11, Z:-11.36 [[ 9.80906172e-01 1.91337794e-01 3.48271610e-02 2.56884020e+02] [-1.91225530e-01 9.81524221e-01 -6.55743860e-03 -4.31088152e+01] [-3.54383879e-02 -2.27610330e-04 9.99371837e-01 -1.13552489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98587156 meters 0.026611279019322767 Centerline is valid? [True, True] Translation: X:256.91, Y:-43.11, Z:-11.36 [[ 9.81239133e-01 1.89668325e-01 3.45787471e-02 2.56912524e+02] [-1.89556677e-01 9.81848205e-01 -6.50904070e-03 -4.31128085e+01] [-3.51856397e-02 -1.67706953e-04 9.99380780e-01 -1.13564881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01587156 meters 0.01256430600326289 Centerline is valid? [True, True] Translation: X:256.94, Y:-43.12, Z:-11.36 [[ 9.81596185e-01 1.87710522e-01 3.51239077e-02 2.56940859e+02] [-1.87594134e-01 9.82224389e-01 -6.60990385e-03 -4.31174740e+01] [-3.57403073e-02 -1.00782650e-04 9.99361106e-01 -1.13583141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04587156 meters 0.028400293551170398 Centerline is valid? [True, True] Translation: X:256.97, Y:-43.12, Z:-11.36 [[ 9.81781895e-01 1.86721313e-01 3.52059909e-02 2.56969411e+02] [-1.86603806e-01 9.82412921e-01 -6.62363631e-03 -4.31226990e+01] [-3.58235944e-02 -6.66056946e-05 9.99358127e-01 -1.13568050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07587156 meters 0.011869947504060896 Centerline is valid? [True, True] Translation: X:257.00, Y:-43.13, Z:-11.36 [[ 9.81975953e-01 1.85580568e-01 3.58201096e-02 2.56997816e+02] [-1.85458233e-01 9.82629051e-01 -6.73735254e-03 -4.31275837e+01] [-3.64482020e-02 -2.72160472e-05 9.99335543e-01 -1.13586633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10587156 meters 0.011890937917255654 Centerline is valid? [True, True] Translation: X:257.03, Y:-43.13, Z:-11.36 [[ 9.82275476e-01 1.83952063e-01 3.60073404e-02 2.57026075e+02] [-1.83827422e-01 9.82935215e-01 -6.77063827e-03 -4.31312928e+01] [-3.66383558e-02 3.14953770e-05 9.99328590e-01 -1.13600830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13587156 meters 0.011906329063889156 Centerline is valid? [True, True] Translation: X:257.06, Y:-43.14, Z:-11.36 [[ 9.82367965e-01 1.83433106e-01 3.61313992e-02 2.57055135e+02] [-1.83307299e-01 9.83032193e-01 -6.79270446e-03 -4.31354254e+01] [-3.67643355e-02 4.97860507e-05 9.99323962e-01 -1.13607187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16587156 meters 0.023134518736589955 Centerline is valid? [True, True] Translation: X:257.08, Y:-43.14, Z:-11.36 [[ 9.82480870e-01 1.83010908e-01 3.51901750e-02 2.57083004e+02] [-1.82891358e-01 9.83110881e-01 -6.61418033e-03 -4.31390195e+01] [-3.58063111e-02 6.23267377e-05 9.99358747e-01 -1.13620807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19587156 meters 0.012269610149960765 Centerline is valid? [True, True] Translation: X:257.11, Y:-43.14, Z:-11.37 [[ 9.82528031e-01 1.82821727e-01 3.48551953e-02 2.57111103e+02] [-1.82704403e-01 9.83146079e-01 -6.54899718e-03 -4.31429773e+01] [-3.54650476e-02 6.63756334e-05 9.99370915e-01 -1.13654058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22587156000003 meters 0.012670203909780953 Centerline is valid? [True, True] Translation: X:257.14, Y:-43.14, Z:-11.37 [[ 9.82636246e-01 1.82429804e-01 3.38433951e-02 2.57138732e+02] [-1.82319014e-01 9.83218877e-01 -6.35741036e-03 -4.31448373e+01] [-3.44352460e-02 7.67274324e-05 9.99406928e-01 -1.13687646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25587156 meters 0.01714924173697992 Centerline is valid? [True, True] Translation: X:257.17, Y:-43.15, Z:-11.37 [[ 9.82717657e-01 1.82020706e-01 3.36818806e-02 2.57166041e+02] [-1.81910799e-01 9.83294694e-01 -6.32506925e-03 -4.31487760e+01] [-3.42705080e-02 8.86594351e-05 9.99412590e-01 -1.13698488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28587156000003 meters 0.025326041165928244 Centerline is valid? [True, True] Translation: X:257.19, Y:-43.15, Z:-11.37 [[ 9.82838760e-01 1.81388821e-01 3.35569392e-02 2.57194764e+02] [-1.81279442e-01 9.83411452e-01 -6.29921414e-03 -4.31533302e+01] [-3.41428853e-02 1.07928617e-04 9.99416956e-01 -1.13710744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31587156 meters 0.015469287543102494 Centerline is valid? [True, True] Translation: X:257.22, Y:-43.16, Z:-11.37 [[ 9.83018341e-01 1.80278225e-01 3.42739433e-02 2.57223321e+02] [-1.80163503e-01 9.83615646e-01 -6.43214086e-03 -4.31574209e+01] [-3.48719619e-02 1.47998729e-04 9.99391777e-01 -1.13712673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34587156 meters 0.013260430953900114 Centerline is valid? [True, True] Translation: X:257.25, Y:-43.16, Z:-11.37 [[ 9.83100605e-01 1.79821166e-01 3.43154368e-02 2.57251903e+02] [-1.79705946e-01 9.83699304e-01 -6.43827654e-03 -4.31617642e+01] [-3.49138097e-02 1.62785527e-04 9.99390314e-01 -1.13723321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37587156 meters 0.013577205268036342 Centerline is valid? [True, True] Translation: X:257.28, Y:-43.16, Z:-11.37 [[ 9.83196348e-01 1.79195256e-01 3.48425326e-02 2.57279333e+02] [-1.79076132e-01 9.83813512e-01 -6.53552824e-03 -4.31639066e+01] [-3.54496900e-02 1.86241518e-04 9.99371445e-01 -1.13727608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40587156 meters 0.02134520709067872 Centerline is valid? [True, True] Translation: X:257.31, Y:-43.17, Z:-11.37 [[ 9.83177277e-01 1.79213016e-01 3.52864890e-02 2.57308137e+02] [-1.79090923e-01 9.83810277e-01 -6.61671772e-03 -4.31674767e+01] [-3.59010124e-02 1.85916615e-04 9.99355334e-01 -1.13719358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43587156 meters 0.013404977017038383 Centerline is valid? [True, True] Translation: X:257.34, Y:-43.17, Z:-11.37 [[ 9.83223305e-01 1.78808291e-01 3.60489564e-02 2.57337064e+02] [-1.78680697e-01 9.83883913e-01 -6.75679171e-03 -4.31701594e+01] [-3.66761587e-02 2.02182420e-04 9.99327183e-01 -1.13738466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46587156 meters 0.013326899830942662 Centerline is valid? [True, True] Translation: X:257.37, Y:-43.17, Z:-11.37 [[ 9.83192881e-01 1.78934281e-01 3.62530155e-02 2.57366139e+02] [-1.78805388e-01 9.83861009e-01 -6.79329001e-03 -4.31735938e+01] [-3.68834809e-02 1.96879868e-04 9.99319554e-01 -1.13747196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49587156 meters 0.01391095592438147 Centerline is valid? [True, True] Translation: X:257.39, Y:-43.18, Z:-11.38 [[ 9.83332765e-01 1.78442811e-01 3.48544946e-02 2.57394444e+02] [-1.78323422e-01 9.83950264e-01 -6.52963282e-03 -4.31763408e+01] [-3.54602552e-02 2.05429155e-04 9.99371066e-01 -1.13782793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52587156 meters 0.03350278043134861 Centerline is valid? [True, True] Translation: X:257.42, Y:-43.18, Z:-11.38 [[ 9.83448050e-01 1.77987150e-01 3.39191354e-02 2.57423011e+02] [-1.77873868e-01 9.84032788e-01 -6.35284512e-03 -4.31806293e+01] [-3.45082661e-02 2.14365333e-04 9.99404389e-01 -1.13782674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55587156 meters 0.01599081256134601 Centerline is valid? [True, True] Translation: X:257.45, Y:-43.19, Z:-11.38 [[ 9.83812790e-01 1.76037890e-01 3.35120173e-02 2.57449846e+02] [-1.75926231e-01 9.84383352e-01 -6.27513007e-03 -4.31886710e+01] [-3.40933326e-02 2.77910315e-04 9.99418615e-01 -1.13841155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58587156 meters 0.016129209056885876 Centerline is valid? [True, True] Translation: X:257.48, Y:-43.19, Z:-11.38 [[ 9.83983135e-01 1.75086375e-01 3.34955422e-02 2.57477883e+02] [-1.74974362e-01 9.84553029e-01 -6.26947104e-03 -4.31938555e+01] [-3.40758365e-02 3.08192630e-04 9.99419203e-01 -1.13846915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61587156 meters 0.016331786201304686 Centerline is valid? [True, True] Translation: X:257.51, Y:-43.20, Z:-11.38 [[ 9.84120664e-01 1.74161952e-01 3.42656247e-02 2.57506649e+02] [-1.74044228e-01 9.84716962e-01 -6.41188428e-03 -4.31998876e+01] [-3.48586481e-02 3.46333622e-04 9.99392193e-01 -1.13840314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64587156 meters 0.016505880766504916 Centerline is valid? [True, True] Translation: X:257.53, Y:-43.21, Z:-11.38 [[ 9.84135846e-01 1.73975161e-01 3.47746927e-02 2.57533636e+02] [-1.73853851e-01 9.84749977e-01 -6.50554125e-03 -4.32051175e+01] [-3.53761804e-02 3.56622088e-04 9.99374003e-01 -1.13842724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67587156 meters 0.022474412078053077 Centerline is valid? [True, True] Translation: X:257.56, Y:-43.21, Z:-11.39 [[ 9.84145187e-01 1.74003781e-01 3.43647504e-02 2.57561047e+02] [-1.73885414e-01 9.84744922e-01 -6.42655220e-03 -4.32113078e+01] [-3.49587578e-02 3.49131574e-04 9.99388695e-01 -1.13857083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70587156 meters 0.022901376026481773 Centerline is valid? [True, True] Translation: X:257.59, Y:-43.21, Z:-11.39 [[ 9.84116536e-01 1.74164279e-01 3.43721929e-02 2.57590157e+02] [-1.74046035e-01 9.84716552e-01 -6.42574113e-03 -4.32139881e+01] [-3.49660019e-02 3.41334201e-04 9.99388444e-01 -1.13851847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73587156 meters 0.01635302300175339 Centerline is valid? [True, True] Translation: X:257.62, Y:-43.22, Z:-11.39 [[ 9.83969467e-01 1.75045209e-01 3.41066350e-02 2.57617343e+02] [-1.74929369e-01 9.84560349e-01 -6.37454037e-03 -4.32183012e+01] [-3.46958732e-02 3.06100939e-04 9.99397870e-01 -1.13901477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76587156 meters 0.015150990157854517 Centerline is valid? [True, True] Translation: X:257.65, Y:-43.22, Z:-11.39 [[ 9.83813457e-01 1.75953275e-01 3.39341561e-02 2.57645991e+02] [-1.75839220e-01 9.84398482e-01 -6.34009367e-03 -4.32207348e+01] [-3.45202920e-02 2.70513917e-04 9.99403961e-01 -1.13905900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79587156 meters 0.01419028752473007 Centerline is valid? [True, True] Translation: X:257.67, Y:-43.22, Z:-11.39 [[ 9.83373757e-01 1.78356459e-01 3.41325024e-02 2.57673956e+02] [-1.78242567e-01 9.83965924e-01 -6.37559756e-03 -4.32211116e+01] [-3.47223483e-02 1.85730476e-04 9.99396980e-01 -1.13919844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82587156 meters 0.013229392180920266 Centerline is valid? [True, True] Translation: X:257.70, Y:-43.22, Z:-11.39 [[ 9.83086507e-01 1.79862754e-01 3.45008571e-02 2.57703117e+02] [-1.79747400e-01 9.83691706e-01 -6.44204188e-03 -4.32232220e+01] [-3.50968904e-02 1.31645099e-04 9.99383906e-01 -1.13917101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85587156 meters 0.013081259257073456 Centerline is valid? [True, True] Translation: X:257.73, Y:-43.23, Z:-11.39 [[ 9.82806680e-01 1.81380759e-01 3.45260640e-02 2.57730912e+02] [-1.81266228e-01 9.83412942e-01 -6.44516461e-03 -4.32262814e+01] [-3.51224070e-02 7.59414396e-05 9.99383015e-01 -1.13942431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88587156 meters 0.012769021992945054 Centerline is valid? [True, True] Translation: X:257.76, Y:-43.23, Z:-11.39 [[ 9.82305997e-01 1.84043694e-01 3.46820803e-02 2.57760294e+02] [-1.83929872e-01 9.82918063e-01 -6.47177156e-03 -4.32279097e+01] [-3.52807320e-02 -2.18105951e-05 9.99377441e-01 -1.13936506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91587156 meters 0.012754320989017697 Centerline is valid? [True, True] Translation: X:257.79, Y:-43.23, Z:-11.39 [[ 9.82070607e-01 1.85218726e-01 3.50905416e-02 2.57788807e+02] [-1.85103011e-01 9.82697318e-01 -6.54643966e-03 -4.32298276e+01] [-3.56959044e-02 -6.62989504e-05 9.99362696e-01 -1.13938121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94587156 meters 0.012855372836888064 Centerline is valid? [True, True] Translation: X:257.82, Y:-43.23, Z:-11.39 [[ 9.82069199e-01 1.85153939e-01 3.54698101e-02 2.57816032e+02] [-1.85035764e-01 9.82709527e-01 -6.61451515e-03 -4.32337432e+01] [-3.60812238e-02 -6.72718042e-05 9.99348858e-01 -1.13949850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97587156000003 meters 0.01246059190026198 Centerline is valid? [True, True] Translation: X:257.84, Y:-43.24, Z:-11.40 [[ 9.82292141e-01 1.83846690e-01 3.60907908e-02 2.57844613e+02] [-1.83723567e-01 9.82954930e-01 -6.72733978e-03 -4.32402970e+01] [-3.67124199e-02 -2.25158133e-05 9.99325872e-01 -1.13951525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00587156 meters 0.012455213108540322 Centerline is valid? [True, True] Translation: X:257.87, Y:-43.25, Z:-11.40 [[ 9.82463455e-01 1.82855907e-01 3.64592382e-02 2.57871282e+02] [-1.82729638e-01 9.83139724e-01 -6.79428105e-03 -4.32466699e+01] [-3.70868998e-02 1.29494324e-05 9.99312044e-01 -1.13962657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03587156000003 meters 0.012475404115369088 Centerline is valid? [True, True] Translation: X:257.90, Y:-43.25, Z:-11.40 [[ 9.82600162e-01 1.82088600e-01 3.66150762e-02 2.57899234e+02] [-1.81960805e-01 9.83282126e-01 -6.82093793e-03 -4.32535733e+01] [-3.72449651e-02 3.97459641e-05 9.99306165e-01 -1.13975646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06587156 meters 0.012742661993940137 Centerline is valid? [True, True] Translation: X:257.93, Y:-43.26, Z:-11.40 [[ 9.82780100e-01 1.81189010e-01 3.62466146e-02 2.57925937e+02] [-1.81063224e-01 9.83448289e-01 -6.75064553e-03 -4.32621879e+01] [-3.68698139e-02 7.14711972e-05 9.99320075e-01 -1.13997538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09587156 meters 0.012743759987077087 Centerline is valid? [True, True] Translation: X:257.95, Y:-43.27, Z:-11.40 [[ 9.82713674e-01 1.81638572e-01 3.57947413e-02 2.57954091e+02] [-1.81516285e-01 9.83365358e-01 -6.66423219e-03 -4.32679397e+01] [-3.64097902e-02 5.17036545e-05 9.99336942e-01 -1.14014637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12587156 meters 0.012726927359365882 Centerline is valid? [True, True] Translation: X:257.98, Y:-43.27, Z:-11.40 [[ 9.82562176e-01 1.82510609e-01 3.55168647e-02 2.57982227e+02] [-1.82390844e-01 9.83203884e-01 -6.61080400e-03 -4.32716489e+01] [-3.61268612e-02 1.75750177e-05 9.99347212e-01 -1.14028244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15587156 meters 0.012815143585055856 Centerline is valid? [True, True] Translation: X:258.01, Y:-43.28, Z:-11.40 [[ 9.82392009e-01 1.83434387e-01 3.54650025e-02 2.58011123e+02] [-1.83315635e-01 9.83031955e-01 -6.59944549e-03 -4.32754077e+01] [-3.60737959e-02 -1.80469276e-05 9.99349129e-01 -1.14038196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18587156 meters 0.013541205395565479 Centerline is valid? [True, True] Translation: X:258.04, Y:-43.28, Z:-11.41 [[ 9.81820321e-01 1.86400170e-01 3.58306310e-02 2.58038968e+02] [-1.86280991e-01 9.82473898e-01 -6.66579718e-03 -4.32767817e+01] [-3.64451654e-02 -1.29950311e-04 9.99335646e-01 -1.14054684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21587156 meters 0.020729983651329234 Centerline is valid? [True, True] Translation: X:258.07, Y:-43.28, Z:-11.41 [[ 9.81216016e-01 1.89691196e-01 3.51052737e-02 2.58068143e+02] [-1.89578978e-01 9.81843770e-01 -6.52862423e-03 -4.32776459e+01] [-3.57063168e-02 -2.49231258e-04 9.99362295e-01 -1.14062224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24587156 meters 0.015636212180535052 Centerline is valid? [True, True] Translation: X:258.10, Y:-43.28, Z:-11.41 [[ 9.80963690e-01 1.90880059e-01 3.57077459e-02 2.58096402e+02] [-1.90764804e-01 9.81613322e-01 -6.63895347e-03 -4.32808587e+01] [-3.63184429e-02 -2.99208876e-04 9.99340223e-01 -1.14076318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27587156 meters 0.01653532973333566 Centerline is valid? [True, True] Translation: X:258.13, Y:-43.28, Z:-11.41 [[ 9.80686396e-01 1.92295064e-01 3.57323381e-02 2.58125095e+02] [-1.92180655e-01 9.81337089e-01 -6.64172623e-03 -4.32832579e+01] [-3.63426398e-02 -3.53613589e-04 9.99339325e-01 -1.14085100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30587156 meters 0.018683832820882172 Centerline is valid? [True, True] Translation: X:258.15, Y:-43.28, Z:-11.41 [[ 9.80236830e-01 1.94478914e-01 3.62451354e-02 2.58153376e+02] [-1.94362753e-01 9.80906599e-01 -6.73528179e-03 -4.32835963e+01] [-3.68629628e-02 -4.42533027e-04 9.99320232e-01 -1.14094106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33587156 meters 0.0231747452405705 Centerline is valid? [True, True] Translation: X:258.18, Y:-43.29, Z:-11.41 [[ 9.80032422e-01 1.95551395e-01 3.60014440e-02 2.58181417e+02] [-1.95437597e-01 9.80693336e-01 -6.68774432e-03 -4.32865926e+01] [-3.66141740e-02 -4.81829436e-04 9.99329360e-01 -1.14096295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36587156 meters 0.02039466077362129 Centerline is valid? [True, True] Translation: X:258.21, Y:-43.29, Z:-11.41 [[ 9.79808960e-01 1.96573331e-01 3.65147503e-02 2.58209394e+02] [-1.96457058e-01 9.80488983e-01 -6.78080952e-03 -4.32908500e+01] [-3.71352367e-02 -5.29682491e-04 9.99310109e-01 -1.14116704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39587156 meters 0.0257476512545888 Centerline is valid? [True, True] Translation: X:258.24, Y:-43.29, Z:-11.41 [[ 9.79746452e-01 1.97015605e-01 3.58014022e-02 2.58237487e+02] [-1.96904207e-01 9.80400205e-01 -6.64616599e-03 -4.32933818e+01] [-3.64091005e-02 -5.37889156e-04 9.99336824e-01 -1.14127847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42587156 meters 0.02205916642413808 Centerline is valid? [True, True] Translation: X:258.27, Y:-43.30, Z:-11.42 [[ 9.79760594e-01 1.96846090e-01 3.63427483e-02 2.58265361e+02] [-1.96731265e-01 9.80434252e-01 -6.74435267e-03 -4.32967531e+01] [-3.69592747e-02 -5.41903865e-04 9.99316626e-01 -1.14154451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45587156 meters 0.020934390708190045 Centerline is valid? [True, True] Translation: X:258.29, Y:-43.30, Z:-11.42 [[ 9.79805988e-01 1.96542803e-01 3.67580376e-02 2.58293888e+02] [-1.96425211e-01 9.80495098e-01 -6.81911384e-03 -4.33026143e+01] [-3.73813234e-02 -5.38796722e-04 9.99300929e-01 -1.14157715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48587156 meters 0.02038936654511078 Centerline is valid? [True, True] Translation: X:258.32, Y:-43.31, Z:-11.42 [[ 9.79849738e-01 1.96374858e-01 3.64884305e-02 2.58321513e+02] [-1.96258926e-01 9.80528752e-01 -6.76753462e-03 -4.33070770e+01] [-3.71069289e-02 -5.30013175e-04 9.99311160e-01 -1.14171301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51587156 meters 0.02038936654511078 Centerline is valid? [True, True] Translation: X:258.35, Y:-43.31, Z:-11.42 [[ 9.79863973e-01 1.96303729e-01 3.64889192e-02 2.58348540e+02] [-1.96187847e-01 9.80542995e-01 -6.76489857e-03 -4.33119529e+01] [-3.71069290e-02 -5.30002096e-04 9.99311160e-01 -1.14183685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54587156 meters 0.02324778187246799 Centerline is valid? [True, True] Translation: X:258.38, Y:-43.31, Z:-11.42 [[ 9.79890831e-01 1.96174188e-01 3.64643383e-02 2.58376186e+02] [-1.96058470e-01 9.80568921e-01 -6.75770179e-03 -4.33124564e+01] [-3.70814836e-02 -5.27332362e-04 9.99312106e-01 -1.14220501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57587156 meters 0.021732575301148593 Centerline is valid? [True, True] Translation: X:258.40, Y:-43.32, Z:-11.42 [[ 9.79890409e-01 1.96167846e-01 3.65097577e-02 2.58403367e+02] [-1.96051958e-01 9.80570188e-01 -6.76281137e-03 -4.33176956e+01] [-3.71270261e-02 -5.30995480e-04 9.99310413e-01 -1.14224482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60587156 meters 0.02262443807619274 Centerline is valid? [True, True] Translation: X:258.43, Y:-43.32, Z:-11.43 [[ 9.79893731e-01 1.96220107e-01 3.61378786e-02 2.58430780e+02] [-1.96106692e-01 9.80559732e-01 -6.69152704e-03 -4.33204253e+01] [-3.67483607e-02 -5.29894435e-04 9.99324410e-01 -1.14250025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63587156 meters 0.021882654584893253 Centerline is valid? [True, True] Translation: X:258.46, Y:-43.32, Z:-11.43 [[ 9.79771598e-01 1.96834897e-01 3.61059570e-02 2.58459657e+02] [-1.96722228e-01 9.80436492e-01 -6.68210535e-03 -4.33239334e+01] [-3.67148694e-02 -5.55907278e-04 9.99325627e-01 -1.14251771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66587156 meters 0.0224668518839212 Centerline is valid? [True, True] Translation: X:258.49, Y:-43.33, Z:-11.43 [[ 9.79629892e-01 1.97457263e-01 3.65500113e-02 2.58488789e+02] [-1.97342306e-01 9.80311320e-01 -6.76247459e-03 -4.33267883e+01] [-3.71656896e-02 -5.88141256e-04 9.99308944e-01 -1.14263509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69587156 meters 0.02293460001586848 Centerline is valid? [True, True] Translation: X:258.52, Y:-43.33, Z:-11.43 [[ 9.79410413e-01 1.98564120e-01 3.64353238e-02 2.58517908e+02] [-1.98450713e-01 9.80087697e-01 -6.73949418e-03 -4.33288188e+01] [-3.70480344e-02 -6.29885228e-04 9.99313287e-01 -1.14276001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72587156000003 meters 0.02679130758503241 Centerline is valid? [True, True] Translation: X:258.55, Y:-43.33, Z:-11.43 [[ 9.79332964e-01 1.99053252e-01 3.58433825e-02 2.58545947e+02] [-1.98943889e-01 9.79988466e-01 -6.62835098e-03 -4.33276202e+01] [-3.64454963e-02 -6.39459291e-04 9.99335438e-01 -1.14319583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75587156 meters 0.02395340534736596 Centerline is valid? [True, True] Translation: X:258.57, Y:-43.33, Z:-11.43 [[ 9.79309354e-01 1.99228225e-01 3.55148256e-02 2.58573624e+02] [-1.99121056e-01 9.79952908e-01 -6.56529742e-03 -4.33346195e+01] [-3.61108492e-02 -6.42292418e-04 9.99347584e-01 -1.14321004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78587156000003 meters 0.02333111584657771 Centerline is valid? [True, True] Translation: X:258.60, Y:-43.34, Z:-11.43 [[ 9.79369561e-01 1.98940325e-01 3.54684375e-02 2.58600866e+02] [-1.98833266e-01 9.80011402e-01 -6.55620015e-03 -4.33391948e+01] [-3.60637658e-02 -6.31362407e-04 9.99349291e-01 -1.14330701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81587156 meters 0.03473549404834861 Centerline is valid? [True, True] Translation: X:258.63, Y:-43.34, Z:-11.43 [[ 9.79532348e-01 1.98143809e-01 3.54317591e-02 2.58629039e+02] [-1.98036732e-01 9.80172771e-01 -6.54159952e-03 -4.33391401e+01] [-3.60254229e-02 -6.09081455e-04 9.99350688e-01 -1.14344045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84587156 meters 0.02261686971219149 Centerline is valid? [True, True] Translation: X:258.66, Y:-43.35, Z:-11.44 [[ 9.79698345e-01 1.97293250e-01 3.55882851e-02 2.58656746e+02] [-1.97184751e-01 9.80344345e-01 -6.56812092e-03 -4.33465755e+01] [-3.61846199e-02 -5.82689933e-04 9.99344952e-01 -1.14363695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87587156 meters 0.02142405763650906 Centerline is valid? [True, True] Translation: X:258.69, Y:-43.35, Z:-11.44 [[ 9.79993347e-01 1.95809283e-01 3.56617959e-02 2.58685669e+02] [-1.95699403e-01 9.80641853e-01 -6.58029634e-03 -4.33512397e+01] [-3.62599327e-02 -5.30345513e-04 9.99342252e-01 -1.14375662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90587156 meters 0.021785612749660222 Centerline is valid? [True, True] Translation: X:258.71, Y:-43.36, Z:-11.44 [[ 9.80106919e-01 1.95171970e-01 3.60323495e-02 2.58713894e+02] [-1.95059499e-01 9.80768901e-01 -6.64496236e-03 -4.33563566e+01] [-3.66363182e-02 -5.15678453e-04 9.99328532e-01 -1.14370111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93587156 meters 0.01903007271502969 Centerline is valid? [True, True] Translation: X:258.74, Y:-43.36, Z:-11.44 [[ 9.80409643e-01 1.93479012e-01 3.69161718e-02 2.58742784e+02] [-1.93359795e-01 9.81104304e-01 -6.80689417e-03 -4.33609108e+01] [-3.75356062e-02 -4.64558716e-04 9.99295183e-01 -1.14383304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96587156 meters 0.018448672343471063 Centerline is valid? [True, True] Translation: X:258.77, Y:-43.37, Z:-11.44 [[ 9.80546861e-01 1.92811487e-01 3.67639084e-02 2.58771263e+02] [-1.92693032e-01 9.81235718e-01 -6.77213210e-03 -4.33659742e+01] [-3.73798049e-02 -4.43756103e-04 9.99301032e-01 -1.14397104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99587156 meters 0.01840241957542992 Centerline is valid? [True, True] Translation: X:258.80, Y:-43.37, Z:-11.44 [[ 9.80664942e-01 1.92163371e-01 3.70069095e-02 2.58799074e+02] [-1.92042949e-01 9.81362858e-01 -6.81514350e-03 -4.33679648e+01] [-3.76268274e-02 -4.23543725e-04 9.99291770e-01 -1.14407893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02587156 meters 0.017210059228033793 Centerline is valid? [True, True] Translation: X:258.83, Y:-43.37, Z:-11.44 [[ 9.80796456e-01 1.91434914e-01 3.72959278e-02 2.58826985e+02] [-1.91312167e-01 9.81505228e-01 -6.86598760e-03 -4.33733696e+01] [-3.79205379e-02 -4.01028482e-04 9.99280677e-01 -1.14412724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05587156 meters 0.015536186572405648 Centerline is valid? [True, True] Translation: X:258.86, Y:-43.38, Z:-11.44 [[ 9.81159420e-01 1.89511597e-01 3.75705755e-02 2.58855207e+02] [-1.89385696e-01 9.81878427e-01 -6.91467583e-03 -4.33798671e+01] [-3.82001488e-02 -3.30930284e-04 9.99270053e-01 -1.14417218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08587156 meters 0.014598388472045275 Centerline is valid? [True, True] Translation: X:258.88, Y:-43.39, Z:-11.44 [[ 9.81479118e-01 1.87896321e-01 3.73324654e-02 2.58882953e+02] [-1.87770914e-01 9.82188831e-01 -6.86899084e-03 -4.33862071e+01] [-3.79581886e-02 -2.68180084e-04 9.99279292e-01 -1.14435336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11587156 meters 0.015133303785991675 Centerline is valid? [True, True] Translation: X:258.91, Y:-43.39, Z:-11.44 [[ 9.82236367e-01 1.83934711e-01 3.71448845e-02 2.58909646e+02] [-1.83807794e-01 9.82938456e-01 -6.83272019e-03 -4.33947057e+01] [-3.77679098e-02 -1.16173021e-04 9.99286531e-01 -1.14448433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14587156 meters 0.012470429358988542 Centerline is valid? [True, True] Translation: X:258.94, Y:-43.40, Z:-11.45 [[ 9.82723651e-01 1.81336354e-01 3.70317818e-02 2.58937256e+02] [-1.81208454e-01 9.83421134e-01 -6.80954206e-03 -4.34031343e+01] [-3.76526544e-02 -1.85738829e-05 9.99290887e-01 -1.14479479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17587156 meters 0.013960030858139632 Centerline is valid? [True, True] Translation: X:258.96, Y:-43.42, Z:-11.45 [[ 9.83817707e-01 1.75309415e-01 3.70044467e-02 2.58962334e+02] [-1.75177503e-01 9.84513364e-01 -6.80278756e-03 -4.34179796e+01] [-3.76239650e-02 2.10356307e-04 9.99291946e-01 -1.14498098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20587156 meters 0.015728054798759817 Centerline is valid? [True, True] Translation: X:258.99, Y:-43.43, Z:-11.45 [[ 9.84346384e-01 1.72270018e-01 3.72187628e-02 2.58989752e+02] [-1.72134489e-01 9.85049712e-01 -6.83981491e-03 -4.34281960e+01] [-3.78406266e-02 3.26114351e-04 9.99283734e-01 -1.14509007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23587156 meters 0.0201411232464444 Centerline is valid? [True, True] Translation: X:259.02, Y:-43.44, Z:-11.45 [[ 9.85305825e-01 1.66603876e-01 3.76241818e-02 2.59016653e+02] [-1.66461318e-01 9.86023757e-01 -6.91239957e-03 -4.34426232e+01] [-3.82499696e-02 5.47856681e-04 9.99268052e-01 -1.14521355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26587156 meters 0.022694459443610565 Centerline is valid? [True, True] Translation: X:259.04, Y:-43.45, Z:-11.45 [[ 9.85760366e-01 1.63943989e-01 3.74014505e-02 2.59043911e+02] [-1.63801248e-01 9.86469437e-01 -6.87022533e-03 -4.34528885e+01] [-3.80217200e-02 6.45991555e-04 9.99276704e-01 -1.14541832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29587156 meters 0.02920370463841039 Centerline is valid? [True, True] Translation: X:259.07, Y:-43.47, Z:-11.46 [[ 9.86591389e-01 1.59057242e-01 3.65817593e-02 2.59070623e+02] [-1.58917405e-01 9.87269027e-01 -6.71768815e-03 -4.34702348e+01] [-3.71845349e-02 8.14135018e-04 9.99308084e-01 -1.14576793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32587156 meters 0.0316527627285164 Centerline is valid? [True, True] Translation: X:259.10, Y:-43.48, Z:-11.46 [[ 9.86918904e-01 1.56982427e-01 3.67095854e-02 2.59098015e+02] [-1.56840187e-01 9.87600990e-01 -6.74089443e-03 -4.34795990e+01] [-3.73126248e-02 8.95177928e-04 9.99303241e-01 -1.14589340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35587156 meters 0.03211520427770024 Centerline is valid? [True, True] Translation: X:259.13, Y:-43.49, Z:-11.46 [[ 9.87339397e-01 1.54292459e-01 3.68069477e-02 2.59127456e+02] [-1.54147651e-01 9.88024717e-01 -6.75725229e-03 -4.34886677e+01] [-3.74087672e-02 9.97996861e-04 9.99299549e-01 -1.14590543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38587156 meters 0.0323885381117714 Centerline is valid? [True, True] Translation: X:259.16, Y:-43.50, Z:-11.46 [[ 9.87450404e-01 1.53429316e-01 3.74318588e-02 2.59156524e+02] [-1.53278925e-01 9.88159069e-01 -6.87205957e-03 -4.34967780e+01] [-3.80430061e-02 1.04830295e-03 9.99275553e-01 -1.14591127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41587156 meters 0.03595465190999086 Centerline is valid? [True, True] Translation: X:259.19, Y:-43.51, Z:-11.46 [[ 9.87407507e-01 1.53651983e-01 3.76494741e-02 2.59185285e+02] [-1.53500022e-01 9.88124474e-01 -6.91139873e-03 -4.35104114e+01] [-3.82643169e-02 1.04517188e-03 9.99267106e-01 -1.14596429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44587156 meters 0.03086498448571503 Centerline is valid? [True, True] Translation: X:259.22, Y:-43.51, Z:-11.46 [[ 9.87230447e-01 1.54771642e-01 3.77065378e-02 2.59216700e+02] [-1.54620021e-01 9.87949762e-01 -6.92224395e-03 -4.35129774e+01] [-3.83235321e-02 1.00366431e-03 9.99264880e-01 -1.14610263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47587156000003 meters 0.025718218804086243 Centerline is valid? [True, True] Translation: X:259.25, Y:-43.52, Z:-11.46 [[ 9.86739353e-01 1.58025264e-01 3.70602940e-02 2.59247756e+02] [-1.57881057e-01 9.87434692e-01 -6.80446636e-03 -4.35161915e+01] [-3.76698976e-02 8.63116326e-04 9.99289865e-01 -1.14632805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50587156 meters 0.024162824258297428 Centerline is valid? [True, True] Translation: X:259.28, Y:-43.52, Z:-11.47 [[ 9.86385657e-01 1.60325189e-01 3.65946667e-02 2.59277268e+02] [-1.60186125e-01 9.87063952e-01 -6.72007971e-03 -4.35212806e+01] [-3.71986744e-02 7.66632388e-04 9.99307596e-01 -1.14654828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53587156000003 meters 0.02807497097259239 Centerline is valid? [True, True] Translation: X:259.31, Y:-43.53, Z:-11.47 [[ 9.85538605e-01 1.65510273e-01 3.63319173e-02 2.59305666e+02] [-1.65376709e-01 9.86207903e-01 -6.67202741e-03 -4.35270839e+01] [-3.69351131e-02 5.67087650e-04 9.99317505e-01 -1.14679986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56587156 meters 0.019537395492305185 Centerline is valid? [True, True] Translation: X:259.33, Y:-43.53, Z:-11.47 [[ 9.85094684e-01 1.68101274e-01 3.64749938e-02 2.59334595e+02] [-1.67968458e-01 9.85769618e-01 -6.69756128e-03 -4.35286873e+01] [-3.70818093e-02 4.71083532e-04 9.99312122e-01 -1.14704287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59587156 meters 0.015632883519532924 Centerline is valid? [True, True] Translation: X:259.36, Y:-43.53, Z:-11.47 [[ 9.84202905e-01 1.73243797e-01 3.64860015e-02 2.59362279e+02] [-1.73114493e-01 9.84878932e-01 -6.69788183e-03 -4.35306876e+01] [-3.70946606e-02 2.75819121e-04 9.99311718e-01 -1.14729871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62587156 meters 0.022764452344773624 Centerline is valid? [True, True] Translation: X:259.39, Y:-43.53, Z:-11.47 [[ 9.83799763e-01 1.75528840e-01 3.64369583e-02 2.59391599e+02] [-1.75401512e-01 9.84474271e-01 -6.68720746e-03 -4.35336129e+01] [-3.70450458e-02 1.87775545e-04 9.99313579e-01 -1.14706354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65587156 meters 0.01873974667825302 Centerline is valid? [True, True] Translation: X:259.42, Y:-43.54, Z:-11.47 [[ 9.83028101e-01 1.79778776e-01 3.65423662e-02 2.59419143e+02] [-1.79653709e-01 9.83707066e-01 -6.70474739e-03 -4.35356114e+01] [-3.71523551e-02 2.59834616e-05 9.99309613e-01 -1.14724523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68587156 meters 0.012894651165459625 Centerline is valid? [True, True] Translation: X:259.45, Y:-43.54, Z:-11.48 [[ 9.82706133e-01 1.81515530e-01 3.66165105e-02 2.59446153e+02] [-1.81391223e-01 9.83388077e-01 -6.71665643e-03 -4.35391405e+01] [-3.72274173e-02 -4.14141464e-05 9.99306819e-01 -1.14766291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71587156 meters 0.0135880336055742 Centerline is valid? [True, True] Translation: X:259.47, Y:-43.54, Z:-11.48 [[ 9.82443518e-01 1.82963300e-01 3.64577176e-02 2.59473742e+02] [-1.82841151e-01 9.83119739e-01 -6.68521967e-03 -4.35425581e+01] [-3.70654516e-02 -9.81203125e-05 9.99312835e-01 -1.14794429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74587156 meters 0.014428664149178688 Centerline is valid? [True, True] Translation: X:259.50, Y:-43.55, Z:-11.48 [[ 9.81994638e-01 1.85263358e-01 3.69326376e-02 2.59501943e+02] [-1.85139698e-01 9.82688889e-01 -6.77051525e-03 -4.35465954e+01] [-3.75476210e-02 -1.89087712e-04 9.99294822e-01 -1.14798179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77587156 meters 0.014484974235910894 Centerline is valid? [True, True] Translation: X:259.53, Y:-43.55, Z:-11.48 [[ 9.81817965e-01 1.86183076e-01 3.70046846e-02 2.59529724e+02] [-1.86059649e-01 9.82515044e-01 -6.78204336e-03 -4.35524854e+01] [-3.76203610e-02 -2.26346608e-04 9.99292078e-01 -1.14798880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80587156 meters 0.026404795483415417 Centerline is valid? [True, True] Translation: X:259.56, Y:-43.56, Z:-11.48 [[ 9.81505651e-01 1.87856551e-01 3.68316856e-02 2.59558068e+02] [-1.87735520e-01 9.82196432e-01 -6.74855195e-03 -4.35579709e+01] [-3.74437099e-02 -2.90873756e-04 9.99298696e-01 -1.14797169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83587156 meters 0.016358352914110322 Centerline is valid? [True, True] Translation: X:259.59, Y:-43.56, Z:-11.48 [[ 9.81267562e-01 1.89042186e-01 3.71082559e-02 2.59586024e+02] [-1.88920243e-01 9.81968908e-01 -6.79749228e-03 -4.35620776e+01] [-3.77241663e-02 -3.40342029e-04 9.99288132e-01 -1.14823610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86587156 meters 0.01857241441516962 Centerline is valid? [True, True] Translation: X:259.61, Y:-43.56, Z:-11.48 [[ 9.80823619e-01 1.91260658e-01 3.74751669e-02 2.59613346e+02] [-1.91137994e-01 9.81539186e-01 -6.86246236e-03 -4.35642293e+01] [-3.80958639e-02 -4.32063048e-04 9.99273996e-01 -1.14835464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89587156 meters 0.019488288844330404 Centerline is valid? [True, True] Translation: X:259.64, Y:-43.57, Z:-11.48 [[ 9.80634035e-01 1.92175595e-01 3.77548775e-02 2.59641803e+02] [-1.92051883e-01 9.81360441e-01 -6.91072392e-03 -4.35683245e+01] [-3.83792157e-02 -4.74004231e-04 9.99263134e-01 -1.14841528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92587156 meters 0.0213997677536111 Centerline is valid? [True, True] Translation: X:259.67, Y:-43.57, Z:-11.48 [[ 9.80467945e-01 1.92865209e-01 3.85437505e-02 2.59670821e+02] [-1.92736878e-01 9.81225126e-01 -7.05322602e-03 -4.35729644e+01] [-3.91804183e-02 -5.13340112e-04 9.99232021e-01 -1.14825369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95587156 meters 0.020019257635737073 Centerline is valid? [True, True] Translation: X:259.70, Y:-43.58, Z:-11.48 [[ 9.80452585e-01 1.92903832e-01 3.87406756e-02 2.59698112e+02] [-1.92774286e-01 9.81217530e-01 -7.08750727e-03 -4.35776589e+01] [-3.93802374e-02 -5.19241244e-04 9.99224163e-01 -1.14848842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98587156 meters 0.019272733387839802 Centerline is valid? [True, True] Translation: X:259.73, Y:-43.59, Z:-11.49 [[ 9.80648110e-01 1.91903076e-01 3.87620140e-02 2.59725390e+02] [-1.91772718e-01 9.81413764e-01 -7.08854847e-03 -4.35853100e+01] [-3.94018884e-02 -4.82125127e-04 9.99223328e-01 -1.14863687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01587156 meters 0.01909699204075047 Centerline is valid? [True, True] Translation: X:259.75, Y:-43.59, Z:-11.49 [[ 9.80758587e-01 1.91347981e-01 3.87110223e-02 2.59752594e+02] [-1.91217623e-01 9.81522153e-01 -7.07696629e-03 -4.35913766e+01] [-3.93498892e-02 -4.61434203e-04 9.99225387e-01 -1.14879642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04587156 meters 0.019128052869391763 Centerline is valid? [True, True] Translation: X:259.78, Y:-43.60, Z:-11.49 [[ 9.80997553e-01 1.90140660e-01 3.86047894e-02 2.59780796e+02] [-1.90010190e-01 9.81756771e-01 -7.05478787e-03 -4.35993161e+01] [-3.92419154e-02 -4.14573752e-04 9.99229653e-01 -1.14877055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07587156 meters 0.017606123038209284 Centerline is valid? [True, True] Translation: X:259.81, Y:-43.60, Z:-11.49 [[ 9.81086301e-01 1.89728404e-01 3.83771074e-02 2.59807284e+02] [-1.89599218e-01 9.81836532e-01 -7.01153597e-03 -4.36042894e+01] [-3.90103335e-02 -3.97347655e-04 9.99238728e-01 -1.14908291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10587156 meters 0.01794862072347827 Centerline is valid? [True, True] Translation: X:259.83, Y:-43.61, Z:-11.49 [[ 9.81113504e-01 1.89568192e-01 3.84732621e-02 2.59833696e+02] [-1.89438363e-01 9.81867478e-01 -7.02582202e-03 -4.36091742e+01] [-3.91075172e-02 -3.95182929e-04 9.99234930e-01 -1.14923811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13587156 meters 0.02405208044106361 Centerline is valid? [True, True] Translation: X:259.86, Y:-43.61, Z:-11.49 [[ 9.81069358e-01 1.89821896e-01 3.83479259e-02 2.59861952e+02] [-1.89693238e-01 9.81818457e-01 -6.99953794e-03 -4.36130435e+01] [-3.89793670e-02 -4.07310054e-04 9.99239933e-01 -1.14914135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16587156 meters 0.03494970137735285 Centerline is valid? [True, True] Translation: X:259.89, Y:-43.61, Z:-11.49 [[ 9.80920401e-01 1.90681268e-01 3.78922243e-02 2.59889834e+02] [-1.90556355e-01 9.81651905e-01 -6.91470390e-03 -4.36147988e+01] [-3.85154787e-02 -4.37830040e-04 9.99257908e-01 -1.14926285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19587156 meters 0.019777604903851984 Centerline is valid? [True, True] Translation: X:259.92, Y:-43.62, Z:-11.49 [[ 9.80760436e-01 1.91363939e-01 3.85850942e-02 2.59918297e+02] [-1.91235034e-01 9.81519035e-01 -7.03881540e-03 -4.36193148e+01] [-3.92189799e-02 -4.75430144e-04 9.99230527e-01 -1.14949775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22587156000003 meters 0.021176377459597093 Centerline is valid? [True, True] Translation: X:259.95, Y:-43.62, Z:-11.50 [[ 9.80509164e-01 1.92579204e-01 3.89233922e-02 2.59947250e+02] [-1.92449057e-01 9.81281289e-01 -7.09870545e-03 -4.36221748e+01] [-3.95618595e-02 -5.30424369e-04 9.99216982e-01 -1.14957193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25587156 meters 0.022663131727535164 Centerline is valid? [True, True] Translation: X:259.98, Y:-43.62, Z:-11.50 [[ 9.80435640e-01 1.93114641e-01 3.81141939e-02 2.59975347e+02] [-1.92990313e-01 9.81176050e-01 -6.94963436e-03 -4.36242332e+01] [-3.87388103e-02 -5.42000999e-04 9.99249224e-01 -1.14988169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28587156000003 meters 0.02418985523059754 Centerline is valid? [True, True] Translation: X:260.00, Y:-43.62, Z:-11.50 [[ 9.80067725e-01 1.94890398e-01 3.85355378e-02 2.60004387e+02] [-1.94764810e-01 9.80824829e-01 -7.02304971e-03 -4.36240352e+01] [-3.91653373e-02 -6.22302360e-04 9.99232550e-01 -1.14988049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31587156 meters 0.025485731396502502 Centerline is valid? [True, True] Translation: X:260.03, Y:-43.63, Z:-11.50 [[ 9.79868013e-01 1.95796806e-01 3.90165107e-02 2.60033424e+02] [-1.95668853e-01 9.80644259e-01 -7.10889450e-03 -4.36253275e+01] [-3.96532161e-02 -6.68537561e-04 9.99213278e-01 -1.14996837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34587156 meters 0.024477576660462234 Centerline is valid? [True, True] Translation: X:260.06, Y:-43.63, Z:-11.50 [[ 9.79572103e-01 1.97362897e-01 3.85536159e-02 2.60061964e+02] [-1.97239241e-01 9.80330231e-01 -7.02284105e-03 -4.36283802e+01] [-3.91813234e-02 -7.24906755e-04 9.99231854e-01 -1.15002018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37587156 meters 0.03101783140178567 Centerline is valid? [True, True] Translation: X:260.09, Y:-43.63, Z:-11.50 [[ 9.79516594e-01 1.97670452e-01 3.83879480e-02 2.60090770e+02] [-1.97548164e-01 9.80268255e-01 -6.99085038e-03 -4.36257149e+01] [-3.90123713e-02 -7.35814684e-04 9.99238457e-01 -1.15022070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40587156 meters 0.03101783140178567 Centerline is valid? [True, True] Translation: X:260.12, Y:-43.63, Z:-11.50 [[ 9.79529349e-01 1.97607158e-01 3.83883556e-02 2.60117816e+02] [-1.97484909e-01 9.80281016e-01 -6.98861143e-03 -4.36304926e+01] [-3.90123758e-02 -7.35570896e-04 9.99238457e-01 -1.15034454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43587156 meters 0.02723670932730439 Centerline is valid? [True, True] Translation: X:260.15, Y:-43.63, Z:-11.51 [[ 9.79545021e-01 1.97541643e-01 3.83255822e-02 2.60145285e+02] [-1.97419842e-01 9.80294221e-01 -6.97464739e-03 -4.36328461e+01] [-3.89481300e-02 -7.34249257e-04 9.99240964e-01 -1.15051538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46587156 meters 0.028199547896808858 Centerline is valid? [True, True] Translation: X:260.17, Y:-43.63, Z:-11.51 [[ 9.79657175e-01 1.96994967e-01 3.82727501e-02 2.60173185e+02] [-1.96873184e-01 9.80404240e-01 -6.96247795e-03 -4.36342639e+01] [-3.88943395e-02 -7.14036702e-04 9.99243074e-01 -1.15075480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49587156 meters 0.02394397536234797 Centerline is valid? [True, True] Translation: X:260.20, Y:-43.64, Z:-11.51 [[ 9.80214645e-01 1.94194729e-01 3.83100233e-02 2.60201328e+02] [-1.94070700e-01 9.80962812e-01 -6.96595119e-03 -4.36425846e+01] [-3.89334592e-02 -6.06725642e-04 9.99241621e-01 -1.15087479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52587156 meters 0.01915645423621746 Centerline is valid? [True, True] Translation: X:260.23, Y:-43.65, Z:-11.51 [[ 9.80597009e-01 1.92202756e-01 3.85694940e-02 2.60229214e+02] [-1.92075632e-01 9.81355091e-01 -7.00975929e-03 -4.36537279e+01] [-3.91976644e-02 -5.34510950e-04 9.99231333e-01 -1.15083105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55587156 meters 0.016942483388766923 Centerline is valid? [True, True] Translation: X:260.26, Y:-43.66, Z:-11.51 [[ 9.81507021e-01 1.87442989e-01 3.88470529e-02 2.60256999e+02] [-1.87310354e-01 9.82275422e-01 -7.05880047e-03 -4.36594314e+01] [-3.94816279e-02 -3.48193010e-04 9.99220236e-01 -1.15109938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58587156 meters 0.013979660997962044 Centerline is valid? [True, True] Translation: X:260.28, Y:-43.67, Z:-11.51 [[ 9.82038209e-01 1.84630926e-01 3.88892846e-02 2.60284746e+02] [-1.84495874e-01 9.82807898e-01 -7.06453764e-03 -4.36692175e+01] [-3.95250282e-02 -2.37266663e-04 9.99218553e-01 -1.15107462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61587156 meters 0.011808496570494395 Centerline is valid? [True, True] Translation: X:260.31, Y:-43.68, Z:-11.51 [[ 9.83169030e-01 1.78330245e-01 3.97112359e-02 2.60311538e+02] [-1.78184357e-01 9.83970692e-01 -7.21189085e-03 -4.36816032e+01] [-4.03607905e-02 1.45866988e-05 9.99185171e-01 -1.15108679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64587156 meters 0.012358880753922823 Centerline is valid? [True, True] Translation: X:260.34, Y:-43.69, Z:-11.51 [[ 9.83736829e-01 1.75224576e-01 3.94740366e-02 2.60339374e+02] [-1.75078002e-01 9.84528480e-01 -7.16690461e-03 -4.36903007e+01] [-4.01191311e-02 1.39312538e-04 9.99194894e-01 -1.15117638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67587156 meters 0.015568980709943595 Centerline is valid? [True, True] Translation: X:260.37, Y:-43.70, Z:-11.51 [[ 9.84781890e-01 1.69390946e-01 3.88759249e-02 2.60365595e+02] [-1.69244309e-01 9.85548868e-01 -7.05640634e-03 -4.37026268e+01] [-3.95094152e-02 3.69492107e-04 9.99219130e-01 -1.15140613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70587156 meters 0.018254130331664245 Centerline is valid? [True, True] Translation: X:260.39, Y:-43.71, Z:-11.52 [[ 9.85267126e-01 1.66552326e-01 3.88460208e-02 2.60392566e+02] [-1.66403788e-01 9.86032500e-01 -7.04898226e-03 -4.37125758e+01] [-3.94774634e-02 4.81005492e-04 9.99220345e-01 -1.15158426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73587156 meters 0.01987462162601095 Centerline is valid? [True, True] Translation: X:260.42, Y:-43.72, Z:-11.52 [[ 9.85654717e-01 1.64233853e-01 3.88846999e-02 2.60421549e+02] [-1.64083280e-01 9.86421266e-01 -7.05435157e-03 -4.37210618e+01] [-3.95152583e-02 5.72825780e-04 9.99218803e-01 -1.15172379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76587156 meters 0.029331319687889826 Centerline is valid? [True, True] Translation: X:260.45, Y:-43.73, Z:-11.52 [[ 9.86396818e-01 1.59915304e-01 3.80580281e-02 2.60451327e+02] [-1.59767847e-01 9.87130469e-01 -6.90454526e-03 -4.37308394e+01] [-3.86723816e-02 7.30172260e-04 9.99251677e-01 -1.15174014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79587156 meters 0.027173600033062874 Centerline is valid? [True, True] Translation: X:260.48, Y:-43.74, Z:-11.52 [[ 9.86685827e-01 1.58113080e-01 3.80963669e-02 2.60479962e+02] [-1.57963965e-01 9.87420686e-01 -6.91197660e-03 -4.37428236e+01] [-3.87100147e-02 8.02096191e-04 9.99250165e-01 -1.15217304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82587156 meters 0.03436577645755616 Centerline is valid? [True, True] Translation: X:260.51, Y:-43.75, Z:-11.52 [[ 9.87144881e-01 1.55164323e-01 3.83277561e-02 2.60511059e+02] [-1.55011158e-01 9.87888243e-01 -6.95421755e-03 -4.37527293e+01] [-3.89425861e-02 9.23590387e-04 9.99241023e-01 -1.15191290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85587156 meters 0.03510437591584817 Centerline is valid? [True, True] Translation: X:260.54, Y:-43.76, Z:-11.52 [[ 9.87287835e-01 1.54197365e-01 3.85474087e-02 2.60540909e+02] [-1.54041653e-01 9.88039592e-01 -6.99533532e-03 -4.37620828e+01] [-3.91650282e-02 9.68502918e-04 9.99232287e-01 -1.15206537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88587156 meters 0.03172209181076504 Centerline is valid? [True, True] Translation: X:260.57, Y:-43.77, Z:-11.52 [[ 9.87422275e-01 1.53206022e-01 3.90533671e-02 2.60570917e+02] [-1.53045169e-01 9.88193736e-01 -7.09342878e-03 -4.37721829e+01] [-3.96790488e-02 1.02728042e-03 9.99211948e-01 -1.15235030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91587156 meters 0.030752379257460747 Centerline is valid? [True, True] Translation: X:260.60, Y:-43.78, Z:-11.52 [[ 9.87438770e-01 1.53114071e-01 3.89968798e-02 2.60603538e+02] [-1.52953381e-01 9.88207979e-01 -7.08897798e-03 -4.37779355e+01] [-3.96224501e-02 1.03522706e-03 9.99214186e-01 -1.15248087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94587156 meters 0.033745469499939854 Centerline is valid? [True, True] Translation: X:260.63, Y:-43.79, Z:-11.53 [[ 9.87345755e-01 1.53739506e-01 3.88911797e-02 2.60633336e+02] [-1.53579866e-01 9.88110892e-01 -7.07748243e-03 -4.37893374e+01] [-3.95168869e-02 1.01502007e-03 9.99218387e-01 -1.15272053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97587156000003 meters 0.035262119951508325 Centerline is valid? [True, True] Translation: X:260.67, Y:-43.79, Z:-11.53 [[ 9.87127571e-01 1.55120619e-01 3.89455118e-02 2.60666279e+02] [-1.54961352e-01 9.87895064e-01 -7.09378179e-03 -4.37919210e+01] [-3.95744707e-02 9.67418441e-04 9.99216155e-01 -1.15252194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00587156 meters 0.03221293520144813 Centerline is valid? [True, True] Translation: X:260.70, Y:-43.80, Z:-11.53 [[ 9.86858796e-01 1.56939933e-01 3.84652392e-02 2.60697553e+02] [-1.56785824e-01 9.87607752e-01 -7.00956475e-03 -4.37978414e+01] [-3.90886491e-02 8.86646385e-04 9.99235353e-01 -1.15282044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03587156000003 meters 0.02661881872295073 Centerline is valid? [True, True] Translation: X:260.73, Y:-43.80, Z:-11.53 [[ 9.86697868e-01 1.58086215e-01 3.78954637e-02 2.60727546e+02] [-1.57937232e-01 9.87424960e-01 -6.91229349e-03 -4.38048837e+01] [-3.85116650e-02 8.35240620e-04 9.99257802e-01 -1.15328475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06587156 meters 0.02589977984357119 Centerline is valid? [True, True] Translation: X:260.76, Y:-43.81, Z:-11.54 [[ 9.86488566e-01 1.59533763e-01 3.72731557e-02 2.60758613e+02] [-1.59390446e-01 9.87192171e-01 -6.80461147e-03 -4.38110597e+01] [-3.78813328e-02 7.71686491e-04 9.99281947e-01 -1.15351062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09587156 meters 0.02368776270345234 Centerline is valid? [True, True] Translation: X:260.79, Y:-43.82, Z:-11.54 [[ 9.86136273e-01 1.61837282e-01 3.66598596e-02 2.60789187e+02] [-1.61699976e-01 9.86817224e-01 -6.69957078e-03 -4.38178240e+01] [-3.72608213e-02 6.78791334e-04 9.99305344e-01 -1.15381435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12587156 meters 0.021544261478246424 Centerline is valid? [True, True] Translation: X:260.82, Y:-43.83, Z:-11.54 [[ 9.85812927e-01 1.63858208e-01 3.63780182e-02 2.60819608e+02] [-1.63724307e-01 9.86483719e-01 -6.65007005e-03 -4.38252396e+01] [-3.69759913e-02 5.99759193e-04 9.99315974e-01 -1.15401708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15587156 meters 0.027584676158644822 Centerline is valid? [True, True] Translation: X:260.85, Y:-43.83, Z:-11.54 [[ 9.85708441e-01 1.64460331e-01 3.64920369e-02 2.60850497e+02] [-1.64325968e-01 9.86383527e-01 -6.67180531e-03 -4.38320839e+01] [-3.70923914e-02 5.79865511e-04 9.99311672e-01 -1.15389725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18587156 meters 0.019988976778116375 Centerline is valid? [True, True] Translation: X:260.88, Y:-43.84, Z:-11.54 [[ 9.85563245e-01 1.65213735e-01 3.70069158e-02 2.60881224e+02] [-1.65076048e-01 9.86257628e-01 -6.76685488e-03 -4.38380687e+01] [-3.76163304e-02 5.60208033e-04 9.99292098e-01 -1.15417870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21587156 meters 0.019187140606287307 Centerline is valid? [True, True] Translation: X:260.91, Y:-43.85, Z:-11.54 [[ 9.85395802e-01 1.66143268e-01 3.73031741e-02 2.60911492e+02] [-1.66003998e-01 9.86101482e-01 -6.82195880e-03 -4.38468572e+01] [-3.79181379e-02 5.29853526e-04 9.99280708e-01 -1.15431842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24587156 meters 0.01968527025607977 Centerline is valid? [True, True] Translation: X:260.94, Y:-43.86, Z:-11.55 [[ 9.85285049e-01 1.66854128e-01 3.70549786e-02 2.60941366e+02] [-1.66717210e-01 9.85981466e-01 -6.77650037e-03 -4.38559350e+01] [-3.76662092e-02 4.99081842e-04 9.99290252e-01 -1.15455179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27587156 meters 0.018846665862770215 Centerline is valid? [True, True] Translation: X:260.97, Y:-43.86, Z:-11.55 [[ 9.85132514e-01 1.67714472e-01 3.72261356e-02 2.60971200e+02] [-1.67576636e-01 9.85835498e-01 -6.81476705e-03 -4.38646847e+01] [-3.78417811e-02 4.75218020e-04 9.99283630e-01 -1.15463369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30587156 meters 0.017654421574416955 Centerline is valid? [True, True] Translation: X:261.00, Y:-43.87, Z:-11.55 [[ 9.85022913e-01 1.68365614e-01 3.71871103e-02 2.61002455e+02] [-1.68228537e-01 9.85724514e-01 -6.80744667e-03 -4.38710513e+01] [-3.78023862e-02 4.49557774e-04 9.99285133e-01 -1.15472643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33587156 meters 0.01744404346866007 Centerline is valid? [True, True] Translation: X:261.03, Y:-43.88, Z:-11.55 [[ 9.84805657e-01 1.69765180e-01 3.65732251e-02 2.61032071e+02] [-1.69633321e-01 9.85484463e-01 -6.70145089e-03 -4.38810440e+01] [-3.71800182e-02 3.95589120e-04 9.99308506e-01 -1.15503153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36587156 meters 0.01700929400170375 Centerline is valid? [True, True] Translation: X:261.06, Y:-43.89, Z:-11.55 [[ 9.84687189e-01 1.70435467e-01 3.66454834e-02 2.61063600e+02] [-1.70303331e-01 9.85368768e-01 -6.72055032e-03 -4.38883237e+01] [-3.72547349e-02 3.76791918e-04 9.99305730e-01 -1.15516582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39587156 meters 0.01597842716429271 Centerline is valid? [True, True] Translation: X:261.09, Y:-43.90, Z:-11.55 [[ 9.84453433e-01 1.71802051e-01 3.65444029e-02 2.61094052e+02] [-1.71671312e-01 9.85131436e-01 -6.70932282e-03 -4.38950323e+01] [-3.71537156e-02 3.31390266e-04 9.99309507e-01 -1.15533442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42587156 meters 0.01761722845453423 Centerline is valid? [True, True] Translation: X:261.12, Y:-43.90, Z:-11.55 [[ 9.84300621e-01 1.72578463e-01 3.69994887e-02 2.61124505e+02] [-1.72444997e-01 9.84995726e-01 -6.79281833e-03 -4.39023403e+01] [-3.76166324e-02 3.05798585e-04 9.99292197e-01 -1.15530832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45587156 meters 0.015145674556514204 Centerline is valid? [True, True] Translation: X:261.16, Y:-43.91, Z:-11.56 [[ 9.84180119e-01 1.73215145e-01 3.72291142e-02 2.61155704e+02] [-1.73080253e-01 9.84883968e-01 -6.84076055e-03 -4.39097295e+01] [-3.78512810e-02 2.88916050e-04 9.99283342e-01 -1.15555026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48587156 meters 0.024689526126476284 Centerline is valid? [True, True] Translation: X:261.19, Y:-43.92, Z:-11.55 [[ 9.83968553e-01 1.74361624e-01 3.74687874e-02 2.61186672e+02] [-1.74225579e-01 9.84681654e-01 -6.89111933e-03 -4.39181952e+01] [-3.80963743e-02 2.52623544e-04 9.99274038e-01 -1.15542052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51587156 meters 0.013535791854795587 Centerline is valid? [True, True] Translation: X:261.22, Y:-43.93, Z:-11.56 [[ 9.83756217e-01 1.75582298e-01 3.73438244e-02 2.61219109e+02] [-1.75447808e-01 9.84464734e-01 -6.87417687e-03 -4.39253741e+01] [-3.79706619e-02 2.10622085e-04 9.99278832e-01 -1.15574008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54587156 meters 0.013284857333787805 Centerline is valid? [True, True] Translation: X:261.25, Y:-43.93, Z:-11.56 [[ 9.83642674e-01 1.76260280e-01 3.71403123e-02 2.61251840e+02] [-1.76127458e-01 9.84343577e-01 -6.84406088e-03 -4.39322702e+01] [-3.77651639e-02 1.90681545e-04 9.99286624e-01 -1.15591654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57587156 meters 0.013259468007554873 Centerline is valid? [True, True] Translation: X:261.28, Y:-43.94, Z:-11.56 [[ 9.83495162e-01 1.77066909e-01 3.72098927e-02 2.61282914e+02] [-1.76933878e-01 9.84198802e-01 -6.86447363e-03 -4.39387832e+01] [-3.78374030e-02 1.67485987e-04 9.99283895e-01 -1.15616176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60587156 meters 0.012800140914637959 Centerline is valid? [True, True] Translation: X:261.31, Y:-43.94, Z:-11.56 [[ 9.83222753e-01 1.78578899e-01 3.71832533e-02 2.61312801e+02] [-1.78446830e-01 9.83925588e-01 -6.86771501e-03 -4.39441833e+01] [-3.78119833e-02 1.17259972e-04 9.99284864e-01 -1.15638358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63587156 meters 0.0147355557095792 Centerline is valid? [True, True] Translation: X:261.34, Y:-43.95, Z:-11.56 [[ 9.82963810e-01 1.79999178e-01 3.71812430e-02 2.61343783e+02] [-1.79868106e-01 9.83666759e-01 -6.86823741e-03 -4.39508350e+01] [-3.78102299e-02 6.35090570e-05 9.99284936e-01 -1.15636786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66587156 meters 0.012146315692044522 Centerline is valid? [True, True] Translation: X:261.37, Y:-43.96, Z:-11.57 [[ 9.82770732e-01 1.81026979e-01 3.72950644e-02 2.61374922e+02] [-1.80895849e-01 9.83478130e-01 -6.88910712e-03 -4.39568775e+01] [-3.79259945e-02 2.38905235e-05 9.99280550e-01 -1.15654606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69587156 meters 0.023518158934445366 Centerline is valid? [True, True] Translation: X:261.41, Y:-43.96, Z:-11.56 [[ 9.82655977e-01 1.81690575e-01 3.70913192e-02 2.61406416e+02] [-1.81561103e-01 9.83355752e-01 -6.85792091e-03 -4.39634577e+01] [-3.77199817e-02 4.63614014e-06 9.99288348e-01 -1.15647512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72587156000003 meters 0.012100371637911892 Centerline is valid? [True, True] Translation: X:261.44, Y:-43.97, Z:-11.57 [[ 9.82484555e-01 1.82563846e-01 3.73435450e-02 2.61436926e+02] [-1.82432966e-01 9.83194000e-01 -6.91169191e-03 -4.39704596e+01] [-3.79777745e-02 -2.20631198e-05 9.99278584e-01 -1.15688912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75587156 meters 0.012201242010932823 Centerline is valid? [True, True] Translation: X:261.47, Y:-43.98, Z:-11.57 [[ 9.82439448e-01 1.82749356e-01 3.76218593e-02 2.61467584e+02] [-1.82616526e-01 9.83159536e-01 -6.96651097e-03 -4.39774618e+01] [-3.82614151e-02 -2.61980445e-05 9.99267764e-01 -1.15709844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78587156000003 meters 0.01208532095888164 Centerline is valid? [True, True] Translation: X:261.50, Y:-43.99, Z:-11.57 [[ 9.82522355e-01 1.82215797e-01 3.80424094e-02 2.61497967e+02] [-1.82079308e-01 9.83258564e-01 -7.05140523e-03 -4.39869124e+01] [-3.86904022e-02 1.42771491e-06 9.99251246e-01 -1.15719117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81587156 meters 0.011972296618916262 Centerline is valid? [True, True] Translation: X:261.53, Y:-43.99, Z:-11.57 [[ 9.82539319e-01 1.82187190e-01 3.77400801e-02 2.61529225e+02] [-1.82052846e-01 9.83263865e-01 -6.99523655e-03 -4.39945466e+01] [-3.83828995e-02 2.40595928e-06 9.99263105e-01 -1.15724083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84587156 meters 0.018664924070670785 Centerline is valid? [True, True] Translation: X:261.56, Y:-44.00, Z:-11.57 [[ 9.82684809e-01 1.81567026e-01 3.69321234e-02 2.61559802e+02] [-1.81437705e-01 9.83378571e-01 -6.85165609e-03 -4.40048952e+01] [-3.75622936e-02 3.21386415e-05 9.99294288e-01 -1.15741505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87587156 meters 0.012294845547248514 Centerline is valid? [True, True] Translation: X:261.59, Y:-44.01, Z:-11.58 [[ 9.82727011e-01 1.81345428e-01 3.68979447e-02 2.61591496e+02] [-1.81215937e-01 9.83419460e-01 -6.85205042e-03 -4.40133183e+01] [-3.75287449e-02 4.71993914e-05 9.99295547e-01 -1.15773130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90587156 meters 0.012376610947721663 Centerline is valid? [True, True] Translation: X:261.62, Y:-44.02, Z:-11.58 [[ 9.82739380e-01 1.81281498e-01 3.68826437e-02 2.61623878e+02] [-1.81151797e-01 9.83431246e-01 -6.85647740e-03 -4.40210616e+01] [-3.75144967e-02 5.67731717e-05 9.99296082e-01 -1.15793867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93587156 meters 0.012614256977442026 Centerline is valid? [True, True] Translation: X:261.66, Y:-44.03, Z:-11.58 [[ 9.82777990e-01 1.81218736e-01 3.61551026e-02 2.61655234e+02] [-1.81093802e-01 9.83442813e-01 -6.72824972e-03 -4.40291795e+01] [-3.67757607e-02 6.49107338e-05 9.99323541e-01 -1.15821841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96587156 meters 0.012510527190253449 Centerline is valid? [True, True] Translation: X:261.69, Y:-44.04, Z:-11.58 [[ 9.82632791e-01 1.81943168e-01 3.64620636e-02 2.61685851e+02] [-1.81816350e-01 9.83309047e-01 -6.79214537e-03 -4.40372924e+01] [-3.70892615e-02 4.47854408e-05 9.99311956e-01 -1.15832760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99587156 meters 0.012189082713808676 Centerline is valid? [True, True] Translation: X:261.72, Y:-44.04, Z:-11.58 [[ 9.82507455e-01 1.82626440e-01 3.64236678e-02 2.61718327e+02] [-1.82500120e-01 9.83182375e-01 -6.79142215e-03 -4.40438418e+01] [-3.70514015e-02 2.52991305e-05 9.99313361e-01 -1.15829353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02587156 meters 0.012032116431778535 Centerline is valid? [True, True] Translation: X:261.75, Y:-44.05, Z:-11.58 [[ 9.82304586e-01 1.83668622e-01 3.66543118e-02 2.61749703e+02] [-1.83541136e-01 9.82988218e-01 -6.84208016e-03 -4.40497158e+01] [-3.72874321e-02 -6.56731158e-06 9.99304582e-01 -1.15839563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05587156 meters 0.01213433719113361 Centerline is valid? [True, True] Translation: X:261.78, Y:-44.05, Z:-11.58 [[ 9.81822074e-01 1.86117318e-01 3.72257831e-02 2.61782225e+02] [-1.85987312e-01 9.82527524e-01 -6.95590425e-03 -4.40546783e+01] [-3.78699707e-02 -9.40630045e-05 9.99282671e-01 -1.15843025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08587156 meters 0.012867019081826424 Centerline is valid? [True, True] Translation: X:261.81, Y:-44.06, Z:-11.59 [[ 9.81488936e-01 1.87796838e-01 3.75741426e-02 2.61814024e+02] [-1.87665313e-01 9.82207882e-01 -7.02894328e-03 -4.40582389e+01] [-3.82256324e-02 -1.52533174e-04 9.99269122e-01 -1.15860874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11587156 meters 0.014243235239428761 Centerline is valid? [True, True] Translation: X:261.84, Y:-44.06, Z:-11.59 [[ 9.80967699e-01 1.90374503e-01 3.82089199e-02 2.61844737e+02] [-1.90240109e-01 9.81711509e-01 -7.15639300e-03 -4.40598628e+01] [-3.88725312e-02 -2.48678731e-04 9.99244147e-01 -1.15870945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14587156 meters 0.01500892554692733 Centerline is valid? [True, True] Translation: X:261.87, Y:-44.06, Z:-11.59 [[ 9.80801644e-01 1.91296139e-01 3.78671549e-02 2.61874277e+02] [-1.91164827e-01 9.81532326e-01 -7.09238165e-03 -4.40638760e+01] [-3.85245819e-02 -2.82648526e-04 9.99257613e-01 -1.15891818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17587156 meters 0.014785279153700936 Centerline is valid? [True, True] Translation: X:261.91, Y:-44.07, Z:-11.59 [[ 9.80785698e-01 1.91594490e-01 3.67554918e-02 2.61905162e+02] [-1.91471034e-01 9.81474131e-01 -6.88287117e-03 -4.40717445e+01] [-3.73932845e-02 -2.86990418e-04 9.99300585e-01 -1.15927602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20587156 meters 0.015026343387745226 Centerline is valid? [True, True] Translation: X:261.94, Y:-44.08, Z:-11.60 [[ 9.80943851e-01 1.90880695e-01 3.62452968e-02 2.61935089e+02] [-1.90759895e-01 9.81613212e-01 -6.79442502e-03 -4.40777938e+01] [-3.68757868e-02 -2.49199580e-04 9.99319826e-01 -1.15961883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23587156 meters 0.013528988674121436 Centerline is valid? [True, True] Translation: X:261.96, Y:-44.09, Z:-11.60 [[ 9.81445579e-01 1.88324816e-01 3.60324619e-02 2.61964224e+02] [-1.88203619e-01 9.82106787e-01 -6.75697963e-03 -4.40870079e+01] [-3.66602323e-02 -1.49831921e-04 9.99327777e-01 -1.15982689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26587156 meters 0.013018194538862644 Centerline is valid? [True, True] Translation: X:261.99, Y:-44.10, Z:-11.60 [[ 9.81704007e-01 1.86983463e-01 3.59781567e-02 2.61994783e+02] [-1.86861718e-01 9.82363056e-01 -6.74711828e-03 -4.40952403e+01] [-3.66052116e-02 -9.92671534e-05 9.99329800e-01 -1.15997999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29587156 meters 0.012572690486525063 Centerline is valid? [True, True] Translation: X:262.02, Y:-44.11, Z:-11.60 [[ 9.82274786e-01 1.83919426e-01 3.61924043e-02 2.62024228e+02] [-1.83794152e-01 9.82941323e-01 -6.78711832e-03 -4.41076827e+01] [-3.68232927e-02 1.48629190e-05 9.99321792e-01 -1.16010357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32587156 meters 0.012572690486525063 Centerline is valid? [True, True] Translation: X:262.06, Y:-44.11, Z:-11.60 [[ 9.82246250e-01 1.84071953e-01 3.61914324e-02 2.62055304e+02] [-1.83946592e-01 9.82912771e-01 -6.79229636e-03 -4.41136759e+01] [-3.68232924e-02 1.44169830e-05 9.99321792e-01 -1.16024626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35587156 meters 0.012312672592329271 Centerline is valid? [True, True] Translation: X:262.09, Y:-44.12, Z:-11.60 [[ 9.82497647e-01 1.82656987e-01 3.65348981e-02 2.62087405e+02] [-1.82528047e-01 9.83176698e-01 -6.86239198e-03 -4.41226142e+01] [-3.71737243e-02 7.36403711e-05 9.99308816e-01 -1.16014949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38587156 meters 0.013465735875944296 Centerline is valid? [True, True] Translation: X:262.12, Y:-44.13, Z:-11.60 [[ 9.82847196e-01 1.80616832e-01 3.72686096e-02 2.62118227e+02] [-1.80480883e-01 9.83553524e-01 -7.00835807e-03 -4.41338321e+01] [-3.79214998e-02 1.61873511e-04 9.99280708e-01 -1.16037264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41587156 meters 0.014064675213757436 Centerline is valid? [True, True] Translation: X:262.15, Y:-44.14, Z:-11.60 [[ 9.82978034e-01 1.79893900e-01 3.73144665e-02 2.62149648e+02] [-1.79756930e-01 9.83686000e-01 -7.02131392e-03 -4.41420487e+01] [-3.79688099e-02 1.94263392e-04 9.99278906e-01 -1.16048415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44587156 meters 0.014738994120471723 Centerline is valid? [True, True] Translation: X:262.18, Y:-44.15, Z:-11.61 [[ 9.83116102e-01 1.79085825e-01 3.75632376e-02 2.62181896e+02] [-1.78946187e-01 9.83833427e-01 -7.07455300e-03 -4.41503251e+01] [-3.82229210e-02 2.33308844e-04 9.99269210e-01 -1.16061067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47587156000003 meters 0.016200365693509834 Centerline is valid? [True, True] Translation: X:262.21, Y:-44.16, Z:-11.61 [[ 9.83389625e-01 1.77597754e-01 3.74684270e-02 2.62211790e+02] [-1.77457475e-01 9.84103119e-01 -7.06364234e-03 -4.41590976e+01] [-3.81272829e-02 2.97260131e-04 9.99272847e-01 -1.16073517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50587156 meters 0.016960725909473378 Centerline is valid? [True, True] Translation: X:262.24, Y:-44.17, Z:-11.61 [[ 9.83492384e-01 1.77018720e-01 3.75113725e-02 2.62242445e+02] [-1.76877494e-01 9.84207431e-01 -7.07707483e-03 -4.41669850e+01] [-3.81717463e-02 3.25331617e-04 9.99271140e-01 -1.16083919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53587156000003 meters 0.018584134588617532 Centerline is valid? [True, True] Translation: X:262.27, Y:-44.18, Z:-11.61 [[ 9.83746365e-01 1.75505113e-01 3.79610850e-02 2.62272909e+02] [-1.75359102e-01 9.84478440e-01 -7.16841690e-03 -4.41783524e+01] [-3.86299636e-02 3.95082301e-04 9.99253506e-01 -1.16086598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56587156 meters 0.01757736722581743 Centerline is valid? [True, True] Translation: X:262.30, Y:-44.18, Z:-11.61 [[ 9.83905672e-01 1.74665737e-01 3.77028946e-02 2.62304650e+02] [-1.74520872e-01 9.84627693e-01 -7.12535067e-03 -4.41846969e+01] [-3.83678687e-02 4.30730924e-04 9.99263589e-01 -1.16089671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59587156 meters 0.022207159597063836 Centerline is valid? [True, True] Translation: X:262.33, Y:-44.20, Z:-11.61 [[ 9.84240793e-01 1.72970093e-01 3.67615019e-02 2.62333704e+02] [-1.72830959e-01 9.84926955e-01 -6.95363112e-03 -4.41996344e+01] [-3.74101644e-02 4.90521761e-04 9.99299874e-01 -1.16139551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62587156 meters 0.02317177154505852 Centerline is valid? [True, True] Translation: X:262.36, Y:-44.21, Z:-11.61 [[ 9.84336270e-01 1.72387873e-01 3.69395302e-02 2.62364784e+02] [-1.72246757e-01 9.85029010e-01 -6.99319820e-03 -4.42083508e+01] [-3.75920514e-02 5.20944330e-04 9.99293033e-01 -1.16149581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65587156 meters 0.022116268281471098 Centerline is valid? [True, True] Translation: X:262.40, Y:-44.22, Z:-11.61 [[ 9.84592526e-01 1.70821570e-01 3.73838128e-02 2.62396151e+02] [-1.70675691e-01 9.85301801e-01 -7.08302101e-03 -4.42156167e+01] [-3.80442709e-02 5.93381448e-04 9.99275879e-01 -1.16140938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68587156 meters 0.022876810980209092 Centerline is valid? [True, True] Translation: X:262.43, Y:-44.22, Z:-11.62 [[ 9.84673511e-01 1.70377448e-01 3.72773768e-02 2.62427433e+02] [-1.70231845e-01 9.85378682e-01 -7.06909123e-03 -4.42241688e+01] [-3.79367462e-02 6.14950252e-04 9.99279953e-01 -1.16155005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71587156 meters 0.039349876010209506 Centerline is valid? [True, True] Translation: X:262.46, Y:-44.23, Z:-11.62 [[ 9.84700570e-01 1.70260256e-01 3.70976210e-02 2.62459558e+02] [-1.70115746e-01 9.85398933e-01 -7.04097847e-03 -4.42341761e+01] [-3.77547550e-02 6.22366051e-04 9.99286841e-01 -1.16158443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74587156 meters 0.02278526884596784 Centerline is valid? [True, True] Translation: X:262.49, Y:-44.24, Z:-11.62 [[ 9.84548221e-01 1.71089601e-01 3.73249030e-02 2.62490064e+02] [-1.70943627e-01 9.85255290e-01 -7.09151899e-03 -4.42408274e+01] [-3.79878433e-02 6.01488103e-04 9.99278020e-01 -1.16180148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77587156 meters 0.021681162254150177 Centerline is valid? [True, True] Translation: X:262.52, Y:-44.25, Z:-11.62 [[ 9.84315426e-01 1.72325472e-01 3.77766230e-02 2.62522084e+02] [-1.72176628e-01 9.85039903e-01 -7.18314897e-03 -4.42463191e+01] [-3.84493206e-02 5.66232759e-04 9.99260391e-01 -1.16183576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80587156 meters 0.018950282074043152 Centerline is valid? [True, True] Translation: X:262.55, Y:-44.25, Z:-11.62 [[ 9.83782701e-01 1.75371879e-01 3.76337670e-02 2.62553487e+02] [-1.75226147e-01 9.84502158e-01 -7.16222583e-03 -4.42490749e+01] [-3.83065779e-02 4.51653887e-04 9.99265932e-01 -1.16203417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83587156 meters 0.018043639948626147 Centerline is valid? [True, True] Translation: X:262.58, Y:-44.25, Z:-11.63 [[ 9.83246423e-01 1.78502285e-01 3.69243286e-02 2.62584629e+02] [-1.78363995e-01 9.83939442e-01 -7.03271532e-03 -4.42521828e+01] [-3.75866590e-02 3.28921413e-04 9.99293318e-01 -1.16255942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86587156 meters 0.015774396929181506 Centerline is valid? [True, True] Translation: X:262.62, Y:-44.25, Z:-11.63 [[ 9.83064039e-01 1.79618649e-01 3.63625635e-02 2.62617730e+02] [-1.79485111e-01 9.83736275e-01 -6.93080968e-03 -4.42549607e+01] [-3.70160754e-02 2.86891014e-04 9.99314629e-01 -1.16256781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89587156 meters 0.015411949278362303 Centerline is valid? [True, True] Translation: X:262.65, Y:-44.26, Z:-11.63 [[ 9.82942831e-01 1.80302582e-01 3.62542294e-02 2.62648406e+02] [-1.80170028e-01 9.83611156e-01 -6.91765085e-03 -4.42608354e+01] [-3.69073348e-02 2.67729786e-04 9.99318656e-01 -1.16281133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92587156 meters 0.01542653225440999 Centerline is valid? [True, True] Translation: X:262.68, Y:-44.27, Z:-11.63 [[ 9.82899129e-01 1.80663573e-01 3.56367081e-02 2.62680815e+02] [-1.80535648e-01 9.83544920e-01 -6.80221878e-03 -4.42686035e+01] [-3.62792164e-02 2.52198729e-04 9.99341661e-01 -1.16309506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95587156 meters 0.016070075828190776 Centerline is valid? [True, True] Translation: X:262.71, Y:-44.28, Z:-11.63 [[ 9.82992122e-01 1.80120056e-01 3.58225382e-02 2.62713057e+02] [-1.79990189e-01 9.83644594e-01 -6.84433727e-03 -4.42771389e+01] [-3.64694484e-02 2.80224204e-04 9.99334729e-01 -1.16319556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98587156 meters 0.028481320342898117 Centerline is valid? [True, True] Translation: X:262.75, Y:-44.28, Z:-11.63 [[ 9.83071307e-01 1.79667321e-01 3.59229547e-02 2.62745460e+02] [-1.79536180e-01 9.83727381e-01 -6.87015238e-03 -4.42845324e+01] [-3.65727360e-02 3.04379620e-04 9.99330947e-01 -1.16316622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01587156 meters 0.016852269726465852 Centerline is valid? [True, True] Translation: X:262.78, Y:-44.29, Z:-11.63 [[ 9.83090016e-01 1.79489030e-01 3.63002615e-02 2.62777665e+02] [-1.79354746e-01 9.83759922e-01 -6.94911769e-03 -4.42920385e+01] [-3.69580328e-02 3.20984049e-04 9.99316767e-01 -1.16343805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04587156 meters 0.018158525326739026 Centerline is valid? [True, True] Translation: X:262.81, Y:-44.30, Z:-11.64 [[ 9.83290161e-01 1.78423020e-01 3.61342762e-02 2.62807324e+02] [-1.78288988e-01 9.83953806e-01 -6.92422935e-03 -4.43027692e+01] [-3.67899005e-02 3.66183065e-04 9.99322955e-01 -1.16364283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07587156 meters 0.019140887185759247 Centerline is valid? [True, True] Translation: X:262.84, Y:-44.31, Z:-11.64 [[ 9.83455538e-01 1.77479264e-01 3.62810530e-02 2.62838158e+02] [-1.77343301e-01 9.84124456e-01 -6.95768414e-03 -4.43126494e+01] [-3.69399161e-02 4.08371288e-04 9.99317405e-01 -1.16371982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10587156 meters 0.018270359075433732 Centerline is valid? [True, True] Translation: X:262.87, Y:-44.32, Z:-11.63 [[ 9.83785973e-01 1.75532841e-01 3.67883166e-02 2.62869508e+02] [-1.75391470e-01 9.84473452e-01 -7.06076231e-03 -4.43214351e+01] [-3.74565167e-02 4.93921980e-04 9.99298136e-01 -1.16349463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13587156 meters 0.02283108811989568 Centerline is valid? [True, True] Translation: X:262.90, Y:-44.34, Z:-11.64 [[ 9.83924375e-01 1.74834784e-01 3.64090864e-02 2.62898792e+02] [-1.74695594e-01 9.84597647e-01 -6.99450564e-03 -4.43351276e+01] [-3.70711837e-02 5.21557598e-04 9.99312491e-01 -1.16399655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16587156 meters 0.024519733283631932 Centerline is valid? [True, True] Translation: X:262.93, Y:-44.35, Z:-11.64 [[ 9.84134796e-01 1.73842782e-01 3.54596939e-02 2.62928857e+02] [-1.73709909e-01 9.84773266e-01 -6.81785485e-03 -4.43464848e+01] [-3.61049934e-02 5.49988006e-04 9.99347851e-01 -1.16431890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19587156 meters 0.03514315412482465 Centerline is valid? [True, True] Translation: X:262.96, Y:-44.36, Z:-11.64 [[ 9.84204737e-01 1.73459335e-01 3.53962580e-02 2.62959909e+02] [-1.73326490e-01 9.84840868e-01 -6.81116632e-03 -4.43552565e+01] [-3.60411419e-02 5.68473000e-04 9.99350145e-01 -1.16430362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22587156000003 meters 0.024002475671646047 Centerline is valid? [True, True] Translation: X:262.99, Y:-44.36, Z:-11.64 [[ 9.83944779e-01 1.74673765e-01 3.66298682e-02 2.62990517e+02] [-1.74532114e-01 9.84626211e-01 -7.05448089e-03 -4.43636493e+01] [-3.72989610e-02 5.48131301e-04 9.99304001e-01 -1.16435023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25587156 meters 0.030605451226383217 Centerline is valid? [True, True] Translation: X:263.02, Y:-44.37, Z:-11.64 [[ 9.83816258e-01 1.75274841e-01 3.72061896e-02 2.63022529e+02] [-1.75128877e-01 9.84519395e-01 -7.17203784e-03 -4.43705351e+01] [-3.78872931e-02 5.40089223e-04 9.99281873e-01 -1.16419081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28587156000003 meters 0.021743380717445006 Centerline is valid? [True, True] Translation: X:263.05, Y:-44.38, Z:-11.64 [[ 9.83561066e-01 1.76659515e-01 3.74038170e-02 2.63054613e+02] [-1.76512917e-01 9.84271901e-01 -7.21218929e-03 -4.43763563e+01] [-3.80896279e-02 4.91371745e-04 9.99274206e-01 -1.16440165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31587156 meters 0.018487641045931247 Centerline is valid? [True, True] Translation: X:263.09, Y:-44.38, Z:-11.65 [[ 9.83004943e-01 1.79700034e-01 3.75390355e-02 2.63086023e+02] [-1.79554535e-01 9.83721381e-01 -7.23967141e-03 -4.43800625e+01] [-3.82289210e-02 3.76328741e-04 9.99268937e-01 -1.16454933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34587156 meters 0.017051011351227285 Centerline is valid? [True, True] Translation: X:263.12, Y:-44.38, Z:-11.65 [[ 9.82694702e-01 1.81378241e-01 3.75906407e-02 2.63117260e+02] [-1.81233347e-01 9.83413358e-01 -7.25540021e-03 -4.43846794e+01] [-3.82831099e-02 3.17165718e-04 9.99266883e-01 -1.16472633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37587156 meters 0.013070457174420833 Centerline is valid? [True, True] Translation: X:263.15, Y:-44.39, Z:-11.65 [[ 9.82094757e-01 1.84718910e-01 3.69974739e-02 2.63149747e+02] [-1.84580719e-01 9.82791376e-01 -7.14628505e-03 -4.43856777e+01] [-3.76808523e-02 1.89308724e-04 9.99289807e-01 -1.16472034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40587156 meters 0.013195899340248438 Centerline is valid? [True, True] Translation: X:263.18, Y:-44.39, Z:-11.65 [[ 9.81733488e-01 1.86719629e-01 3.65395529e-02 2.63181157e+02] [-1.86585997e-01 9.82413236e-01 -7.06394020e-03 -4.43913635e+01] [-3.72159167e-02 1.17137746e-04 9.99307241e-01 -1.16521580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43587156 meters 0.012476633279926189 Centerline is valid? [True, True] Translation: X:263.22, Y:-44.39, Z:-11.66 [[ 9.80876050e-01 1.91286801e-01 3.59379192e-02 2.63215070e+02] [-1.91160358e-01 9.81534185e-01 -6.95416838e-03 -4.43908774e+01] [-3.66045369e-02 -4.87282802e-05 9.99329828e-01 -1.16551432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46587156 meters 0.029553435942611405 Centerline is valid? [True, True] Translation: X:263.25, Y:-44.39, Z:-11.66 [[ 9.80460959e-01 1.93481236e-01 3.55150644e-02 2.63247234e+02] [-1.93358963e-01 9.81103968e-01 -6.87860058e-03 -4.43930005e+01] [-3.61748508e-02 -1.22956726e-04 9.99345468e-01 -1.16558327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49587156 meters 0.017761175930989363 Centerline is valid? [True, True] Translation: X:263.28, Y:-44.39, Z:-11.66 [[ 9.79454170e-01 1.98587278e-01 3.51087228e-02 2.63278925e+02] [-1.98470831e-01 9.80083161e-01 -6.80642341e-03 -4.43903942e+01] [-3.57611371e-02 -3.01477590e-04 9.99360320e-01 -1.16594220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52587156 meters 0.02046671232072706 Centerline is valid? [True, True] Translation: X:263.31, Y:-44.39, Z:-11.66 [[ 9.79037486e-01 2.00666932e-01 3.49053390e-02 2.63310192e+02] [-2.00553140e-01 9.79659452e-01 -6.76726858e-03 -4.43914190e+01] [-3.55533123e-02 -3.74965735e-04 9.99367711e-01 -1.16617055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55587156 meters 0.02102382606472254 Centerline is valid? [True, True] Translation: X:263.34, Y:-44.39, Z:-11.66 [[ 9.78313881e-01 2.04272919e-01 3.42713432e-02 2.63342714e+02] [-2.04165419e-01 9.78913851e-01 -6.64481734e-03 -4.43947428e+01] [-3.49060488e-02 -4.96306094e-04 9.99390475e-01 -1.16607865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58587156 meters 0.022396485325056472 Centerline is valid? [True, True] Translation: X:263.37, Y:-44.40, Z:-11.66 [[ 9.78041078e-01 2.05567935e-01 3.43143394e-02 2.63373589e+02] [-2.05460895e-01 9.78642698e-01 -6.65502805e-03 -4.43981069e+01] [-3.49495380e-02 -5.41364078e-04 9.99388932e-01 -1.16628068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61587156 meters 0.028701132544746336 Centerline is valid? [True, True] Translation: X:263.41, Y:-44.40, Z:-11.67 [[ 9.77819302e-01 2.06592752e-01 3.44796582e-02 2.63405236e+02] [-2.06485282e-01 9.78426849e-01 -6.68803012e-03 -4.43951900e+01] [-3.51175219e-02 -5.79857000e-04 9.99383021e-01 -1.16685720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64587156 meters 0.02456532851415925 Centerline is valid? [True, True] Translation: X:263.44, Y:-44.40, Z:-11.66 [[ 9.77571195e-01 2.07681921e-01 3.49682511e-02 2.63435162e+02] [-2.07572068e-01 9.78196210e-01 -6.78311507e-03 -4.44049576e+01] [-3.56145411e-02 -6.27454279e-04 9.99365404e-01 -1.16643785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67587156 meters 0.023425781185919165 Centerline is valid? [True, True] Translation: X:263.47, Y:-44.41, Z:-11.66 [[ 9.77612700e-01 2.07468693e-01 3.50735092e-02 2.63466197e+02] [-2.07358011e-01 9.78241461e-01 -6.80435529e-03 -4.44099019e+01] [-3.57220516e-02 -6.20748961e-04 9.99361571e-01 -1.16649127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70587156 meters 0.02968270616099238 Centerline is valid? [True, True] Translation: X:263.50, Y:-44.41, Z:-11.67 [[ 9.77698849e-01 2.07062344e-01 3.50734335e-02 2.63497458e+02] [-2.06951366e-01 9.78327563e-01 -6.80529629e-03 -4.44066061e+01] [-3.57224274e-02 -6.04964649e-04 9.99361567e-01 -1.16714197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73587156 meters 0.02256106856472541 Centerline is valid? [True, True] Translation: X:263.53, Y:-44.42, Z:-11.67 [[ 9.77810882e-01 2.06495281e-01 3.52927373e-02 2.63527949e+02] [-2.06382577e-01 9.78447419e-01 -6.84689032e-03 -4.44215924e+01] [-3.59459383e-02 -5.88842200e-04 9.99353562e-01 -1.16681336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76587156 meters 0.022364203666059637 Centerline is valid? [True, True] Translation: X:263.56, Y:-44.43, Z:-11.67 [[ 9.78081705e-01 2.05095792e-01 3.59429226e-02 2.63558264e+02] [-2.04977722e-01 9.78741755e-01 -6.97927256e-03 -4.44266994e+01] [-3.66102586e-02 -5.41199601e-04 9.99329473e-01 -1.16694428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79587156 meters 0.027563328501023155 Centerline is valid? [True, True] Translation: X:263.59, Y:-44.44, Z:-11.67 [[ 9.78240517e-01 2.04277683e-01 3.62783664e-02 2.63589201e+02] [-2.04156632e-01 9.78912850e-01 -7.04992912e-03 -4.44366305e+01] [-3.69535022e-02 -5.09942777e-04 9.99316856e-01 -1.16672549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82587156 meters 0.019475847219885475 Centerline is valid? [True, True] Translation: X:263.62, Y:-44.44, Z:-11.67 [[ 9.78264308e-01 2.04110065e-01 3.65790344e-02 2.63620027e+02] [-2.03986637e-01 9.78947818e-01 -7.11491040e-03 -4.44388013e+01] [-3.72611907e-02 -5.01371315e-04 9.99305435e-01 -1.16703441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85587156 meters 0.01903559649562102 Centerline is valid? [True, True] Translation: X:263.65, Y:-44.44, Z:-11.67 [[ 9.78289422e-01 2.03977240e-01 3.66482203e-02 2.63652629e+02] [-2.03853039e-01 9.78975507e-01 -7.13403386e-03 -4.44444538e+01] [-3.73328906e-02 -4.91701228e-04 9.99302764e-01 -1.16719047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88587156 meters 0.019825157707608676 Centerline is valid? [True, True] Translation: X:263.68, Y:-44.45, Z:-11.68 [[ 9.78511197e-01 2.02983569e-01 3.62423624e-02 2.63683922e+02] [-2.02861158e-01 9.79182044e-01 -7.06220972e-03 -4.44462569e+01] [-3.69213830e-02 -4.41716318e-04 9.99318076e-01 -1.16760458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91587156 meters 0.017066556201455883 Centerline is valid? [True, True] Translation: X:263.71, Y:-44.45, Z:-11.68 [[ 9.78680184e-01 2.02191819e-01 3.61049367e-02 2.63714625e+02] [-2.02069595e-01 9.79345855e-01 -7.04090922e-03 -4.44549690e+01] [-3.67828343e-02 -4.04911615e-04 9.99323201e-01 -1.16756938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94587156 meters 0.014482819941758124 Centerline is valid? [True, True] Translation: X:263.75, Y:-44.46, Z:-11.68 [[ 9.79153934e-01 1.99796262e-01 3.65927089e-02 2.63746148e+02] [-1.99668806e-01 9.79837413e-01 -7.14230289e-03 -4.44634127e+01] [-3.72819106e-02 -3.13008500e-04 9.99304739e-01 -1.16753166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97587156000003 meters 0.022729956906889788 Centerline is valid? [True, True] Translation: X:263.78, Y:-44.47, Z:-11.68 [[ 9.79508050e-01 1.97993591e-01 3.69123021e-02 2.63776696e+02] [-1.97862366e-01 9.80203285e-01 -7.21138012e-03 -4.44705594e+01] [-3.76093668e-02 -2.39950538e-04 9.99292489e-01 -1.16756390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00587156 meters 0.014241122302818723 Centerline is valid? [True, True] Translation: X:263.81, Y:-44.48, Z:-11.68 [[ 9.80467524e-01 1.93225529e-01 3.67059752e-02 2.63807550e+02] [-1.93092171e-01 9.81154367e-01 -7.17781763e-03 -4.44827711e+01] [-3.74011655e-02 -5.00193437e-05 9.99300330e-01 -1.16776834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03587156000003 meters 0.011746683383342353 Centerline is valid? [True, True] Translation: X:263.84, Y:-44.49, Z:-11.68 [[ 9.80986057e-01 1.90603162e-01 3.65621585e-02 2.63838758e+02] [-1.90468981e-01 9.81667170e-01 -7.15090201e-03 -4.44932372e+01] [-3.72548552e-02 5.09780997e-05 9.99305796e-01 -1.16798647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06587156 meters 0.014411256827456875 Centerline is valid? [True, True] Translation: X:263.87, Y:-44.51, Z:-11.68 [[ 9.82062235e-01 1.84961260e-01 3.66483198e-02 2.63867080e+02] [-1.84822219e-01 9.82745775e-01 -7.17564918e-03 -4.45089847e+01] [-3.73431986e-02 2.73510283e-04 9.99302462e-01 -1.16817311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09587156000003 meters 0.018782714054721972 Centerline is valid? [True, True] Translation: X:263.90, Y:-44.52, Z:-11.68 [[ 9.82556733e-01 1.82271161e-01 3.68712784e-02 2.63896970e+02] [-1.82128292e-01 9.83248227e-01 -7.22556086e-03 -4.45205178e+01] [-3.75706305e-02 3.84220486e-04 9.99293901e-01 -1.16829350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12587156 meters 0.020838745975949362 Centerline is valid? [True, True] Translation: X:263.93, Y:-44.53, Z:-11.68 [[ 9.83315671e-01 1.78145927e-01 3.68010768e-02 2.63926669e+02] [-1.78000490e-01 9.84003928e-01 -7.21773973e-03 -4.45342733e+01] [-3.74982151e-02 5.46706890e-04 9.99296545e-01 -1.16849480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15587156 meters 0.02191775534986208 Centerline is valid? [True, True] Translation: X:263.96, Y:-44.54, Z:-11.69 [[ 9.83512742e-01 1.77062562e-01 3.67632305e-02 2.63957740e+02] [-1.76916454e-01 9.84199420e-01 -7.21599118e-03 -4.45433230e+01] [-3.74600320e-02 5.92998872e-04 9.99297951e-01 -1.16864379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18587156 meters 0.023407250066768796 Centerline is valid? [True, True] Translation: X:263.99, Y:-44.55, Z:-11.69 [[ 9.83688688e-01 1.76081149e-01 3.67694720e-02 2.63986827e+02] [-1.75934048e-01 9.84375448e-01 -7.22410508e-03 -4.45542316e+01] [-3.74669942e-02 6.37268384e-04 9.99297662e-01 -1.16882567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21587156 meters 0.023407250066768796 Centerline is valid? [True, True] Translation: X:264.02, Y:-44.56, Z:-11.69 [[ 9.83656116e-01 1.76263108e-01 3.67690300e-02 2.64018656e+02] [-1.76116050e-01 9.84342886e-01 -7.22635434e-03 -4.45606853e+01] [-3.74670728e-02 6.32631304e-04 9.99297662e-01 -1.16897211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24587156 meters 0.02254913200818927 Centerline is valid? [True, True] Translation: X:264.05, Y:-44.57, Z:-11.69 [[ 9.83610823e-01 1.76506925e-01 3.68110630e-02 2.64051452e+02] [-1.76359437e-01 9.84299196e-01 -7.24166682e-03 -4.45674026e+01] [-3.75113040e-02 6.31003542e-04 9.99296004e-01 -1.16907084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27587156 meters 0.021824023693297983 Centerline is valid? [True, True] Translation: X:264.08, Y:-44.58, Z:-11.69 [[ 9.83353453e-01 1.77950762e-01 3.67357205e-02 2.64082174e+02] [-1.77804607e-01 9.84039220e-01 -7.23425026e-03 -4.45750427e+01] [-3.74367301e-02 5.82044630e-04 9.99298830e-01 -1.16921618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30587156 meters 0.01992166902777132 Centerline is valid? [True, True] Translation: X:264.11, Y:-44.58, Z:-11.69 [[ 9.83110776e-01 1.79269843e-01 3.68174726e-02 2.64113673e+02] [-1.79123724e-01 9.83799793e-01 -7.25664628e-03 -4.45799191e+01] [-3.75219198e-02 5.39204357e-04 9.99295659e-01 -1.16929769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33587156 meters 0.019222272289648942 Centerline is valid? [True, True] Translation: X:264.14, Y:-44.59, Z:-11.69 [[ 9.82840748e-01 1.80699579e-01 3.70368123e-02 2.64144658e+02] [-1.80552479e-01 9.83538214e-01 -7.30646024e-03 -4.45857416e+01] [-3.77473945e-02 4.93998575e-04 9.99287191e-01 -1.16945170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36587156 meters 0.01557205398088244 Centerline is valid? [True, True] Translation: X:264.18, Y:-44.59, Z:-11.69 [[ 9.82179587e-01 1.84210464e-01 3.72795465e-02 2.64177456e+02] [-1.84063728e-01 9.82886753e-01 -7.36029507e-03 -4.45872693e+01] [-3.79974158e-02 3.67319256e-04 9.99277770e-01 -1.16942919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39587156 meters 0.013139562885393252 Centerline is valid? [True, True] Translation: X:264.21, Y:-44.59, Z:-11.70 [[ 9.81371424e-01 1.88449910e-01 3.73732565e-02 2.64208208e+02] [-1.88305250e-01 9.82082780e-01 -7.38551391e-03 -4.45902000e+01] [-3.80954311e-02 2.10351912e-04 9.99274083e-01 -1.16956208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42587156 meters 0.011921701348886845 Centerline is valid? [True, True] Translation: X:264.24, Y:-44.59, Z:-11.70 [[ 9.80892133e-01 1.90927815e-01 3.73790452e-02 2.64240226e+02] [-1.90784677e-01 9.81604072e-01 -7.39269421e-03 -4.45945802e+01] [-3.81028940e-02 1.20086506e-04 9.99273814e-01 -1.16969412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45587156 meters 0.011528676700432313 Centerline is valid? [True, True] Translation: X:264.27, Y:-44.60, Z:-11.70 [[ 9.80418034e-01 1.93349186e-01 3.73707171e-02 2.64271850e+02] [-1.93207622e-01 9.81130007e-01 -7.39754146e-03 -4.45988195e+01] [-3.80958406e-02 3.23756752e-05 9.99274089e-01 -1.16997451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48587156 meters 0.012266012724558323 Centerline is valid? [True, True] Translation: X:264.30, Y:-44.60, Z:-11.70 [[ 9.79430962e-01 1.98373509e-01 3.69180467e-02 2.64304925e+02] [-1.98238658e-01 9.80126485e-01 -7.31487499e-03 -4.45984853e+01] [-3.76354328e-02 -1.54168981e-04 9.99291524e-01 -1.17012809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51587156 meters 0.013769199045410635 Centerline is valid? [True, True] Translation: X:264.34, Y:-44.60, Z:-11.70 [[ 9.78879918e-01 2.01094274e-01 3.68130297e-02 2.64336207e+02] [-2.00961869e-01 9.79571860e-01 -7.30054049e-03 -4.46002780e+01] [-3.75291049e-02 -2.51662762e-04 9.99295503e-01 -1.17030484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54587156 meters 0.016809399177915144 Centerline is valid? [True, True] Translation: X:264.37, Y:-44.60, Z:-11.70 [[ 9.77903434e-01 2.05761381e-01 3.69746859e-02 2.64369308e+02] [-2.05630920e-01 9.78602101e-01 -7.33845254e-03 -4.45999465e+01] [-3.76934755e-02 -4.26840738e-04 9.99289257e-01 -1.17043410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57587156 meters 0.018861350421344698 Centerline is valid? [True, True] Translation: X:264.40, Y:-44.60, Z:-11.71 [[ 9.77450053e-01 2.07923238e-01 3.68689628e-02 2.64400785e+02] [-2.07794814e-01 9.78145017e-01 -7.32396052e-03 -4.46024188e+01] [-3.75860138e-02 -5.02373659e-04 9.99293270e-01 -1.17060176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60587156 meters 0.020373053355566415 Centerline is valid? [True, True] Translation: X:264.43, Y:-44.61, Z:-11.71 [[ 9.77035792e-01 2.09890448e-01 3.67023295e-02 2.64432843e+02] [-2.09764354e-01 9.77724744e-01 -7.29659972e-03 -4.46060644e+01] [-3.74162623e-02 -5.69801364e-04 9.99299604e-01 -1.17077639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63587156 meters 0.023067900140370894 Centerline is valid? [True, True] Translation: X:264.46, Y:-44.61, Z:-11.71 [[ 9.76540729e-01 2.12226191e-01 3.64451399e-02 2.64463935e+02] [-2.12103228e-01 9.77220356e-01 -7.25237458e-03 -4.46066035e+01] [-3.71540764e-02 -6.47892630e-04 9.99309339e-01 -1.17097613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66587156 meters 0.024295812523710034 Centerline is valid? [True, True] Translation: X:264.49, Y:-44.61, Z:-11.71 [[ 9.76351129e-01 2.13142129e-01 3.61787999e-02 2.64494510e+02] [-2.13021462e-01 9.77020971e-01 -7.20269749e-03 -4.46088164e+01] [-3.68826445e-02 -6.74499014e-04 9.99319376e-01 -1.17118085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69587156 meters 0.024175350309186206 Centerline is valid? [True, True] Translation: X:264.52, Y:-44.61, Z:-11.71 [[ 9.76333643e-01 2.13190922e-01 3.63627356e-02 2.64524251e+02] [-2.13068972e-01 9.77010323e-01 -7.24165109e-03 -4.46139311e+01] [-3.70706223e-02 -6.77503092e-04 9.99312419e-01 -1.17125959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72587156000003 meters 0.02350564970120733 Centerline is valid? [True, True] Translation: X:264.55, Y:-44.62, Z:-11.71 [[ 9.76468522e-01 2.12540049e-01 3.65507029e-02 2.64554701e+02] [-2.12416379e-01 9.77152136e-01 -7.27908315e-03 -4.46197842e+01] [-3.72626941e-02 -6.56172391e-04 9.99305289e-01 -1.17138066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75587156 meters 0.021807047437994186 Centerline is valid? [True, True] Translation: X:264.58, Y:-44.63, Z:-11.72 [[ 9.76942330e-01 2.10374627e-01 3.64170456e-02 2.64584209e+02] [-2.10250358e-01 9.77620678e-01 -7.25238256e-03 -4.46261723e+01] [-3.71277741e-02 -5.71537383e-04 9.99310363e-01 -1.17161008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78587156000003 meters 0.019467368562151848 Centerline is valid? [True, True] Translation: X:264.61, Y:-44.64, Z:-11.72 [[ 9.77215611e-01 2.09126413e-01 3.62738591e-02 2.64614866e+02] [-2.09002291e-01 9.77888475e-01 -7.22303377e-03 -4.46355392e+01] [-3.69823159e-02 -5.22858309e-04 9.99315783e-01 -1.17173930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81587156 meters 0.016384858178869584 Centerline is valid? [True, True] Translation: X:264.65, Y:-44.65, Z:-11.72 [[ 9.77950866e-01 2.05651319e-01 3.63268318e-02 2.64645302e+02] [-2.05524204e-01 9.78625253e-01 -7.23984997e-03 -4.46454520e+01] [-3.70392396e-02 -3.85825629e-04 9.99313737e-01 -1.17185825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84587156000003 meters 0.01599249460563359 Centerline is valid? [True, True] Translation: X:264.68, Y:-44.65, Z:-11.72 [[ 9.78241150e-01 2.04270582e-01 3.63012787e-02 2.64676138e+02] [-2.04142464e-01 9.78914410e-01 -7.24099122e-03 -4.46523363e+01] [-3.70149663e-02 -3.27196897e-04 9.99314658e-01 -1.17210116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87587156 meters 0.01336881690841718 Centerline is valid? [True, True] Translation: X:264.71, Y:-44.66, Z:-11.72 [[ 9.78922781e-01 2.00947513e-01 3.64730781e-02 2.64706743e+02] [-2.00815637e-01 9.79601990e-01 -7.28158011e-03 -4.46634338e+01] [-3.71923153e-02 -1.96259772e-04 9.99308107e-01 -1.17222118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90587156 meters 0.01229734370147507 Centerline is valid? [True, True] Translation: X:264.74, Y:-44.67, Z:-11.72 [[ 9.79237207e-01 1.99419336e-01 3.64200675e-02 2.64737972e+02] [-1.99286567e-01 9.79914237e-01 -7.27688382e-03 -4.46728324e+01] [-3.71396940e-02 -1.32234853e-04 9.99310075e-01 -1.17226932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93587156 meters 0.012143215686821602 Centerline is valid? [True, True] Translation: X:264.77, Y:-44.68, Z:-11.73 [[ 9.79476628e-01 1.98268298e-01 3.62659277e-02 2.64768457e+02] [-1.98135636e-01 9.80147782e-01 -7.25222723e-03 -4.46808760e+01] [-3.69838554e-02 -8.21855684e-05 9.99315860e-01 -1.17259283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96587156 meters 0.011910899065040071 Centerline is valid? [True, True] Translation: X:264.80, Y:-44.69, Z:-11.73 [[ 9.79925278e-01 1.96053440e-01 3.61869901e-02 2.64800046e+02] [-1.95919599e-01 9.80593213e-01 -7.24307322e-03 -4.46912673e+01] [-3.69047463e-02 7.92995361e-06 9.99318788e-01 -1.17276855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99587156 meters 0.01187846483640406 Centerline is valid? [True, True] Translation: X:264.83, Y:-44.70, Z:-11.73 [[ 9.80044887e-01 1.95431019e-01 3.63144051e-02 2.64831681e+02] [-1.95295557e-01 9.80717449e-01 -7.27529790e-03 -4.46989934e+01] [-3.70359896e-02 3.80765313e-05 9.99313932e-01 -1.17278509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02587156 meters 0.012045843732196717 Centerline is valid? [True, True] Translation: X:264.86, Y:-44.71, Z:-11.73 [[ 9.80265694e-01 1.94256585e-01 3.66544468e-02 2.64863262e+02] [-1.94117480e-01 9.80950749e-01 -7.35069884e-03 -4.47082374e+01] [-3.73841287e-02 9.03690506e-05 9.99300965e-01 -1.17280999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05587156 meters 0.01205199690195615 Centerline is valid? [True, True] Translation: X:264.90, Y:-44.72, Z:-11.73 [[ 9.80299272e-01 1.94048923e-01 3.68558414e-02 2.64895429e+02] [-1.93907862e-01 9.80991847e-01 -7.39843579e-03 -4.47153864e+01] [-3.75909384e-02 1.06043823e-04 9.99293205e-01 -1.17290213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08587156 meters 0.01247108000797512 Centerline is valid? [True, True] Translation: X:264.93, Y:-44.72, Z:-11.73 [[ 9.80250785e-01 1.94317385e-01 3.67308048e-02 2.64926281e+02] [-1.94177191e-01 9.80938705e-01 -7.38073750e-03 -4.47217704e+01] [-3.74648737e-02 1.02689246e-04 9.99297940e-01 -1.17317908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11587156 meters 0.023432557711090707 Centerline is valid? [True, True] Translation: X:264.96, Y:-44.73, Z:-11.73 [[ 9.80161571e-01 1.94761223e-01 3.67608581e-02 2.64958521e+02] [-1.94620855e-01 9.80850680e-01 -7.39361553e-03 -4.47274402e+01] [-3.74969023e-02 9.25081914e-05 9.99296740e-01 -1.17316558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14587156 meters 0.011845265199453994 Centerline is valid? [True, True] Translation: X:264.99, Y:-44.73, Z:-11.73 [[ 9.79684026e-01 1.97139809e-01 3.68117473e-02 2.64991874e+02] [-1.97000475e-01 9.80375385e-01 -7.41063238e-03 -4.47309161e+01] [-3.75502616e-02 8.14647089e-06 9.99294740e-01 -1.17343505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17587156 meters 0.02633086725720447 Centerline is valid? [True, True] Translation: X:265.02, Y:-44.73, Z:-11.73 [[ 9.79365699e-01 1.98786493e-01 3.64246842e-02 2.65023727e+02] [-1.98650962e-01 9.80042819e-01 -7.33942331e-03 -4.47341860e+01] [-3.71567285e-02 -4.78191357e-05 9.99309449e-01 -1.17349169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20587156 meters 0.012683910593692583 Centerline is valid? [True, True] Translation: X:265.06, Y:-44.73, Z:-11.73 [[ 9.78536882e-01 2.02738743e-01 3.69130409e-02 2.65057876e+02] [-2.02602127e-01 9.79232845e-01 -7.44404438e-03 -4.47344148e+01] [-3.76556582e-02 -1.94388625e-04 9.99290755e-01 -1.17343810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23587156 meters 0.013368972501502445 Centerline is valid? [True, True] Translation: X:265.09, Y:-44.74, Z:-11.74 [[ 9.78126604e-01 2.04662042e-01 3.71724987e-02 2.65090650e+02] [-2.04524600e-01 9.78832662e-01 -7.50390240e-03 -4.47373411e+01] [-3.79214198e-02 -2.62923857e-04 9.99280690e-01 -1.17353417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26587156 meters 0.016708716900060688 Centerline is valid? [True, True] Translation: X:265.12, Y:-44.73, Z:-11.74 [[ 9.77367555e-01 2.08202991e-01 3.74723495e-02 2.65123042e+02] [-2.08065599e-01 9.78085558e-01 -7.57287947e-03 -4.47347710e+01] [-3.82278600e-02 -3.95220150e-04 9.99268970e-01 -1.17374524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29587156 meters 0.017912541685314292 Centerline is valid? [True, True] Translation: X:265.15, Y:-44.74, Z:-11.74 [[ 9.77111682e-01 2.09402593e-01 3.74608518e-02 2.65152752e+02] [-2.09266007e-01 9.77829414e-01 -7.57470199e-03 -4.47369871e+01] [-3.82164850e-02 -4.37953081e-04 9.99269387e-01 -1.17388236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32587156 meters 0.021463717579103984 Centerline is valid? [True, True] Translation: X:265.18, Y:-44.73, Z:-11.74 [[ 9.76761446e-01 2.10989047e-01 3.76921586e-02 2.65183076e+02] [-2.10851928e-01 9.77488296e-01 -7.62200655e-03 -4.47334624e+01] [-3.84518038e-02 -5.02582186e-04 9.99260330e-01 -1.17407404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35587156 meters 0.01963560894232007 Centerline is valid? [True, True] Translation: X:265.21, Y:-44.74, Z:-11.74 [[ 9.76612932e-01 2.11665456e-01 3.77480605e-02 2.65212188e+02] [-2.11528481e-01 9.77342035e-01 -7.63210909e-03 -4.47400775e+01] [-3.85082201e-02 -5.31173466e-04 9.99258142e-01 -1.17400974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38587156 meters 0.022011834073337316 Centerline is valid? [True, True] Translation: X:265.24, Y:-44.74, Z:-11.74 [[ 9.76655064e-01 2.11511698e-01 3.75191617e-02 2.65241635e+02] [-2.11376298e-01 9.77375326e-01 -7.58500296e-03 -4.47405643e+01] [-3.82746197e-02 -5.22729958e-04 9.99267122e-01 -1.17410852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41587156 meters 0.018650688343710677 Centerline is valid? [True, True] Translation: X:265.27, Y:-44.75, Z:-11.74 [[ 9.76720160e-01 2.11229436e-01 3.74146402e-02 2.65271411e+02] [-2.11094644e-01 9.77436373e-01 -7.56227035e-03 -4.47472329e+01] [-3.81678043e-02 -5.11808246e-04 9.99271213e-01 -1.17427872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44587156 meters 0.01862474995703255 Centerline is valid? [True, True] Translation: X:265.30, Y:-44.75, Z:-11.75 [[ 9.76917548e-01 2.10433125e-01 3.67423910e-02 2.65300922e+02] [-2.10302576e-01 9.77608141e-01 -7.42628209e-03 -4.47508658e+01] [-3.74823963e-02 -4.72154195e-04 9.99297177e-01 -1.17456802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47587156000003 meters 0.01640376603567055 Centerline is valid? [True, True] Translation: X:265.33, Y:-44.76, Z:-11.75 [[ 9.77562059e-01 2.07521717e-01 3.61546339e-02 2.65328883e+02] [-2.07393286e-01 9.78230347e-01 -7.30844078e-03 -4.47573279e+01] [-3.68842203e-02 -3.53773907e-04 9.99319483e-01 -1.17492431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50587156 meters 0.014685269984133246 Centerline is valid? [True, True] Translation: X:265.36, Y:-44.77, Z:-11.75 [[ 9.77944094e-01 2.05798889e-01 3.56674464e-02 2.65358561e+02] [-2.05672809e-01 9.78594265e-01 -7.20836528e-03 -4.47658527e+01] [-3.63874321e-02 -2.86445642e-04 9.99337717e-01 -1.17503701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53587156000003 meters 0.012545248079427465 Centerline is valid? [True, True] Translation: X:265.39, Y:-44.77, Z:-11.75 [[ 9.78879470e-01 2.01289196e-01 3.57441160e-02 2.65387682e+02] [-2.01159586e-01 9.79531850e-01 -7.22328459e-03 -4.47749083e+01] [-3.64664693e-02 -1.19546597e-04 9.99334870e-01 -1.17526624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56587156 meters 0.01206005960355302 Centerline is valid? [True, True] Translation: X:265.42, Y:-44.78, Z:-11.75 [[ 9.79372009e-01 1.98860883e-01 3.58443499e-02 2.65417869e+02] [-1.98728815e-01 9.80027728e-01 -7.24636889e-03 -4.47831765e+01] [-3.65694762e-02 -2.64143216e-05 9.99331113e-01 -1.17538855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59587156000003 meters 0.013204057506389182 Centerline is valid? [True, True] Translation: X:265.45, Y:-44.80, Z:-11.76 [[ 9.80331571e-01 1.94028716e-01 3.60952648e-02 2.65448299e+02] [-1.93891528e-01 9.80995838e-01 -7.29670689e-03 -4.47950454e+01] [-3.68250752e-02 1.54626092e-04 9.99321715e-01 -1.17550833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62587156 meters 0.014057938542856153 Centerline is valid? [True, True] Translation: X:265.48, Y:-44.80, Z:-11.76 [[ 9.80739993e-01 1.91990612e-01 3.58980796e-02 2.65479450e+02] [-1.91853309e-01 9.81396734e-01 -7.26350646e-03 -4.48027771e+01] [-3.66247831e-02 2.36445897e-04 9.99329060e-01 -1.17551094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65587156 meters 0.01684383824931164 Centerline is valid? [True, True] Translation: X:265.51, Y:-44.81, Z:-11.76 [[ 9.81386912e-01 1.88701622e-01 3.56570717e-02 2.65509494e+02] [-1.88563753e-01 9.82034402e-01 -7.22114483e-03 -4.48124456e+01] [-3.63791128e-02 3.63105755e-04 9.99337995e-01 -1.17580014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68587156 meters 0.017563729280738294 Centerline is valid? [True, True] Translation: X:265.54, Y:-44.82, Z:-11.76 [[ 9.81511587e-01 1.88081147e-01 3.55033488e-02 2.65540072e+02] [-1.87943846e-01 9.82153415e-01 -7.19588728e-03 -4.48195414e+01] [-3.62231460e-02 3.90210818e-04 9.99343650e-01 -1.17595964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71587156 meters 0.018230065788043866 Centerline is valid? [True, True] Translation: X:265.57, Y:-44.83, Z:-11.76 [[ 9.81627112e-01 1.87515423e-01 3.53012681e-02 2.65571020e+02] [-1.87379118e-01 9.82261571e-01 -7.16040966e-03 -4.48266882e+01] [-3.60177663e-02 4.14131762e-04 9.99351064e-01 -1.17612687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74587156 meters 0.01900581262086141 Centerline is valid? [True, True] Translation: X:265.60, Y:-44.83, Z:-11.76 [[ 9.81736179e-01 1.86830212e-01 3.58963193e-02 2.65603270e+02] [-1.86688594e-01 9.82392115e-01 -7.28711405e-03 -4.48340019e+01] [-3.66257141e-02 4.52590143e-04 9.99328951e-01 -1.17620004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77587156 meters 0.01917889634706349 Centerline is valid? [True, True] Translation: X:265.64, Y:-44.84, Z:-11.76 [[ 9.81795716e-01 1.86448509e-01 3.62508813e-02 2.65635189e+02] [-1.86303554e-01 9.82464617e-01 -7.36621638e-03 -4.48407965e+01] [-3.69886283e-02 4.78451650e-04 9.99315572e-01 -1.17626091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80587156 meters 0.01975418684002592 Centerline is valid? [True, True] Translation: X:265.67, Y:-44.85, Z:-11.76 [[ 9.81840515e-01 1.86130603e-01 3.66688042e-02 2.65666664e+02] [-1.85981786e-01 9.82524883e-01 -7.45855580e-03 -4.48471107e+01] [-3.74162780e-02 5.03382585e-04 9.99299639e-01 -1.17629698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83587156 meters 0.018846258168352427 Centerline is valid? [True, True] Translation: X:265.70, Y:-44.85, Z:-11.76 [[ 9.81827825e-01 1.86222714e-01 3.65407049e-02 2.65699735e+02] [-1.86074756e-01 9.82507428e-01 -7.43901950e-03 -4.48521954e+01] [-3.72868283e-02 5.04533599e-04 9.99304477e-01 -1.17636973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86587156 meters 0.01955485139246579 Centerline is valid? [True, True] Translation: X:265.73, Y:-44.86, Z:-11.77 [[ 9.81721076e-01 1.86832379e-01 3.62958816e-02 2.65730643e+02] [-1.86686540e-01 9.82391687e-01 -7.39657631e-03 -4.48601374e+01] [-3.70386923e-02 4.85422307e-04 9.99313714e-01 -1.17664437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89587156 meters 0.028749465587999967 Centerline is valid? [True, True] Translation: X:265.76, Y:-44.87, Z:-11.77 [[ 9.81620580e-01 1.87481971e-01 3.56587702e-02 2.65762943e+02] [-1.87341400e-01 9.82267937e-01 -7.27326868e-03 -4.48660189e+01] [-3.63900734e-02 4.59226302e-04 9.99337556e-01 -1.17662600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92587156 meters 0.018605466069384385 Centerline is valid? [True, True] Translation: X:265.79, Y:-44.87, Z:-11.77 [[ 9.81425329e-01 1.88521439e-01 3.55526452e-02 2.65793216e+02] [-1.88382124e-01 9.82068982e-01 -7.25882121e-03 -4.48716835e+01] [-3.62835935e-02 4.26508186e-04 9.99341443e-01 -1.17705000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95587156 meters 0.016097581169179347 Centerline is valid? [True, True] Translation: X:265.83, Y:-44.87, Z:-11.77 [[ 9.80980406e-01 1.90900303e-01 3.51356883e-02 2.65825400e+02] [-1.90765572e-01 9.81609372e-01 -7.17896221e-03 -4.48737463e+01] [-3.58599870e-02 3.39741571e-04 9.99356766e-01 -1.17716476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98587156 meters 0.01539114136976117 Centerline is valid? [True, True] Translation: X:265.86, Y:-44.88, Z:-11.77 [[ 9.80624150e-01 1.92664694e-01 3.54484447e-02 2.65856788e+02] [-1.92528478e-01 9.81264610e-01 -7.24914342e-03 -4.48781540e+01] [-3.61809583e-02 2.83850000e-04 9.99345214e-01 -1.17733639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01587156 meters 0.012903754335616234 Centerline is valid? [True, True] Translation: X:265.89, Y:-44.88, Z:-11.77 [[ 9.79890531e-01 1.96280575e-01 3.58954502e-02 2.65888373e+02] [-1.96143047e-01 9.80547760e-01 -7.34811203e-03 -4.48780413e+01] [-3.66394950e-02 1.59702425e-04 9.99328536e-01 -1.17738952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04587156 meters 0.012490662983760836 Centerline is valid? [True, True] Translation: X:265.92, Y:-44.88, Z:-11.78 [[ 9.79554743e-01 1.97987700e-01 3.56843911e-02 2.65918919e+02] [-1.97852881e-01 9.80204500e-01 -7.30588054e-03 -4.48813459e+01] [-3.64244752e-02 9.62503428e-05 9.99336404e-01 -1.17755979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07587156 meters 0.012207656297605425 Centerline is valid? [True, True] Translation: X:265.95, Y:-44.88, Z:-11.78 [[ 9.79211579e-01 1.99703492e-01 3.55415135e-02 2.65948112e+02] [-1.99570865e-01 9.79856374e-01 -7.27705082e-03 -4.48836471e+01] [-3.62788310e-02 3.27218283e-05 9.99341706e-01 -1.17776330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10587156 meters 0.012337789988512602 Centerline is valid? [True, True] Translation: X:265.98, Y:-44.88, Z:-11.78 [[ 9.78630825e-01 2.02575255e-01 3.52841974e-02 2.65978084e+02] [-2.02446379e-01 9.79266695e-01 -7.22517456e-03 -4.48830619e+01] [-3.60162810e-02 -7.23794526e-05 9.99351201e-01 -1.17790287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13587156 meters 0.012337789988512602 Centerline is valid? [True, True] Translation: X:266.01, Y:-44.89, Z:-11.78 [[ 9.78635591e-01 2.02552201e-01 3.52843675e-02 2.66006637e+02] [-2.02423339e-01 9.79271464e-01 -7.22434417e-03 -4.48888620e+01] [-3.60162810e-02 -7.23791592e-05 9.99351201e-01 -1.17803422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16587156 meters 0.012578984096906614 Centerline is valid? [True, True] Translation: X:266.04, Y:-44.89, Z:-11.78 [[ 9.78414604e-01 2.03624378e-01 3.52416564e-02 2.66036545e+02] [-2.03496554e-01 9.79049079e-01 -7.21474212e-03 -4.48924309e+01] [-3.59724086e-02 -1.12546579e-04 9.99352777e-01 -1.17808962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19587156 meters 0.013930356374109446 Centerline is valid? [True, True] Translation: X:266.07, Y:-44.89, Z:-11.78 [[ 9.78090889e-01 2.05198075e-01 3.50993334e-02 2.66065750e+02] [-2.05072322e-01 9.78720451e-01 -7.18483653e-03 -4.48937678e+01] [-3.58267500e-02 -1.70478637e-04 9.99358001e-01 -1.17848377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22587156000003 meters 0.013667371327719861 Centerline is valid? [True, True] Translation: X:266.09, Y:-44.90, Z:-11.79 [[ 9.78033495e-01 2.05455654e-01 3.51917300e-02 2.66094344e+02] [-2.05329448e-01 9.78666410e-01 -7.20252108e-03 -4.48988567e+01] [-3.59207628e-02 -1.81591649e-04 9.99354625e-01 -1.17850241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25587156 meters 0.01335862648030586 Centerline is valid? [True, True] Translation: X:266.12, Y:-44.90, Z:-11.79 [[ 9.78068511e-01 2.05233005e-01 3.55162235e-02 2.66122898e+02] [-2.05104377e-01 9.78713126e-01 -7.26720354e-03 -4.49043755e+01] [-3.62516641e-02 -1.76709924e-04 9.99342677e-01 -1.17851844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28587156000003 meters 0.012937240445194958 Centerline is valid? [True, True] Translation: X:266.15, Y:-44.91, Z:-11.79 [[ 9.78199177e-01 2.04533546e-01 3.59499593e-02 2.66151113e+02] [-2.04401349e-01 9.78859543e-01 -7.35415801e-03 -4.49104368e+01] [-3.66941328e-02 -1.54388871e-04 9.99326532e-01 -1.17856114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31587156 meters 0.024876672844173896 Centerline is valid? [True, True] Translation: X:266.18, Y:-44.92, Z:-11.78 [[ 9.78521486e-01 2.02875497e-01 3.65682017e-02 2.66179985e+02] [-2.02737631e-01 9.79204536e-01 -7.47859086e-03 -4.49174642e+01] [-3.73249718e-02 -9.57887392e-05 9.99303176e-01 -1.17828947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34587156000003 meters 0.011683788768894084 Centerline is valid? [True, True] Translation: X:266.21, Y:-44.93, Z:-11.79 [[ 9.78756081e-01 2.01676945e-01 3.69180710e-02 2.66208817e+02] [-2.01535610e-01 9.79452095e-01 -7.54921336e-03 -4.49254013e+01] [-3.76819842e-02 -5.14674894e-05 9.99289781e-01 -1.17853889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37587156 meters 0.01179467784273513 Centerline is valid? [True, True] Translation: X:266.24, Y:-44.94, Z:-11.79 [[ 9.79335396e-01 1.98918537e-01 3.65184555e-02 2.66237575e+02] [-1.98778369e-01 9.80016027e-01 -7.46639158e-03 -4.49358165e+01] [-3.72738754e-02 5.30225088e-05 9.99305086e-01 -1.17873714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40587156 meters 0.01223658328892269 Centerline is valid? [True, True] Translation: X:266.27, Y:-44.94, Z:-11.79 [[ 9.79627689e-01 1.97429632e-01 3.67577354e-02 2.66266684e+02] [-1.97286576e-01 9.80317055e-01 -7.51522097e-03 -4.49448893e+01] [-3.75179622e-02 1.10310788e-04 9.99295947e-01 -1.17898897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43587156 meters 0.013203775479224187 Centerline is valid? [True, True] Translation: X:266.30, Y:-44.95, Z:-11.79 [[ 9.79963046e-01 1.95750284e-01 3.68002009e-02 2.66295489e+02] [-1.95605696e-01 9.80653759e-01 -7.52437057e-03 -4.49547462e+01] [-3.75611530e-02 1.75276201e-04 9.99294316e-01 -1.17915926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46587156 meters 0.014997874749035 Centerline is valid? [True, True] Translation: X:266.33, Y:-44.97, Z:-11.79 [[ 9.80579902e-01 1.92722376e-01 3.63475229e-02 2.66325941e+02] [-1.92579274e-01 9.81253282e-01 -7.43101357e-03 -4.49677142e+01] [-3.70982487e-02 2.86923000e-04 9.99311582e-01 -1.17933204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49587156 meters 0.016694801526310366 Centerline is valid? [True, True] Translation: X:266.36, Y:-44.98, Z:-11.80 [[ 9.80864978e-01 1.91301645e-01 3.61604167e-02 2.66355429e+02] [-1.91158817e-01 9.81531233e-01 -7.39899836e-03 -4.49777634e+01] [-3.69080190e-02 3.45035890e-04 9.99318607e-01 -1.17954774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52587156 meters 0.017992042795911545 Centerline is valid? [True, True] Translation: X:266.39, Y:-44.99, Z:-11.80 [[ 9.81300104e-01 1.89090763e-01 3.59831895e-02 2.66385381e+02] [-1.88947640e-01 9.81959519e-01 -7.36833389e-03 -4.49891246e+01] [-3.67273193e-02 4.31608075e-04 9.99325231e-01 -1.17969402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55587156 meters 0.018868497317422184 Centerline is valid? [True, True] Translation: X:266.42, Y:-45.00, Z:-11.80 [[ 9.81435742e-01 1.88375881e-01 3.60334739e-02 2.66416401e+02] [-1.88231666e-01 9.82096895e-01 -7.38433029e-03 -4.49994492e+01] [-3.67793925e-02 4.64604860e-04 9.99323301e-01 -1.17988063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58587156 meters 0.01956465343040746 Centerline is valid? [True, True] Translation: X:266.45, Y:-45.01, Z:-11.80 [[ 9.81584756e-01 1.87679544e-01 3.56055455e-02 2.66447216e+02] [-1.87538058e-01 9.82230191e-01 -7.30265703e-03 -4.50086594e+01] [-3.63434011e-02 4.90781956e-04 9.99339240e-01 -1.18004783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61587156 meters 0.020712605343329138 Centerline is valid? [True, True] Translation: X:266.48, Y:-45.02, Z:-11.80 [[ 9.81715176e-01 1.87028156e-01 3.54370145e-02 2.66476633e+02] [-1.86887360e-01 9.82354417e-01 -7.27425145e-03 -4.50200121e+01] [-3.61721976e-02 5.18512974e-04 9.99345437e-01 -1.18024369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64587156 meters 0.020125386152202513 Centerline is valid? [True, True] Translation: X:266.51, Y:-45.03, Z:-11.80 [[ 9.81726677e-01 1.87000835e-01 3.52621518e-02 2.66508443e+02] [-1.86861221e-01 9.82359616e-01 -7.24355188e-03 -4.50282964e+01] [-3.59946641e-02 5.22059386e-04 9.99351846e-01 -1.18038656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67587156 meters 0.03322877051719701 Centerline is valid? [True, True] Translation: X:266.54, Y:-45.04, Z:-11.80 [[ 9.81777717e-01 1.86856298e-01 3.46011312e-02 2.66537439e+02] [-1.86721530e-01 9.82387118e-01 -7.11486063e-03 -4.50412891e+01] [-3.53211621e-02 5.24435466e-04 9.99375875e-01 -1.18040125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70587156 meters 0.021032524414384912 Centerline is valid? [True, True] Translation: X:266.57, Y:-45.05, Z:-11.81 [[ 9.81672607e-01 1.87357440e-01 3.48723825e-02 2.66568569e+02] [-1.87220666e-01 9.82291669e-01 -7.17625814e-03 -4.50502146e+01] [-3.55993762e-02 5.15905356e-04 9.99366008e-01 -1.18078365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73587156 meters 0.019741718766532995 Centerline is valid? [True, True] Translation: X:266.60, Y:-45.06, Z:-11.81 [[ 9.81420055e-01 1.88693412e-01 3.47774617e-02 2.66599297e+02] [-1.88558011e-01 9.82035933e-01 -7.16259862e-03 -4.50595895e+01] [-3.55042523e-02 4.71948911e-04 9.99369414e-01 -1.18092164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76587156 meters 0.01892208042350774 Centerline is valid? [True, True] Translation: X:266.63, Y:-45.07, Z:-11.81 [[ 9.81178519e-01 1.89864948e-01 3.52138477e-02 2.66630029e+02] [-1.89726657e-01 9.81810118e-01 -7.25870988e-03 -4.50670220e+01] [-3.59514865e-02 4.41084609e-04 9.99353439e-01 -1.18098129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79587156 meters 0.016551584431400892 Centerline is valid? [True, True] Translation: X:266.66, Y:-45.07, Z:-11.81 [[ 9.80627395e-01 1.92559521e-01 3.59269136e-02 2.66660999e+02] [-1.92417166e-01 9.81285231e-01 -7.41144180e-03 -4.50743097e+01] [-3.66816934e-02 3.54907986e-04 9.99326937e-01 -1.18095195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82587156 meters 0.015934596665048775 Centerline is valid? [True, True] Translation: X:266.69, Y:-45.08, Z:-11.81 [[ 9.80321210e-01 1.94005215e-01 3.65007154e-02 2.66691494e+02] [-1.93859035e-01 9.81000448e-01 -7.53627532e-03 -4.50820226e+01] [-3.72692949e-02 3.11977085e-04 9.99305210e-01 -1.18103906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85587156 meters 0.014274165596792555 Centerline is valid? [True, True] Translation: X:266.72, Y:-45.09, Z:-11.81 [[ 9.79991688e-01 1.95563890e-01 3.70277653e-02 2.66722896e+02] [-1.95414346e-01 9.80690928e-01 -7.65094880e-03 -4.50884362e+01] [-3.78090428e-02 2.62109676e-04 9.99284948e-01 -1.18100378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88587156 meters 0.012523123837671275 Centerline is valid? [True, True] Translation: X:266.75, Y:-45.10, Z:-11.81 [[ 9.79297321e-01 1.98958405e-01 3.73136721e-02 2.66754300e+02] [-1.98808756e-01 9.80007926e-01 -7.71651000e-03 -4.50958597e+01] [-3.81029589e-02 1.38472833e-04 9.99273809e-01 -1.18112310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91587156 meters 0.012159038712293707 Centerline is valid? [True, True] Translation: X:266.79, Y:-45.10, Z:-11.81 [[ 9.78943585e-01 2.00788570e-01 3.67887003e-02 2.66785890e+02] [-2.00644147e-01 9.79634598e-01 -7.61453200e-03 -4.51027313e+01] [-3.75683946e-02 7.27598423e-05 9.99294056e-01 -1.18142663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94587156 meters 0.012109309429762143 Centerline is valid? [True, True] Translation: X:266.82, Y:-45.11, Z:-11.82 [[ 9.78261620e-01 2.04213409e-01 3.60705720e-02 2.66818069e+02] [-2.04076759e-01 9.78926392e-01 -7.46966339e-03 -4.51085642e+01] [-3.68358403e-02 -5.38804053e-05 9.99321329e-01 -1.18171786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97587156000003 meters 0.012585188210936732 Centerline is valid? [True, True] Translation: X:266.85, Y:-45.11, Z:-11.82 [[ 9.77913970e-01 2.05960527e-01 3.55602051e-02 2.66850192e+02] [-2.05828632e-01 9.78560294e-01 -7.37059471e-03 -4.51149487e+01] [-3.63158564e-02 -1.11500831e-04 9.99340356e-01 -1.18191238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00587156 meters 0.01283579741824655 Centerline is valid? [True, True] Translation: X:266.88, Y:-45.12, Z:-11.82 [[ 9.77560148e-01 2.07724277e-01 3.50254488e-02 2.66881107e+02] [-2.07597206e-01 9.78187404e-01 -7.26659825e-03 -4.51218448e+01] [-3.57709017e-02 -1.67648444e-04 9.99360002e-01 -1.18199475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03587156000003 meters 0.02159776979043318 Centerline is valid? [True, True] Translation: X:266.91, Y:-45.13, Z:-11.82 [[ 9.77227657e-01 2.09425797e-01 3.41605389e-02 2.66911527e+02] [-2.09305771e-01 9.77824518e-01 -7.09269845e-03 -4.51268289e+01] [-3.48884065e-02 -2.18816847e-04 9.99391190e-01 -1.18215599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06587156 meters 0.017176346126355456 Centerline is valid? [True, True] Translation: X:266.94, Y:-45.13, Z:-11.83 [[ 9.76565568e-01 2.12498888e-01 3.41161940e-02 2.66941398e+02] [-2.12380796e-01 9.77161256e-01 -7.09070022e-03 -4.51314409e+01] [-3.48437889e-02 -3.21090756e-04 9.99392719e-01 -1.18269759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09587156000003 meters 0.018582529696684766 Centerline is valid? [True, True] Translation: X:266.97, Y:-45.14, Z:-11.83 [[ 9.75834968e-01 2.15780147e-01 3.44244481e-02 2.66971818e+02] [-2.15661939e-01 9.76441874e-01 -7.15506801e-03 -4.51379846e+01] [-3.51573943e-02 -4.41877672e-04 9.99381690e-01 -1.18252755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12587156 meters 0.02251552454261118 Centerline is valid? [True, True] Translation: X:267.00, Y:-45.14, Z:-11.83 [[ 9.75462990e-01 2.17343773e-01 3.51231961e-02 2.67002494e+02] [-2.17221693e-01 9.76094989e-01 -7.30130636e-03 -4.51393991e+01] [-3.58704692e-02 -5.07365994e-04 9.99356319e-01 -1.18275820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15587156 meters 0.0281283707382263 Centerline is valid? [True, True] Translation: X:267.03, Y:-45.14, Z:-11.83 [[ 9.75120011e-01 2.18844349e-01 3.53286814e-02 2.67031806e+02] [-2.18721793e-01 9.75759618e-01 -7.34476572e-03 -4.51436701e+01] [-3.60796611e-02 -5.65124496e-04 9.99348757e-01 -1.18262198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18587156 meters 0.022889797794719707 Centerline is valid? [True, True] Translation: X:267.06, Y:-45.15, Z:-11.83 [[ 9.74541627e-01 2.21264356e-01 3.62036086e-02 2.67061658e+02] [-2.21137366e-01 9.75213635e-01 -7.52544992e-03 -4.51532983e+01] [-3.69713665e-02 -6.72106437e-04 9.99316099e-01 -1.18253543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21587156 meters 0.02412501659627697 Centerline is valid? [True, True] Translation: X:267.09, Y:-45.16, Z:-11.83 [[ 9.74330532e-01 2.22205258e-01 3.61225369e-02 2.67091297e+02] [-2.22079446e-01 9.74999654e-01 -7.50959790e-03 -4.51578600e+01] [-3.68881331e-02 -7.05242453e-04 9.99319152e-01 -1.18269933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24587156 meters 0.024955613343236618 Centerline is valid? [True, True] Translation: X:267.12, Y:-45.16, Z:-11.83 [[ 9.74172900e-01 2.23034889e-01 3.52505218e-02 2.67121949e+02] [-2.22915610e-01 9.74810198e-01 -7.32862789e-03 -4.51643553e+01] [-3.59971079e-02 -7.18540895e-04 9.99351636e-01 -1.18296190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27587156 meters 0.0253240126881883 Centerline is valid? [True, True] Translation: X:267.15, Y:-45.17, Z:-11.83 [[ 9.74148607e-01 2.23205468e-01 3.48397958e-02 2.67152883e+02] [-2.23089032e-01 9.74771156e-01 -7.24408980e-03 -4.51708232e+01] [-3.55777485e-02 -7.15556335e-04 9.99366655e-01 -1.18316009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30587156 meters 0.027620513441744345 Centerline is valid? [True, True] Translation: X:267.18, Y:-45.17, Z:-11.84 [[ 9.74169476e-01 2.23119267e-01 3.48084109e-02 2.67182556e+02] [-2.23002951e-01 9.74790894e-01 -7.23853327e-03 -4.51742761e+01] [-3.55459782e-02 -7.10820190e-04 9.99367789e-01 -1.18351788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33587156 meters 0.025382840313996412 Centerline is valid? [True, True] Translation: X:267.21, Y:-45.18, Z:-11.84 [[ 9.74252208e-01 2.22809253e-01 3.44771237e-02 2.67212696e+02] [-2.22694937e-01 9.74861814e-01 -7.16993997e-03 -4.51841430e+01] [-3.52079604e-02 -6.92551054e-04 9.99379768e-01 -1.18356794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36587156 meters 0.025362726214546827 Centerline is valid? [True, True] Translation: X:267.24, Y:-45.19, Z:-11.84 [[ 9.74311534e-01 2.22498159e-01 3.48081146e-02 2.67242046e+02] [-2.22381403e-01 9.74932868e-01 -7.23974702e-03 -4.51905391e+01] [-3.55464054e-02 -6.86908357e-04 9.99367791e-01 -1.18365200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39587156 meters 0.024605106227398397 Centerline is valid? [True, True] Translation: X:267.27, Y:-45.20, Z:-11.84 [[ 9.74511094e-01 2.21517380e-01 3.54708133e-02 2.67271242e+02] [-2.21395466e-01 9.75156198e-01 -7.37812574e-03 -4.51972895e+01] [-3.62239665e-02 -6.63011845e-04 9.99343477e-01 -1.18364118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42587156 meters 0.02737013842552117 Centerline is valid? [True, True] Translation: X:267.30, Y:-45.20, Z:-11.84 [[ 9.74632525e-01 2.20914144e-01 3.58940486e-02 2.67301242e+02] [-2.20788899e-01 9.75293043e-01 -7.46602397e-03 -4.51993835e+01] [-3.66565662e-02 -6.48377688e-04 9.99327712e-01 -1.18394534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45587156 meters 0.022876637955022577 Centerline is valid? [True, True] Translation: X:267.33, Y:-45.21, Z:-11.84 [[ 9.74855090e-01 2.19858698e-01 3.63277579e-02 2.67330426e+02] [-2.19729654e-01 9.75531534e-01 -7.55679694e-03 -4.52117032e+01] [-3.71003009e-02 -6.15503711e-04 9.99311357e-01 -1.18378009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48587156 meters 0.02046728800689382 Centerline is valid? [True, True] Translation: X:267.36, Y:-45.22, Z:-11.84 [[ 9.75372341e-01 2.17425470e-01 3.70804673e-02 2.67360199e+02] [-2.17289263e-01 9.76076780e-01 -7.71336222e-03 -4.52224063e+01] [-3.78704645e-02 -5.33787246e-04 9.99282514e-01 -1.18379161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51587156 meters 0.023732743439177858 Centerline is valid? [True, True] Translation: X:267.39, Y:-45.23, Z:-11.84 [[ 9.75759594e-01 2.15725159e-01 3.68221602e-02 2.67391659e+02] [-2.15589403e-01 9.76454016e-01 -7.66576145e-03 -4.52314457e+01] [-3.76088438e-02 -4.58527237e-04 9.99292432e-01 -1.18378925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54587156 meters 0.015425353143778428 Centerline is valid? [True, True] Translation: X:267.42, Y:-45.24, Z:-11.84 [[ 9.76571497e-01 2.12051240e-01 3.66385365e-02 2.67421898e+02] [-2.11914145e-01 9.77258499e-01 -7.63026890e-03 -4.52444610e+01] [-3.74233291e-02 -3.12721023e-04 9.99299453e-01 -1.18416424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57587156 meters 0.013772200846523674 Centerline is valid? [True, True] Translation: X:267.45, Y:-45.26, Z:-11.84 [[ 9.76958924e-01 2.10297023e-01 3.64201003e-02 2.67452126e+02] [-2.10160116e-01 9.77637512e-01 -7.59079918e-03 -4.52550380e+01] [-3.72019787e-02 -2.38153515e-04 9.99307738e-01 -1.18426362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60587156 meters 0.0135011214696859 Centerline is valid? [True, True] Translation: X:267.48, Y:-45.26, Z:-11.85 [[ 9.77282628e-01 2.08810024e-01 3.62910407e-02 2.67482395e+02] [-2.08672821e-01 9.77956207e-01 -7.57035982e-03 -4.52637561e+01] [-3.70718156e-02 -1.74572717e-04 9.99312589e-01 -1.18457049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63587156 meters 0.012355352225946659 Centerline is valid? [True, True] Translation: X:267.51, Y:-45.28, Z:-11.85 [[ 9.77818039e-01 2.06233235e-01 3.66023937e-02 2.67513086e+02] [-2.06091636e-01 9.78502860e-01 -7.64131722e-03 -4.52760107e+01] [-3.73914405e-02 -7.16293823e-05 9.99300693e-01 -1.18472447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66587156 meters 0.012334040549534431 Centerline is valid? [True, True] Translation: X:267.54, Y:-45.29, Z:-11.85 [[ 9.78061015e-01 2.05221086e-01 3.57904546e-02 2.67544486e+02] [-2.05084825e-01 9.78715641e-01 -7.47726553e-03 -4.52860944e+01] [-3.65631703e-02 -2.68571980e-05 9.99331343e-01 -1.18488244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69587156 meters 0.01282921351905874 Centerline is valid? [True, True] Translation: X:267.58, Y:-45.29, Z:-11.85 [[ 9.78040545e-01 2.05456297e-01 3.49914743e-02 2.67576105e+02] [-2.05325958e-01 9.78666291e-01 -7.31723090e-03 -4.52928649e+01] [-3.57483476e-02 -2.81094892e-05 9.99360823e-01 -1.18527656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72587156000003 meters 0.013047205030084962 Centerline is valid? [True, True] Translation: X:267.61, Y:-45.30, Z:-11.85 [[ 9.77903624e-01 2.06120543e-01 3.49116551e-02 2.67607125e+02] [-2.05990987e-01 9.78526606e-01 -7.30710738e-03 -4.52982736e+01] [-3.56681284e-02 -4.58395062e-05 9.99363689e-01 -1.18549333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75587156 meters 0.017366994132871655 Centerline is valid? [True, True] Translation: X:267.64, Y:-45.30, Z:-11.85 [[ 9.77502618e-01 2.08044834e-01 3.47272107e-02 2.67640516e+02] [-2.07917650e-01 9.78119285e-01 -7.27433380e-03 -4.53017111e+01] [-3.54807420e-02 -1.09719686e-04 9.99370354e-01 -1.18531148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78587156000003 meters 0.013186922411952599 Centerline is valid? [True, True] Translation: X:267.67, Y:-45.31, Z:-11.86 [[ 9.77200258e-01 2.09427414e-01 3.49258325e-02 2.67672521e+02] [-2.09299408e-01 9.77824184e-01 -7.32280534e-03 -4.53075065e+01] [-3.56849198e-02 -1.54108785e-04 9.99363079e-01 -1.18553771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81587156 meters 0.015006096443320297 Centerline is valid? [True, True] Translation: X:267.70, Y:-45.31, Z:-11.86 [[ 9.76584696e-01 2.12242652e-01 3.51480923e-02 2.67703788e+02] [-2.12114559e-01 9.77216963e-01 -7.37700591e-03 -4.53084212e+01] [-3.59130273e-02 -2.51151050e-04 9.99354888e-01 -1.18574392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84587156000003 meters 0.015537081971567715 Centerline is valid? [True, True] Translation: X:267.74, Y:-45.31, Z:-11.86 [[ 9.76270966e-01 2.13672806e-01 3.51984802e-02 2.67735816e+02] [-2.13545067e-01 9.76905237e-01 -7.39334514e-03 -4.53135108e+01] [-3.59653364e-02 -2.98553585e-04 9.99352993e-01 -1.18576766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87587156 meters 0.01648931951800115 Centerline is valid? [True, True] Translation: X:267.77, Y:-45.32, Z:-11.86 [[ 9.75916133e-01 2.15250648e-01 3.54240134e-02 2.67767928e+02] [-2.15122082e-01 9.76558771e-01 -7.44685942e-03 -4.53178478e+01] [-3.61965723e-02 -3.52977275e-04 9.99344627e-01 -1.18582958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90587156 meters 0.01861740765718679 Centerline is valid? [True, True] Translation: X:267.80, Y:-45.32, Z:-11.86 [[ 9.75268198e-01 2.18074752e-01 3.59908866e-02 2.67800759e+02] [-2.17943725e-01 9.75931961e-01 -7.57237267e-03 -4.53184299e+01] [-3.67759998e-02 -4.58893652e-04 9.99323429e-01 -1.18587150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93587156 meters 0.0206634476967066 Centerline is valid? [True, True] Translation: X:267.83, Y:-45.32, Z:-11.86 [[ 9.74754570e-01 2.20336221e-01 3.61313900e-02 2.67832472e+02] [-2.20205447e-01 9.75423836e-01 -7.60936167e-03 -4.53198057e+01] [-3.69200371e-02 -5.39068813e-04 9.99318078e-01 -1.18599078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96587156 meters 0.02235151722825763 Centerline is valid? [True, True] Translation: X:267.86, Y:-45.32, Z:-11.86 [[ 9.74574311e-01 2.21191740e-01 3.57648673e-02 2.67862608e+02] [-2.21064146e-01 9.75230176e-01 -7.53313692e-03 -4.53223085e+01] [-3.65452455e-02 -5.64728111e-04 9.99331840e-01 -1.18621257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99587156 meters 0.026026461590815113 Centerline is valid? [True, True] Translation: X:267.89, Y:-45.32, Z:-11.87 [[ 9.74456503e-01 2.21746217e-01 3.55406772e-02 2.67891892e+02] [-2.21620556e-01 9.75104239e-01 -7.48675111e-03 -4.53208922e+01] [-3.63160238e-02 -5.81031361e-04 9.99340187e-01 -1.18661663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02587156 meters 0.026026461590815113 Centerline is valid? [True, True] Translation: X:267.92, Y:-45.33, Z:-11.87 [[ 9.74465800e-01 2.21705318e-01 3.55409194e-02 2.67919611e+02] [-2.21579672e-01 9.75113539e-01 -7.48560135e-03 -4.53266324e+01] [-3.63160293e-02 -5.80682737e-04 9.99340187e-01 -1.18674423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05587156 meters 0.02928592114433147 Centerline is valid? [True, True] Translation: X:267.95, Y:-45.33, Z:-11.86 [[ 9.74392443e-01 2.22114994e-01 3.49899456e-02 2.67949410e+02] [-2.21993546e-01 9.75020299e-01 -7.36765464e-03 -4.53333141e+01] [-3.57523738e-02 -5.88555107e-04 9.99360506e-01 -1.18646274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08587156 meters 0.022462874558242765 Centerline is valid? [True, True] Translation: X:267.98, Y:-45.34, Z:-11.87 [[ 9.74443126e-01 2.21876307e-01 3.50927080e-02 2.67978133e+02] [-2.21753986e-01 9.75074647e-01 -7.38940252e-03 -4.53383210e+01] [-3.58575431e-02 -5.81395395e-04 9.99356742e-01 -1.18689838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11587156 meters 0.021768028385306264 Centerline is valid? [True, True] Translation: X:268.01, Y:-45.34, Z:-11.87 [[ 9.74712138e-01 2.20639498e-01 3.54183676e-02 2.68007735e+02] [-2.20514105e-01 9.75355278e-01 -7.45727004e-03 -4.53423170e+01] [-3.61908601e-02 -5.41557988e-04 9.99344750e-01 -1.18702137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14587156 meters 0.019937908442979314 Centerline is valid? [True, True] Translation: X:268.04, Y:-45.35, Z:-11.87 [[ 9.74961720e-01 2.19468231e-01 3.58237342e-02 2.68037498e+02] [-2.19339130e-01 9.75619517e-01 -7.54345489e-03 -4.53493818e+01] [-3.66058830e-02 -5.02966938e-04 9.99329653e-01 -1.18698785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17587156 meters 0.016386541222743557 Centerline is valid? [True, True] Translation: X:268.07, Y:-45.36, Z:-11.87 [[ 9.75698029e-01 2.16018266e-01 3.67350534e-02 2.68068235e+02] [-2.15880113e-01 9.76389247e-01 -7.73406342e-03 -4.53593765e+01] [-3.75384101e-02 -3.84257029e-04 9.99295112e-01 -1.18684444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20587156 meters 0.01567376779912361 Centerline is valid? [True, True] Translation: X:268.10, Y:-45.37, Z:-11.87 [[ 9.76086599e-01 2.14239979e-01 3.68263998e-02 2.68098767e+02] [-2.14099623e-01 9.76781007e-01 -7.75988876e-03 -4.53660291e+01] [-3.76338062e-02 -3.10194898e-04 9.99291549e-01 -1.18708743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23587156 meters 0.015178531008478734 Centerline is valid? [True, True] Translation: X:268.13, Y:-45.38, Z:-11.87 [[ 9.77023721e-01 2.09914349e-01 3.68865101e-02 2.68129598e+02] [-2.09770227e-01 9.77719769e-01 -7.77847973e-03 -4.53764299e+01] [-3.76974847e-02 -1.37932404e-04 9.99289188e-01 -1.18705526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26587156 meters 0.012224543469965808 Centerline is valid? [True, True] Translation: X:268.16, Y:-45.39, Z:-11.87 [[ 9.77504886e-01 2.07656028e-01 3.69211605e-02 2.68161503e+02] [-2.07509792e-01 9.78201908e-01 -7.79193504e-03 -4.53868452e+01] [-3.77343919e-02 -4.48477589e-05 9.99287803e-01 -1.18724905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29587156 meters 0.012425118693512604 Centerline is valid? [True, True] Translation: X:268.19, Y:-45.40, Z:-11.87 [[ 9.77971247e-01 2.05430233e-01 3.70224273e-02 2.68193275e+02] [-2.05281312e-01 9.78671762e-01 -7.82085246e-03 -4.53979054e+01] [-3.78394437e-02 4.85563729e-05 9.99283831e-01 -1.18742013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32587156 meters 0.014362097419558973 Centerline is valid? [True, True] Translation: X:268.22, Y:-45.41, Z:-11.88 [[ 9.78920646e-01 2.00834481e-01 3.71467481e-02 2.68221604e+02] [-2.00680947e-01 9.79625161e-01 -7.85502658e-03 -4.54127955e+01] [-3.79674492e-02 2.34803129e-04 9.99278949e-01 -1.18764011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35587156 meters 0.015896386054558165 Centerline is valid? [True, True] Translation: X:268.25, Y:-45.42, Z:-11.88 [[ 9.79330787e-01 1.98883121e-01 3.68336057e-02 2.68251675e+02] [-1.98730539e-01 9.80023166e-01 -7.79535030e-03 -4.54228109e+01] [-3.76481505e-02 3.14264226e-04 9.99291008e-01 -1.18782268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38587156 meters 0.017727959315677104 Centerline is valid? [True, True] Translation: X:268.28, Y:-45.43, Z:-11.88 [[ 9.79905588e-01 1.96198030e-01 3.59356519e-02 2.68282163e+02] [-1.96050899e-01 9.80564208e-01 -7.60787891e-03 -4.54333417e+01] [-3.67298649e-02 4.09786211e-04 9.99325147e-01 -1.18808169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41587156 meters 0.018787734183672054 Centerline is valid? [True, True] Translation: X:268.31, Y:-45.44, Z:-11.88 [[ 9.80009916e-01 1.95814610e-01 3.51738910e-02 2.68312529e+02] [-1.95673184e-01 9.80640842e-01 -7.45278598e-03 -4.54419137e+01] [-3.59523185e-02 4.21216923e-04 9.99353418e-01 -1.18833935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44587156 meters 0.03341337605019354 Centerline is valid? [True, True] Translation: X:268.34, Y:-45.45, Z:-11.88 [[ 9.80051605e-01 1.95771127e-01 3.42420256e-02 2.68343056e+02] [-1.95636880e-01 9.80649526e-01 -7.26079383e-03 -4.54491653e+01] [-3.50008799e-02 4.16949582e-04 9.99387195e-01 -1.18841255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47587156000003 meters 0.02397796508172251 Centerline is valid? [True, True] Translation: X:268.37, Y:-45.45, Z:-11.89 [[ 9.79804064e-01 1.97124906e-01 3.35524501e-02 2.68374907e+02] [-1.96996634e-01 9.80378313e-01 -7.11958839e-03 -4.54539533e+01] [-3.42975426e-02 3.66081900e-04 9.99411599e-01 -1.18852404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50587156 meters 0.016709989277633133 Centerline is valid? [True, True] Translation: X:268.41, Y:-45.46, Z:-11.89 [[ 9.79495150e-01 1.98570599e-01 3.40436154e-02 2.68405582e+02] [-1.98439196e-01 9.80086532e-01 -7.23013260e-03 -4.54604774e+01] [-3.48013807e-02 3.26292152e-04 9.99394195e-01 -1.18889762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53587156000003 meters 0.016629742694717026 Centerline is valid? [True, True] Translation: X:268.44, Y:-45.46, Z:-11.89 [[ 9.78780299e-01 2.02022231e-01 3.42949720e-02 2.68436715e+02] [-2.01890794e-01 9.79380914e-01 -7.28926540e-03 -4.54639438e+01] [-3.50604346e-02 2.10750252e-04 9.99385172e-01 -1.18884493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56587156 meters 0.013990641851309656 Centerline is valid? [True, True] Translation: X:268.47, Y:-45.47, Z:-11.89 [[ 9.78412443e-01 2.03818942e-01 3.41603565e-02 2.68467408e+02] [-2.03689435e-01 9.79008588e-01 -7.26622719e-03 -4.54685843e+01] [-3.49242771e-02 1.51263395e-04 9.99389950e-01 -1.18915854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59587156000003 meters 0.013491987464552742 Centerline is valid? [True, True] Translation: X:268.50, Y:-45.47, Z:-11.89 [[ 9.78022552e-01 2.05740273e-01 3.38057293e-02 2.68499623e+02] [-2.05614368e-01 9.78606628e-01 -7.19719507e-03 -4.54730346e+01] [-3.45632636e-02 8.80754358e-05 9.99402508e-01 -1.18941306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62587156 meters 0.013135428415244252 Centerline is valid? [True, True] Translation: X:268.53, Y:-45.48, Z:-11.90 [[ 9.77622752e-01 2.07658432e-01 3.36412062e-02 2.68532032e+02] [-2.07534862e-01 9.78201398e-01 -7.16280876e-03 -4.54772004e+01] [-3.43952925e-02 2.08017397e-05 9.99408307e-01 -1.18957057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65587156 meters 0.022481781182632207 Centerline is valid? [True, True] Translation: X:268.56, Y:-45.48, Z:-11.89 [[ 9.76909203e-01 2.10998727e-01 3.35849171e-02 2.68564072e+02] [-2.10877250e-01 9.77486332e-01 -7.15933245e-03 -4.54772320e+01] [-3.43394074e-02 -8.82771909e-05 9.99410225e-01 -1.18948277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68587156 meters 0.014631958205699267 Centerline is valid? [True, True] Translation: X:268.60, Y:-45.48, Z:-11.90 [[ 9.76184296e-01 2.14298436e-01 3.37698220e-02 2.68595869e+02] [-2.14177560e-01 9.76768211e-01 -7.19959149e-03 -4.54790229e+01] [-3.45281498e-02 -2.04609942e-04 9.99403705e-01 -1.18982062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71587156 meters 0.0152631797827264 Centerline is valid? [True, True] Translation: X:268.63, Y:-45.48, Z:-11.90 [[ 9.75848597e-01 2.15848234e-01 3.36014107e-02 2.68626752e+02] [-2.15729451e-01 9.76426891e-01 -7.16451923e-03 -4.54834479e+01] [-3.43557698e-02 -2.57327825e-04 9.99409633e-01 -1.18994629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74587156 meters 0.017029237839968823 Centerline is valid? [True, True] Translation: X:268.66, Y:-45.49, Z:-11.90 [[ 9.75478557e-01 2.17492304e-01 3.37443805e-02 2.68657021e+02] [-2.17373456e-01 9.76061985e-01 -7.19599145e-03 -4.54862971e+01] [-3.45016798e-02 -3.15597281e-04 9.99404590e-01 -1.19017675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77587156 meters 0.018065707834740336 Centerline is valid? [True, True] Translation: X:268.69, Y:-45.49, Z:-11.90 [[ 9.74941952e-01 2.19912528e-01 3.35659201e-02 2.68687363e+02] [-2.19796348e-01 9.75519514e-01 -7.15848352e-03 -4.54891855e+01] [-3.43184503e-02 -3.98560774e-04 9.99410869e-01 -1.19016493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80587156 meters 0.018696517050882464 Centerline is valid? [True, True] Translation: X:268.72, Y:-45.49, Z:-11.90 [[ 9.74769203e-01 2.20704219e-01 3.33863632e-02 2.68717001e+02] [-2.20589735e-01 9.75340693e-01 -7.12045899e-03 -4.54934257e+01] [-3.41345939e-02 -4.23884848e-04 9.99417155e-01 -1.19028039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83587156 meters 0.018871895159642615 Centerline is valid? [True, True] Translation: X:268.75, Y:-45.50, Z:-11.90 [[ 9.74615913e-01 2.21222878e-01 3.44130918e-02 2.68747083e+02] [-2.21101597e-01 9.75223169e-01 -7.33853150e-03 -4.54970273e+01] [-3.51838955e-02 -4.56539969e-04 9.99380751e-01 -1.19024028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86587156 meters 0.01906718058916949 Centerline is valid? [True, True] Translation: X:268.78, Y:-45.50, Z:-11.90 [[ 9.74705271e-01 2.20753405e-01 3.48936673e-02 2.68775412e+02] [-2.20628439e-01 9.75329552e-01 -7.44022919e-03 -4.55019873e+01] [-3.56752808e-02 -4.46504748e-04 9.99363335e-01 -1.19038271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89587156 meters 0.01835059976298192 Centerline is valid? [True, True] Translation: X:268.80, Y:-45.51, Z:-11.91 [[ 9.74906371e-01 2.19857403e-01 3.49326526e-02 2.68804661e+02] [-2.19731634e-01 9.75531932e-01 -7.44710720e-03 -4.55089342e+01] [-3.57152197e-02 -4.15576569e-04 9.99361922e-01 -1.19054726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92587156 meters 0.01664063410322293 Centerline is valid? [True, True] Translation: X:268.83, Y:-45.52, Z:-11.91 [[ 9.75429900e-01 2.17517393e-01 3.49670403e-02 2.68832336e+02] [-2.17389918e-01 9.76056389e-01 -7.45317413e-03 -4.55183232e+01] [-3.57509981e-02 -3.31433108e-04 9.99360674e-01 -1.19075426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95587156 meters 0.026564663356124583 Centerline is valid? [True, True] Translation: X:268.86, Y:-45.53, Z:-11.91 [[ 9.75680312e-01 2.16423901e-01 3.47652686e-02 2.68860654e+02] [-2.16297164e-01 9.76299448e-01 -7.41113519e-03 -4.55262401e+01] [-3.55452593e-02 -2.88730317e-04 9.99368026e-01 -1.19068758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98587156 meters 0.014488981011547098 Centerline is valid? [True, True] Translation: X:268.89, Y:-45.54, Z:-11.91 [[ 9.76195097e-01 2.14121893e-01 3.45680153e-02 2.68889694e+02] [-2.13995175e-01 9.76806927e-01 -7.36832300e-03 -4.55378269e+01] [-3.53439961e-02 -2.04467681e-04 9.99375185e-01 -1.19111057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01587156 meters 0.014112349616427669 Centerline is valid? [True, True] Translation: X:268.92, Y:-45.55, Z:-11.91 [[ 9.76351346e-01 2.13466512e-01 3.42066832e-02 2.68920290e+02] [-2.13341999e-01 9.76950365e-01 -7.29212096e-03 -4.55457536e+01] [-3.49748553e-02 -1.78050040e-04 9.99388177e-01 -1.19124545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04587156 meters 0.02277659903550125 Centerline is valid? [True, True] Translation: X:268.95, Y:-45.55, Z:-11.91 [[ 9.76582761e-01 2.12458648e-01 3.38737926e-02 2.68950354e+02] [-2.12335960e-01 9.77170048e-01 -7.22060141e-03 -4.55543239e+01] [-3.46345347e-02 -1.41109411e-04 9.99400035e-01 -1.19132444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07587156 meters 0.013688169333278113 Centerline is valid? [True, True] Translation: X:268.98, Y:-45.56, Z:-11.92 [[ 9.76696643e-01 2.11954376e-01 3.37492184e-02 2.68979276e+02] [-2.11832048e-01 9.77279555e-01 -7.20099073e-03 -4.55620598e+01] [-3.45087026e-02 -1.15982594e-04 9.99404391e-01 -1.19176739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10587156 meters 0.013501222673703468 Centerline is valid? [True, True] Translation: X:269.01, Y:-45.57, Z:-11.92 [[ 9.76789244e-01 2.11541220e-01 3.36613322e-02 2.69010154e+02] [-2.11419274e-01 9.77369072e-01 -7.18252010e-03 -4.55696194e+01] [-3.44189441e-02 -1.00846028e-04 9.99407488e-01 -1.19186696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13587156 meters 0.013100820955787082 Centerline is valid? [True, True] Translation: X:269.04, Y:-45.58, Z:-11.92 [[ 9.76863361e-01 2.11134954e-01 3.40588328e-02 2.69041005e+02] [-2.11009886e-01 9.77456916e-01 -7.26668081e-03 -4.55790665e+01] [-3.48252920e-02 -8.81961868e-05 9.99393412e-01 -1.19186067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16587156 meters 0.026708520457996997 Centerline is valid? [True, True] Translation: X:269.07, Y:-45.59, Z:-11.92 [[ 9.76825261e-01 2.11322429e-01 3.39888425e-02 2.69071831e+02] [-2.11197786e-01 9.77416402e-01 -7.25755738e-03 -4.55868923e+01] [-3.47549368e-02 -8.90028980e-05 9.99395861e-01 -1.19173442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19587156 meters 0.01303258001068678 Centerline is valid? [True, True] Translation: X:269.10, Y:-45.60, Z:-11.92 [[ 9.76857592e-01 2.11079042e-01 3.45670813e-02 2.69101315e+02] [-2.10949727e-01 9.77468993e-01 -7.38786098e-03 -4.55960251e+01] [-3.53476728e-02 -7.50282693e-05 9.99375073e-01 -1.19197093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22587156000003 meters 0.012903358336318513 Centerline is valid? [True, True] Translation: X:269.13, Y:-45.60, Z:-11.92 [[ 9.76843687e-01 2.11126077e-01 3.46726291e-02 2.69132624e+02] [-2.10995809e-01 9.77458835e-01 -7.41580966e-03 -4.56036867e+01] [-3.54567384e-02 -7.16925701e-05 9.99371210e-01 -1.19209574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25587156 meters 0.015064029461562253 Centerline is valid? [True, True] Translation: X:269.16, Y:-45.61, Z:-11.92 [[ 9.76876991e-01 2.10996181e-01 3.45247099e-02 2.69164545e+02] [-2.10866742e-01 9.77486884e-01 -7.38981269e-03 -4.56135941e+01] [-3.53066734e-02 -6.11751056e-05 9.99376523e-01 -1.19208090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28587156000003 meters 0.01273286832734156 Centerline is valid? [True, True] Translation: X:269.20, Y:-45.62, Z:-11.92 [[ 9.76848473e-01 2.11131395e-01 3.45050042e-02 2.69196762e+02] [-2.11001944e-01 9.77457687e-01 -7.39250813e-03 -4.56224356e+01] [-3.52879722e-02 -5.92626847e-05 9.99377184e-01 -1.19232680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31587156 meters 0.012850569311991312 Centerline is valid? [True, True] Translation: X:269.23, Y:-45.63, Z:-11.93 [[ 9.76704741e-01 2.11781015e-01 3.45926416e-02 2.69228058e+02] [-2.11651062e-01 9.77317142e-01 -7.41835193e-03 -4.56305154e+01] [-3.53790477e-02 -7.60298322e-05 9.99373963e-01 -1.19252987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34587156000003 meters 0.012812632830072395 Centerline is valid? [True, True] Translation: X:269.26, Y:-45.64, Z:-11.93 [[ 9.76524026e-01 2.12563234e-01 3.48955362e-02 2.69260670e+02] [-2.12431264e-01 9.77147308e-01 -7.48975408e-03 -4.56379815e+01] [-3.56901256e-02 -9.89780443e-05 9.99362900e-01 -1.19261743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37587156 meters 0.013104169275524234 Centerline is valid? [True, True] Translation: X:269.29, Y:-45.64, Z:-11.93 [[ 9.76331505e-01 2.13416753e-01 3.50725280e-02 2.69292267e+02] [-2.13283734e-01 9.76961245e-01 -7.53490827e-03 -4.56448198e+01] [-3.58725763e-02 -1.23831403e-04 9.99356364e-01 -1.19276517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40587156 meters 0.013731756896538242 Centerline is valid? [True, True] Translation: X:269.32, Y:-45.65, Z:-11.93 [[ 9.75878535e-01 2.15492875e-01 3.49843573e-02 2.69324124e+02] [-2.15361620e-01 9.76505394e-01 -7.52256163e-03 -4.56517382e+01] [-3.57834721e-02 -1.93181460e-04 9.99359548e-01 -1.19286103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43587156 meters 0.022084285116161402 Centerline is valid? [True, True] Translation: X:269.36, Y:-45.66, Z:-11.93 [[ 9.75565083e-01 2.16972103e-01 3.45814439e-02 2.69356167e+02] [-2.16844573e-01 9.76177776e-01 -7.44189706e-03 -4.56575118e+01] [-3.53723210e-02 -2.38743506e-04 9.99374175e-01 -1.19283283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46587156 meters 0.02341495586156674 Centerline is valid? [True, True] Translation: X:269.39, Y:-45.66, Z:-11.93 [[ 9.74909092e-01 2.20021662e-01 3.38043051e-02 2.69387200e+02] [-2.19901429e-01 9.75494928e-01 -7.28052868e-03 -4.56608385e+01] [-3.45778022e-02 -3.35761400e-04 9.99401953e-01 -1.19319628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49587156 meters 0.018287638147187986 Centerline is valid? [True, True] Translation: X:269.42, Y:-45.67, Z:-11.94 [[ 9.74575601e-01 2.21548263e-01 3.34479477e-02 2.69417370e+02] [-2.21431228e-01 9.75149334e-01 -7.21026600e-03 -4.56657246e+01] [-3.42141658e-02 -3.79470824e-04 9.99414452e-01 -1.19362202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52587156 meters 0.01965129155462999 Centerline is valid? [True, True] Translation: X:269.45, Y:-45.67, Z:-11.94 [[ 9.74201814e-01 2.23155959e-01 3.36488157e-02 2.69447347e+02] [-2.23038391e-01 9.74782657e-01 -7.25591242e-03 -4.56706865e+01] [-3.44194821e-02 -4.36254691e-04 9.99407379e-01 -1.19375591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55587156 meters 0.02125029560472667 Centerline is valid? [True, True] Translation: X:269.48, Y:-45.68, Z:-11.94 [[ 9.73577009e-01 2.25734191e-01 3.45236368e-02 2.69477204e+02] [-2.25612049e-01 9.74188782e-01 -7.44455576e-03 -4.56755461e+01] [-3.53130304e-02 -5.41100091e-04 9.99376154e-01 -1.19365942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58587156 meters 0.021287491608547354 Centerline is valid? [True, True] Translation: X:269.51, Y:-45.68, Z:-11.94 [[ 9.73305822e-01 2.26838374e-01 3.49303378e-02 2.69507925e+02] [-2.26714055e-01 9.73932239e-01 -7.53202375e-03 -4.56825238e+01] [-3.57283341e-02 -5.88235939e-04 9.99361366e-01 -1.19364229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61587156 meters 0.023494226109188117 Centerline is valid? [True, True] Translation: X:269.54, Y:-45.69, Z:-11.94 [[ 9.72970588e-01 2.28187661e-01 3.54771159e-02 2.69537847e+02] [-2.28060277e-01 9.73616954e-01 -7.65095641e-03 -4.56862503e+01] [-3.62869753e-02 -6.46765310e-04 9.99341202e-01 -1.19377133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64587156 meters 0.023356030567100932 Centerline is valid? [True, True] Translation: X:269.57, Y:-45.69, Z:-11.94 [[ 9.72896777e-01 2.28554720e-01 3.51368966e-02 2.69568118e+02] [-2.28429995e-01 9.73530848e-01 -7.57791477e-03 -4.56935254e+01] [-3.59388210e-02 -6.53792272e-04 9.99353778e-01 -1.19392196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67587156 meters 0.023336077756422543 Centerline is valid? [True, True] Translation: X:269.60, Y:-45.70, Z:-11.94 [[ 9.72870352e-01 2.28722710e-01 3.47735507e-02 2.69598508e+02] [-2.28600628e-01 9.73491395e-01 -7.50040817e-03 -4.57008216e+01] [-3.55672661e-02 -6.52330813e-04 9.99367072e-01 -1.19411285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70587156 meters 0.02442687511724109 Centerline is valid? [True, True] Translation: X:269.63, Y:-45.71, Z:-11.94 [[ 9.72893291e-01 2.28649767e-01 3.46111078e-02 2.69628284e+02] [-2.28528758e-01 9.73508534e-01 -7.46592142e-03 -4.57067336e+01] [-3.54012901e-02 -6.46088632e-04 9.99372969e-01 -1.19444322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73587156 meters 0.02922589632997578 Centerline is valid? [True, True] Translation: X:269.66, Y:-45.71, Z:-11.94 [[ 9.72911037e-01 2.28596374e-01 3.44646588e-02 2.69658096e+02] [-2.28476264e-01 9.73521078e-01 -7.43688209e-03 -4.57138152e+01] [-3.52521161e-02 -6.38931812e-04 9.99378247e-01 -1.19435600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76587156 meters 0.022873331153014893 Centerline is valid? [True, True] Translation: X:269.69, Y:-45.72, Z:-11.95 [[ 9.72917162e-01 2.28454813e-01 3.52220747e-02 2.69687827e+02] [-2.28329279e-01 9.73554302e-01 -7.60009791e-03 -4.57238199e+01] [-3.60268813e-02 -6.47965247e-04 9.99350611e-01 -1.19451069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79587156 meters 0.02417216423813661 Centerline is valid? [True, True] Translation: X:269.72, Y:-45.73, Z:-11.95 [[ 9.72816870e-01 2.28851264e-01 3.54180268e-02 2.69717739e+02] [-2.28724570e-01 9.73461173e-01 -7.64300108e-03 -4.57290222e+01] [-3.62271844e-02 -6.65732562e-04 9.99343358e-01 -1.19465660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82587156 meters 0.023480786525182117 Centerline is valid? [True, True] Translation: X:269.75, Y:-45.74, Z:-11.95 [[ 9.72599660e-01 2.29672375e-01 3.60624613e-02 2.69747919e+02] [-2.29541503e-01 9.73267744e-01 -7.78443611e-03 -4.57368626e+01] [-3.68863002e-02 -7.06691655e-04 9.99319219e-01 -1.19456166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85587156 meters 0.024736554748318013 Centerline is valid? [True, True] Translation: X:269.78, Y:-45.74, Z:-11.95 [[ 9.72504121e-01 2.30015857e-01 3.64477810e-02 2.69778013e+02] [-2.29882375e-01 9.73186610e-01 -7.86864071e-03 -4.57418087e+01] [-3.72804046e-02 -7.26416961e-04 9.99304580e-01 -1.19472735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88587156 meters 0.02491592803449829 Centerline is valid? [True, True] Translation: X:269.81, Y:-45.75, Z:-11.95 [[ 9.72482422e-01 2.30086737e-01 3.65791295e-02 2.69808483e+02] [-2.29952327e-01 9.73169851e-01 -7.89737087e-03 -4.57488001e+01] [-3.74147862e-02 -7.31401600e-04 9.99299554e-01 -1.19484779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91587156 meters 0.02485903298513856 Centerline is valid? [True, True] Translation: X:269.84, Y:-45.76, Z:-11.95 [[ 9.72504440e-01 2.29976192e-01 3.66887546e-02 2.69838436e+02] [-2.29840863e-01 9.73195982e-01 -7.92194502e-03 -4.57563940e+01] [-3.75272073e-02 -7.28448318e-04 9.99295341e-01 -1.19497487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94587156 meters 0.02485903298513856 Centerline is valid? [True, True] Translation: X:269.87, Y:-45.76, Z:-11.95 [[ 9.72499070e-01 2.29998929e-01 3.66885693e-02 2.69868543e+02] [-2.29863583e-01 9.73190609e-01 -7.92280301e-03 -4.57629401e+01] [-3.75272073e-02 -7.28447449e-04 9.99295341e-01 -1.19511376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97587156000003 meters 0.024491485229098657 Centerline is valid? [True, True] Translation: X:269.90, Y:-45.77, Z:-11.95 [[ 9.72607260e-01 2.29526356e-01 3.67800211e-02 2.69898511e+02] [-2.29389964e-01 9.73302186e-01 -7.94345410e-03 -4.57706343e+01] [-3.76213070e-02 -7.11106589e-04 9.99291815e-01 -1.19518848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00587156 meters 0.024387771515893983 Centerline is valid? [True, True] Translation: X:269.93, Y:-45.78, Z:-11.95 [[ 9.72636893e-01 2.29381862e-01 3.68976295e-02 2.69929434e+02] [-2.29244458e-01 9.73336253e-01 -7.96975868e-03 -4.57771915e+01] [-3.77419185e-02 -7.06895737e-04 9.99287270e-01 -1.19529980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03587156000003 meters 0.030956668982610024 Centerline is valid? [True, True] Translation: X:269.96, Y:-45.78, Z:-11.95 [[ 9.72619677e-01 2.29443112e-01 3.69705656e-02 2.69959411e+02] [-2.29305170e-01 9.73321815e-01 -7.98650312e-03 -4.57835215e+01] [-3.78167061e-02 -7.09711744e-04 9.99284441e-01 -1.19531430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06587156 meters 0.024875856185487658 Centerline is valid? [True, True] Translation: X:269.99, Y:-45.79, Z:-11.96 [[ 9.72632163e-01 2.29414670e-01 3.68182726e-02 2.69988818e+02] [-2.29277838e-01 9.73328522e-01 -7.95372997e-03 -4.57905581e+01] [-3.76609772e-02 -7.05560360e-04 9.99290325e-01 -1.19564429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09587156000003 meters 0.024900733580143473 Centerline is valid? [True, True] Translation: X:270.02, Y:-45.80, Z:-11.96 [[ 9.72612043e-01 2.29555093e-01 3.64729196e-02 2.70019232e+02] [-2.29420830e-01 9.73295416e-01 -7.88139873e-03 -4.57970329e+01] [-3.73081407e-02 -7.02104174e-04 9.99303562e-01 -1.19580740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12587156 meters 0.02621388749486305 Centerline is valid? [True, True] Translation: X:270.05, Y:-45.80, Z:-11.96 [[ 9.72423836e-01 2.30335009e-01 3.65741293e-02 2.70048478e+02] [-2.30200507e-01 9.73111117e-01 -7.90442594e-03 -4.58002871e+01] [-3.74113579e-02 -7.32930931e-04 9.99299681e-01 -1.19602264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15587156 meters 0.02684357033249109 Centerline is valid? [True, True] Translation: X:270.08, Y:-45.80, Z:-11.96 [[ 9.72322004e-01 2.30748196e-01 3.66768347e-02 2.70076491e+02] [-2.30613242e-01 9.73013209e-01 -7.92635211e-03 -4.58046251e+01] [-3.75160361e-02 -7.51197194e-04 9.99295743e-01 -1.19611604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18587156 meters 0.027995386242541942 Centerline is valid? [True, True] Translation: X:270.11, Y:-45.81, Z:-11.96 [[ 9.72126921e-01 2.31577744e-01 3.66196309e-02 2.70106193e+02] [-2.31443851e-01 9.72816085e-01 -7.91260207e-03 -4.58069142e+01] [-3.74565485e-02 -7.83334885e-04 9.99297950e-01 -1.19630611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21587156 meters 0.02841589137325309 Centerline is valid? [True, True] Translation: X:270.13, Y:-45.81, Z:-11.97 [[ 9.72144951e-01 2.31508384e-01 3.65795283e-02 2.70134535e+02] [-2.31374763e-01 9.72832596e-01 -7.90316236e-03 -4.58108912e+01] [-3.74154058e-02 -7.80560322e-04 9.99299494e-01 -1.19653785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24587156 meters 0.02794239314659832 Centerline is valid? [True, True] Translation: X:270.16, Y:-45.82, Z:-11.97 [[ 9.72225359e-01 2.31214384e-01 3.63009627e-02 2.70162558e+02] [-2.31082630e-01 9.72902526e-01 -7.84180541e-03 -4.58167828e+01] [-3.71304365e-02 -7.64519854e-04 9.99310135e-01 -1.19673095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27587156 meters 0.02735721121687148 Centerline is valid? [True, True] Translation: X:270.19, Y:-45.82, Z:-11.97 [[ 9.72502521e-01 2.30117700e-01 3.58425759e-02 2.70190278e+02] [-2.29988577e-01 9.73162542e-01 -7.74092770e-03 -4.58229111e+01] [-3.66619768e-02 -7.15311338e-04 9.99327468e-01 -1.19700172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30587156 meters 0.025259301561841346 Centerline is valid? [True, True] Translation: X:270.22, Y:-45.83, Z:-11.97 [[ 9.72663484e-01 2.29439585e-01 3.58221233e-02 2.70218950e+02] [-2.29310180e-01 9.73322660e-01 -7.73568217e-03 -4.58304821e+01] [-3.66413560e-02 -6.90161983e-04 9.99328242e-01 -1.19706028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33587156 meters 0.02585449729802135 Centerline is valid? [True, True] Translation: X:270.25, Y:-45.83, Z:-11.97 [[ 9.72984653e-01 2.28191734e-01 3.50627590e-02 2.70247814e+02] [-2.28066975e-01 9.73616010e-01 -7.57098088e-03 -4.58339909e+01] [-3.58652988e-02 -6.30209167e-04 9.99356435e-01 -1.19744049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36587156 meters 0.025509077451701383 Centerline is valid? [True, True] Translation: X:270.28, Y:-45.84, Z:-11.98 [[ 9.73056573e-01 2.27907080e-01 3.49180359e-02 2.70276042e+02] [-2.27783207e-01 9.73682690e-01 -7.53856964e-03 -4.58402734e+01] [-3.57171805e-02 -6.18287435e-04 9.99361747e-01 -1.19763823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39587156 meters 0.025398471926695147 Centerline is valid? [True, True] Translation: X:270.30, Y:-45.85, Z:-11.98 [[ 9.73162405e-01 2.27505594e-01 3.45852359e-02 2.70304164e+02] [-2.27383874e-01 9.73776589e-01 -7.46514558e-03 -4.58455008e+01] [-3.53766554e-02 -5.99325893e-04 9.99373871e-01 -1.19782832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42587156 meters 0.023431649809911304 Centerline is valid? [True, True] Translation: X:270.33, Y:-45.85, Z:-11.98 [[ 9.73145199e-01 2.27615601e-01 3.43447312e-02 2.70333030e+02] [-2.27495698e-01 9.73750881e-01 -7.41146960e-03 -4.58517870e+01] [-3.51301783e-02 -6.00842548e-04 9.99382564e-01 -1.19786146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45587156 meters 0.023756142460778246 Centerline is valid? [True, True] Translation: X:270.36, Y:-45.86, Z:-11.98 [[ 9.73100076e-01 2.27792875e-01 3.44477612e-02 2.70362766e+02] [-2.27672393e-01 9.73709420e-01 -7.43286052e-03 -4.58565929e+01] [-3.52352622e-02 -6.09887078e-04 9.99378859e-01 -1.19798911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48587156 meters 0.024295474863936146 Centerline is valid? [True, True] Translation: X:270.39, Y:-45.86, Z:-11.98 [[ 9.72907310e-01 2.28495956e-01 3.52273294e-02 2.70392995e+02] [-2.28370449e-01 9.73544645e-01 -7.60019334e-03 -4.58594355e+01] [-3.60319914e-02 -6.50597394e-04 9.99350425e-01 -1.19793166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51587156 meters 0.027601992377222544 Centerline is valid? [True, True] Translation: X:270.42, Y:-45.86, Z:-11.98 [[ 9.72858232e-01 2.28667883e-01 3.54663309e-02 2.70421498e+02] [-2.28540801e-01 9.73504269e-01 -7.65121944e-03 -4.58587575e+01] [-3.62762127e-02 -6.61951868e-04 9.99341582e-01 -1.19822298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54587156 meters 0.024379625030637366 Centerline is valid? [True, True] Translation: X:270.45, Y:-45.87, Z:-11.98 [[ 9.72819519e-01 2.28671467e-01 3.64903373e-02 2.70450010e+02] [-2.28537033e-01 9.73503412e-01 -7.86964975e-03 -4.58660177e+01] [-3.73230322e-02 -6.83644555e-04 9.99303019e-01 -1.19794538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57587156 meters 0.02406346977769018 Centerline is valid? [True, True] Translation: X:270.48, Y:-45.87, Z:-11.98 [[ 9.72853949e-01 2.28437821e-01 3.70318310e-02 2.70478872e+02] [-2.28299274e-01 9.73558262e-01 -7.98443504e-03 -4.58712436e+01] [-3.78765920e-02 -6.86650967e-04 9.99282189e-01 -1.19797405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60587156 meters 0.027489470928334942 Centerline is valid? [True, True] Translation: X:270.51, Y:-45.88, Z:-11.98 [[ 9.72850755e-01 2.28360058e-01 3.75911317e-02 2.70508453e+02] [-2.28217271e-01 9.73576500e-01 -8.10409619e-03 -4.58760383e+01] [-3.84484943e-02 -6.94869393e-04 9.99260342e-01 -1.19785943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63587156 meters 0.022815033052838912 Centerline is valid? [True, True] Translation: X:270.54, Y:-45.88, Z:-11.98 [[ 9.72907604e-01 2.28167303e-01 3.72890904e-02 2.70537309e+02] [-2.28026695e-01 9.73621701e-01 -8.03807279e-03 -4.58823103e+01] [-3.81394930e-02 -6.82605908e-04 9.99272192e-01 -1.19812484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66587156 meters 0.0243437089937471 Centerline is valid? [True, True] Translation: X:270.57, Y:-45.89, Z:-11.98 [[ 9.72884633e-01 2.28318296e-01 3.69627763e-02 2.70566101e+02] [-2.28180279e-01 9.73586303e-01 -7.96690610e-03 -4.58853990e+01] [-3.78054431e-02 -6.83296075e-04 9.99284885e-01 -1.19835149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69587156 meters 0.02383480089139065 Centerline is valid? [True, True] Translation: X:270.59, Y:-45.89, Z:-11.99 [[ 9.72871160e-01 2.28431682e-01 3.66152090e-02 2.70594474e+02] [-2.28296376e-01 9.73559706e-01 -7.89072989e-03 -4.58889021e+01] [-3.74495848e-02 -6.82455979e-04 9.99298285e-01 -1.19856333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72587156000003 meters 0.023841624634390896 Centerline is valid? [True, True] Translation: X:270.62, Y:-45.89, Z:-11.99 [[ 9.72913823e-01 2.28307886e-01 3.62519210e-02 2.70622905e+02] [-2.28175232e-01 9.73588751e-01 -7.81067583e-03 -4.58928982e+01] [-3.70777014e-02 -6.72676011e-04 9.99312159e-01 -1.19878262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75587156 meters 0.022724347158340402 Centerline is valid? [True, True] Translation: X:270.65, Y:-45.90, Z:-11.99 [[ 9.73006640e-01 2.27953447e-01 3.59903448e-02 2.70652069e+02] [-2.27822531e-01 9.73671811e-01 -7.75237447e-03 -4.58971037e+01] [-3.68099646e-02 -6.56299596e-04 9.99322068e-01 -1.19888329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78587156000003 meters 0.022894982352435835 Centerline is valid? [True, True] Translation: X:270.68, Y:-45.90, Z:-11.99 [[ 9.73110616e-01 2.27521904e-01 3.59097718e-02 2.70679810e+02] [-2.27391302e-01 9.73772753e-01 -7.73442023e-03 -4.59010318e+01] [-3.67277073e-02 -6.39123307e-04 9.99325106e-01 -1.19905129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81587156 meters 0.021584893869832898 Centerline is valid? [True, True] Translation: X:270.71, Y:-45.91, Z:-11.99 [[ 9.73396337e-01 2.26203025e-01 3.64933185e-02 2.70708386e+02] [-2.26067306e-01 9.74079992e-01 -7.85768567e-03 -4.59055606e+01] [-3.73248437e-02 -6.01303771e-04 9.99303004e-01 -1.19903568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84587156000003 meters 0.02118423175029639 Centerline is valid? [True, True] Translation: X:270.74, Y:-45.91, Z:-11.99 [[ 9.73559730e-01 2.25434108e-01 3.68905720e-02 2.70735755e+02] [-2.25294932e-01 9.74258244e-01 -7.94144985e-03 -4.59104972e+01] [-3.77312175e-02 -5.79783131e-04 9.99287756e-01 -1.19913727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87587156 meters 0.0199445635310053 Centerline is valid? [True, True] Translation: X:270.76, Y:-45.92, Z:-11.99 [[ 9.73741749e-01 2.24628911e-01 3.69980811e-02 2.70764400e+02] [-2.24488439e-01 9.74444225e-01 -7.96203023e-03 -4.59171371e+01] [-3.78410687e-02 -5.52680219e-04 9.99283617e-01 -1.19920353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90587156 meters 0.019368731956679416 Centerline is valid? [True, True] Translation: X:270.79, Y:-45.92, Z:-11.99 [[ 9.74105095e-01 2.23009477e-01 3.72295122e-02 2.70792588e+02] [-2.22866088e-01 9.74816152e-01 -8.01106116e-03 -4.59205551e+01] [-3.80784724e-02 -4.93580264e-04 9.99274630e-01 -1.19936661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93587156 meters 0.018387795060594504 Centerline is valid? [True, True] Translation: X:270.82, Y:-45.93, Z:-11.99 [[ 9.74244478e-01 2.22382750e-01 3.73310742e-02 2.70820442e+02] [-2.22238190e-01 9.74959327e-01 -8.03103946e-03 -4.59260534e+01] [-3.81822436e-02 -4.72194509e-04 9.99270681e-01 -1.19944255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96587156 meters 0.016702911229195157 Centerline is valid? [True, True] Translation: X:270.85, Y:-45.93, Z:-11.99 [[ 9.74530735e-01 2.21069197e-01 3.76597515e-02 2.70849780e+02] [-2.20921177e-01 9.75258032e-01 -8.09972039e-03 -4.59320495e+01] [-3.85185738e-02 -4.26410165e-04 9.99257793e-01 -1.19943817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99587156 meters 0.016881787969350505 Centerline is valid? [True, True] Translation: X:270.88, Y:-45.94, Z:-12.00 [[ 9.74672895e-01 2.20393292e-01 3.79413429e-02 2.70878105e+02] [-2.20242574e-01 9.75411008e-01 -8.15932687e-03 -4.59369744e+01] [-3.88066644e-02 -4.03624266e-04 9.99246656e-01 -1.19959692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02587156 meters 0.014450754231170171 Centerline is valid? [True, True] Translation: X:270.91, Y:-45.95, Z:-12.00 [[ 9.75233081e-01 2.17915400e-01 3.78591721e-02 2.70906779e+02] [-2.17763510e-01 9.75967615e-01 -8.14054893e-03 -4.59458505e+01] [-3.87232769e-02 -3.05413608e-04 9.99249926e-01 -1.19966889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05587156 meters 0.013766589644433018 Centerline is valid? [True, True] Translation: X:270.93, Y:-45.95, Z:-12.00 [[ 9.75606571e-01 2.16255812e-01 3.77523906e-02 2.70934636e+02] [-2.16103569e-01 9.76336707e-01 -8.11671103e-03 -4.59526614e+01] [-3.86143306e-02 -2.39709744e-04 9.99254160e-01 -1.19991440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08587156 meters 0.01263334449216194 Centerline is valid? [True, True] Translation: X:270.96, Y:-45.96, Z:-12.00 [[ 9.76025759e-01 2.14332626e-01 3.78846030e-02 2.70963554e+02] [-2.14177925e-01 9.76760717e-01 -8.14361442e-03 -4.59611784e+01] [-3.87496342e-02 -1.65668211e-04 9.99248937e-01 -1.20007333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11587156 meters 0.011756754136900286 Centerline is valid? [True, True] Translation: X:270.99, Y:-45.97, Z:-12.00 [[ 9.76945154e-01 2.10196573e-01 3.73572746e-02 2.70992477e+02] [-2.10043173e-01 9.77659143e-01 -8.02901145e-03 -4.59733738e+01] [-3.82103518e-02 -2.73666277e-06 9.99269718e-01 -1.20023398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14587156 meters 0.029186664743338843 Centerline is valid? [True, True] Translation: X:271.02, Y:-45.98, Z:-12.00 [[ 9.77333101e-01 2.08427619e-01 3.71205684e-02 2.71021761e+02] [-2.08274843e-01 9.78037792e-01 -7.97915649e-03 -4.59828824e+01] [-3.79683954e-02 6.70132127e-05 9.99278938e-01 -1.20030214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17587156 meters 0.013372626505728579 Centerline is valid? [True, True] Translation: X:271.05, Y:-46.00, Z:-12.01 [[ 9.78060534e-01 2.05049132e-01 3.67756006e-02 2.71051848e+02] [-2.04896820e-01 9.78751662e-01 -7.90427691e-03 -4.59953583e+01] [-3.76149453e-02 1.95657663e-04 9.99292288e-01 -1.20064175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20587156 meters 0.014043711373847596 Centerline is valid? [True, True] Translation: X:271.08, Y:-46.00, Z:-12.01 [[ 9.78285778e-01 2.04050819e-01 3.63345576e-02 2.71082434e+02] [-2.03901218e-01 9.78960268e-01 -7.81578560e-03 -4.60041312e+01] [-3.71649057e-02 2.37411344e-04 9.99309118e-01 -1.20089917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23587156 meters 0.01499170994919036 Centerline is valid? [True, True] Translation: X:271.11, Y:-46.01, Z:-12.01 [[ 9.78456515e-01 2.03273516e-01 3.60932822e-02 2.71112621e+02] [-2.03125130e-01 9.79121956e-01 -7.77030153e-03 -4.60137527e+01] [-3.69192216e-02 2.71449508e-04 9.99318216e-01 -1.20115389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26587156 meters 0.01572560210160909 Centerline is valid? [True, True] Translation: X:271.14, Y:-46.02, Z:-12.01 [[ 9.78607505e-01 2.02520467e-01 3.62327475e-02 2.71144370e+02] [-2.02370206e-01 9.79277982e-01 -7.80599345e-03 -4.60236994e+01] [-3.70628053e-02 3.06575199e-04 9.99312891e-01 -1.20129788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29587156 meters 0.016208524277627364 Centerline is valid? [True, True] Translation: X:271.18, Y:-46.03, Z:-12.01 [[ 9.78765661e-01 2.01797006e-01 3.59965184e-02 2.71175111e+02] [-2.01647946e-01 9.79427309e-01 -7.76222968e-03 -4.60344500e+01] [-3.68223679e-02 3.38779864e-04 9.99321769e-01 -1.20140211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32587156 meters 0.016552044056007863 Centerline is valid? [True, True] Translation: X:271.21, Y:-46.04, Z:-12.02 [[ 9.78640370e-01 2.02385496e-01 3.60989958e-02 2.71205876e+02] [-2.02235760e-01 9.79305880e-01 -7.79045130e-03 -4.60444716e+01] [-3.69286332e-02 3.23542299e-04 9.99317853e-01 -1.20162239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35587156 meters 0.015220905018162138 Centerline is valid? [True, True] Translation: X:271.24, Y:-46.05, Z:-12.02 [[ 9.78514450e-01 2.03011980e-01 3.59945368e-02 2.71238093e+02] [-2.02863297e-01 9.79176206e-01 -7.77431599e-03 -4.60507598e+01] [-3.68232733e-02 3.05310133e-04 9.99321747e-01 -1.20163611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38587156 meters 0.015027697282560155 Centerline is valid? [True, True] Translation: X:271.27, Y:-46.06, Z:-12.02 [[ 9.78325721e-01 2.03938079e-01 3.58893190e-02 2.71269358e+02] [-2.03790617e-01 9.78983750e-01 -7.75893235e-03 -4.60588579e+01] [-3.67174019e-02 2.76856621e-04 9.99325651e-01 -1.20183000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41587156 meters 0.014552242037948306 Centerline is valid? [True, True] Translation: X:271.30, Y:-46.07, Z:-12.02 [[ 9.78140115e-01 2.04861465e-01 3.56888707e-02 2.71301194e+02] [-2.04716019e-01 9.78790947e-01 -7.72223741e-03 -4.60665177e+01] [-3.65139324e-02 2.47346670e-04 9.99333113e-01 -1.20203694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44587156 meters 0.013118115916916171 Centerline is valid? [True, True] Translation: X:271.33, Y:-46.07, Z:-12.02 [[ 9.77669995e-01 2.07094482e-01 3.56827315e-02 2.71332291e+02] [-2.06950306e-01 9.78320932e-01 -7.72817307e-03 -4.60731091e+01] [-3.65096252e-02 1.71050727e-04 9.99333287e-01 -1.20210109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47587156000003 meters 0.012284626520963045 Centerline is valid? [True, True] Translation: X:271.36, Y:-46.08, Z:-12.02 [[ 9.76962160e-01 2.10381158e-01 3.58428064e-02 2.71362791e+02] [-2.10237635e-01 9.77619438e-01 -7.76990428e-03 -4.60791432e+01] [-3.66752657e-02 5.53955963e-05 9.99327235e-01 -1.20228602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50587156 meters 0.012024425647823658 Centerline is valid? [True, True] Translation: X:271.40, Y:-46.09, Z:-12.02 [[ 9.76560248e-01 2.12258537e-01 3.57266823e-02 2.71395082e+02] [-2.12117097e-01 9.77213545e-01 -7.74751712e-03 -4.60859820e+01] [-3.65570745e-02 -1.23228928e-05 9.99331567e-01 -1.20238349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53587156000003 meters 0.012286226504815975 Centerline is valid? [True, True] Translation: X:271.43, Y:-46.09, Z:-12.02 [[ 9.76067746e-01 2.14483436e-01 3.58972382e-02 2.71425806e+02] [-2.14341866e-01 9.76727622e-01 -7.79210992e-03 -4.60914226e+01] [-3.67331026e-02 -8.86538421e-05 9.99325108e-01 -1.20247835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56587156 meters 0.01421759140800954 Centerline is valid? [True, True] Translation: X:271.46, Y:-46.09, Z:-12.03 [[ 9.75071694e-01 2.18862928e-01 3.65268438e-02 2.71456846e+02] [-2.18719145e-01 9.75755582e-01 -7.93598776e-03 -4.60929564e+01] [-3.73781652e-02 -2.50963001e-04 9.99301161e-01 -1.20253280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59587156000003 meters 0.015584550835135375 Centerline is valid? [True, True] Translation: X:271.49, Y:-46.10, Z:-12.03 [[ 9.74505038e-01 2.21340692e-01 3.67182529e-02 2.71487960e+02] [-2.21197140e-01 9.75196482e-01 -7.97793952e-03 -4.60977188e+01] [-3.75733537e-02 -3.47430286e-04 9.99293812e-01 -1.20260992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62587156 meters 0.017719197240484215 Centerline is valid? [True, True] Translation: X:271.52, Y:-46.10, Z:-12.03 [[ 9.73983051e-01 2.23594337e-01 3.69132635e-02 2.71517084e+02] [-2.23450829e-01 9.74682196e-01 -8.02150690e-03 -4.61009204e+01] [-3.77722643e-02 -4.35487564e-04 9.99286279e-01 -1.20271018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65587156 meters 0.022042160869163385 Centerline is valid? [True, True] Translation: X:271.55, Y:-46.10, Z:-12.03 [[ 9.73049071e-01 2.27643703e-01 3.67946900e-02 2.71546411e+02] [-2.27504016e-01 9.73744317e-01 -7.99545746e-03 -4.61014168e+01] [-3.76487358e-02 -5.90967298e-04 9.99290860e-01 -1.20291829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68587156 meters 0.02267687171959729 Centerline is valid? [True, True] Translation: X:271.58, Y:-46.11, Z:-12.03 [[ 9.72642409e-01 2.29448698e-01 3.63323482e-02 2.71575146e+02] [-2.29313811e-01 9.73320537e-01 -7.89358817e-03 -4.61072974e+01] [-3.71741941e-02 -6.53870593e-04 9.99308587e-01 -1.20305652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71587156 meters 0.026152983391053698 Centerline is valid? [True, True] Translation: X:271.60, Y:-46.11, Z:-12.03 [[ 9.71981124e-01 2.32306199e-01 3.58681608e-02 2.71603736e+02] [-2.32176709e-01 9.72642412e-01 -7.79195495e-03 -4.61090478e+01] [-3.66970138e-02 -7.54118393e-04 9.99326153e-01 -1.20325942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74587156 meters 0.035126105905941465 Centerline is valid? [True, True] Translation: X:271.63, Y:-46.11, Z:-12.03 [[ 9.71691932e-01 2.33500231e-01 3.59504083e-02 2.71632792e+02] [-2.33371009e-01 9.72356415e-01 -7.80856768e-03 -4.61129002e+01] [-3.67799125e-02 -8.02260847e-04 9.99323068e-01 -1.20324513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77587156 meters 0.02915959375319721 Centerline is valid? [True, True] Translation: X:271.66, Y:-46.11, Z:-12.04 [[ 9.71475783e-01 2.34388007e-01 3.60147983e-02 2.71660408e+02] [-2.34258993e-01 9.72142766e-01 -7.82087021e-03 -4.61142832e+01] [-3.68446438e-02 -8.39004361e-04 9.99320653e-01 -1.20359139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80587156 meters 0.03394148986839218 Centerline is valid? [True, True] Translation: X:271.69, Y:-46.12, Z:-12.03 [[ 9.71469192e-01 2.34400406e-01 3.61117441e-02 2.71688772e+02] [-2.34270790e-01 9.72139773e-01 -7.83961704e-03 -4.61209204e+01] [-3.69432721e-02 -8.43980369e-04 9.99317008e-01 -1.20347781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83587156 meters 0.03394148986839218 Centerline is valid? [True, True] Translation: X:271.72, Y:-46.13, Z:-12.04 [[ 9.71480140e-01 2.34354973e-01 3.61121115e-02 2.71716456e+02] [-2.34225389e-01 9.72150726e-01 -7.83792386e-03 -4.61268392e+01] [-3.69432719e-02 -8.43986006e-04 9.99317008e-01 -1.20360542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86587156 meters 0.028119349337727886 Centerline is valid? [True, True] Translation: X:271.74, Y:-46.13, Z:-12.04 [[ 9.71671833e-01 2.33532109e-01 3.62850366e-02 2.71743225e+02] [-2.33400770e-01 9.72348746e-01 -7.87376246e-03 -4.61333300e+01] [-3.71204862e-02 -8.18242269e-04 9.99310462e-01 -1.20385275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89587156 meters 0.03224065606401987 Centerline is valid? [True, True] Translation: X:271.77, Y:-46.14, Z:-12.04 [[ 9.71993985e-01 2.32003976e-01 3.74412734e-02 2.71771019e+02] [-2.31863091e-01 9.72714520e-01 -8.12221804e-03 -4.61415613e+01] [-3.83040572e-02 -7.86502305e-04 9.99265821e-01 -1.20360876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92587156 meters 0.02596028504067615 Centerline is valid? [True, True] Translation: X:271.80, Y:-46.15, Z:-12.04 [[ 9.72240231e-01 2.30896660e-01 3.78901783e-02 2.71798317e+02] [-2.30751605e-01 9.72977988e-01 -8.21780913e-03 -4.61472657e+01] [-3.87637741e-02 -7.53534791e-04 9.99248118e-01 -1.20381481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95587156 meters 0.024898007132984262 Centerline is valid? [True, True] Translation: X:271.83, Y:-46.15, Z:-12.04 [[ 9.72538067e-01 2.29627986e-01 3.79564984e-02 2.71825605e+02] [-2.29481546e-01 9.73278218e-01 -8.22988129e-03 -4.61524864e+01] [-3.88320442e-02 -7.06443104e-04 9.99245502e-01 -1.20396634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98587156 meters 0.024249631730713275 Centerline is valid? [True, True] Translation: X:271.85, Y:-46.16, Z:-12.04 [[ 9.72694859e-01 2.29005318e-01 3.76998203e-02 2.71853868e+02] [-2.28860474e-01 9.73424935e-01 -8.17191535e-03 -4.61581754e+01] [-3.85693572e-02 -6.79218713e-04 9.99255695e-01 -1.20408979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01587156 meters 0.024107635707974518 Centerline is valid? [True, True] Translation: X:271.88, Y:-46.16, Z:-12.04 [[ 9.72845507e-01 2.28383947e-01 3.75818017e-02 2.71880776e+02] [-2.28239612e-01 9.73570924e-01 -8.14462053e-03 -4.61628683e+01] [-3.84486500e-02 -6.54198344e-04 9.99260363e-01 -1.20428694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04587156 meters 0.02228955563448864 Centerline is valid? [True, True] Translation: X:271.91, Y:-46.17, Z:-12.05 [[ 9.73243275e-01 2.26846917e-01 3.65787411e-02 2.71908437e+02] [-2.26709182e-01 9.73930254e-01 -7.92505460e-03 -4.61707374e+01] [-3.74229169e-02 -5.79730406e-04 9.99299349e-01 -1.20462478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07587156 meters 0.02234042522664321 Centerline is valid? [True, True] Translation: X:271.94, Y:-46.18, Z:-12.05 [[ 9.73416386e-01 2.26139924e-01 3.63493312e-02 2.71935461e+02] [-2.26003480e-01 9.74094673e-01 -7.87372653e-03 -4.61762336e+01] [-3.71882538e-02 -5.50660929e-04 9.99308126e-01 -1.20483890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10587156 meters 0.02130730150913332 Centerline is valid? [True, True] Translation: X:271.96, Y:-46.18, Z:-12.05 [[ 9.73599469e-01 2.25332111e-01 3.64625048e-02 2.71963180e+02] [-2.25194334e-01 9.74281872e-01 -7.89598483e-03 -4.61824397e+01] [-3.73039764e-02 -5.23622844e-04 9.99303827e-01 -1.20493832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13587156 meters 0.031225125306831806 Centerline is valid? [True, True] Translation: X:271.99, Y:-46.19, Z:-12.05 [[ 9.73836648e-01 2.24335838e-01 3.62714124e-02 2.71990760e+02] [-2.24198871e-01 9.74511774e-01 -7.85299327e-03 -4.61881861e+01] [-3.71086263e-02 -4.84477058e-04 9.99311120e-01 -1.20490574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16587156 meters 0.01807487387221073 Centerline is valid? [True, True] Translation: X:272.02, Y:-46.20, Z:-12.05 [[ 9.74406105e-01 2.21828189e-01 3.64005132e-02 2.72018622e+02] [-2.21688570e-01 9.75085689e-01 -7.87890243e-03 -4.61979704e+01] [-3.72413822e-02 -3.92327091e-04 9.99306222e-01 -1.20516428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19587156 meters 0.017176617521533273 Centerline is valid? [True, True] Translation: X:272.05, Y:-46.21, Z:-12.05 [[ 9.74669943e-01 2.20664734e-01 3.64084881e-02 2.72046936e+02] [-2.20524346e-01 9.75349656e-01 -7.87783998e-03 -4.62053010e+01] [-3.72493678e-02 -3.50664202e-04 9.99305940e-01 -1.20528639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22587156000003 meters 0.021884808925739133 Centerline is valid? [True, True] Translation: X:272.07, Y:-46.21, Z:-12.05 [[ 9.74916706e-01 2.19650571e-01 3.59310842e-02 2.72073904e+02] [-2.19513211e-01 9.75578562e-01 -7.77299314e-03 -4.62109650e+01] [-3.67609378e-02 -3.09326781e-04 9.99324040e-01 -1.20533740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25587156 meters 0.01502003117285126 Centerline is valid? [True, True] Translation: X:272.10, Y:-46.22, Z:-12.05 [[ 9.74915583e-01 2.19648841e-01 3.59720995e-02 2.72103324e+02] [-2.19511260e-01 9.75578951e-01 -7.77931247e-03 -4.62193129e+01] [-3.68023401e-02 -3.12107931e-04 9.99322516e-01 -1.20542371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28587156000003 meters 0.015418826296339226 Centerline is valid? [True, True] Translation: X:272.13, Y:-46.22, Z:-12.06 [[ 9.74873927e-01 2.19864905e-01 3.57805816e-02 2.72132555e+02] [-2.19728927e-01 9.75530277e-01 -7.73799985e-03 -4.62249541e+01] [-3.66063553e-02 -3.18454508e-04 9.99329712e-01 -1.20564973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31587156 meters 0.01830046509399563 Centerline is valid? [True, True] Translation: X:272.16, Y:-46.22, Z:-12.06 [[ 9.74662478e-01 2.20948385e-01 3.48549208e-02 2.72161282e+02] [-2.20820053e-01 9.75285440e-01 -7.53761050e-03 -4.62249329e+01] [-3.56589197e-02 -3.50039346e-04 9.99363957e-01 -1.20625116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34587156000003 meters 0.017602389279756225 Centerline is valid? [True, True] Translation: X:272.19, Y:-46.23, Z:-12.06 [[ 9.74504724e-01 2.21728774e-01 3.43058938e-02 2.72189887e+02] [-2.21604977e-01 9.75108307e-01 -7.41773439e-03 -4.62309635e+01] [-3.50966872e-02 -3.73739621e-04 9.99383852e-01 -1.20628992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37587156 meters 0.017858352494965143 Centerline is valid? [True, True] Translation: X:272.22, Y:-46.24, Z:-12.06 [[ 9.74421752e-01 2.22171585e-01 3.37940363e-02 2.72218238e+02] [-2.22051779e-01 9.75007507e-01 -7.30543945e-03 -4.62353181e+01] [-3.45725001e-02 -3.85446763e-04 9.99402118e-01 -1.20646324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40587156 meters 0.03030568096561313 Centerline is valid? [True, True] Translation: X:272.25, Y:-46.23, Z:-12.07 [[ 9.74218841e-01 2.23136715e-01 3.32814764e-02 2.72246960e+02] [-2.23021130e-01 9.74787071e-01 -7.19314367e-03 -4.62345952e+01] [-3.40474073e-02 -4.14776374e-04 9.99420133e-01 -1.20682104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43587156 meters 0.019039468966196193 Centerline is valid? [True, True] Translation: X:272.27, Y:-46.24, Z:-12.07 [[ 9.74225017e-01 2.23124136e-01 3.31848877e-02 2.72274697e+02] [-2.23009287e-01 9.74789951e-01 -7.17008784e-03 -4.62433334e+01] [-3.39481147e-02 -4.15259212e-04 9.99423510e-01 -1.20684467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46587156 meters 0.01907962196805349 Centerline is valid? [True, True] Translation: X:272.30, Y:-46.25, Z:-12.07 [[ 9.74234684e-01 2.23056920e-01 3.33525346e-02 2.72303518e+02] [-2.22940925e-01 9.74805333e-01 -7.20465030e-03 -4.62481418e+01] [-3.41192757e-02 -4.16624718e-04 9.99417681e-01 -1.20697628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49587156 meters 0.022090238793081852 Centerline is valid? [True, True] Translation: X:272.33, Y:-46.25, Z:-12.07 [[ 9.74181493e-01 2.23283592e-01 3.33894501e-02 2.72331744e+02] [-2.23167523e-01 9.74753433e-01 -7.21115977e-03 -4.62470642e+01] [-3.41566148e-02 -4.26462490e-04 9.99416402e-01 -1.20735236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52587156 meters 0.019454103665670307 Centerline is valid? [True, True] Translation: X:272.36, Y:-46.26, Z:-12.07 [[ 9.74202507e-01 2.23169854e-01 3.35364073e-02 2.72359512e+02] [-2.23052777e-01 9.74779480e-01 -7.24047520e-03 -4.62550352e+01] [-3.43064575e-02 -4.26699707e-04 9.99411269e-01 -1.20720263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55587156 meters 0.019511008959220796 Centerline is valid? [True, True] Translation: X:272.39, Y:-46.26, Z:-12.07 [[ 9.74252892e-01 2.22927974e-01 3.36811665e-02 2.72387815e+02] [-2.22809785e-01 9.74834827e-01 -7.27040595e-03 -4.62592569e+01] [-3.44543510e-02 -4.21279443e-04 9.99406184e-01 -1.20734943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58587156 meters 0.01906774509149879 Centerline is valid? [True, True] Translation: X:272.42, Y:-46.26, Z:-12.08 [[ 9.74491404e-01 2.21861950e-01 3.38197933e-02 2.72415260e+02] [-2.21742245e-01 9.75078010e-01 -7.29741701e-03 -4.62639604e+01] [-3.45959559e-02 -3.88006731e-04 9.99401305e-01 -1.20753719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61587156 meters 0.018284073286288005 Centerline is valid? [True, True] Translation: X:272.44, Y:-46.27, Z:-12.08 [[ 9.74646276e-01 2.21188690e-01 3.37668408e-02 2.72443406e+02] [-2.21069037e-01 9.75230962e-01 -7.28364664e-03 -4.62710809e+01] [-3.45415289e-02 -3.65823883e-04 9.99403196e-01 -1.20767609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64587156 meters 0.017053711183753706 Centerline is valid? [True, True] Translation: X:272.47, Y:-46.28, Z:-12.08 [[ 9.75077741e-01 2.19334563e-01 3.34028117e-02 2.72470710e+02] [-2.19216438e-01 9.75649661e-01 -7.20366705e-03 -4.62775378e+01] [-3.41694551e-02 -2.98310009e-04 9.99416009e-01 -1.20792774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67587156 meters 0.016526841616344618 Centerline is valid? [True, True] Translation: X:272.50, Y:-46.28, Z:-12.08 [[ 9.75276703e-01 2.18494370e-01 3.30992804e-02 2.72498795e+02] [-2.18377970e-01 9.75838172e-01 -7.13611588e-03 -4.62841037e+01] [-3.38587424e-02 -2.68466094e-04 9.99426592e-01 -1.20811641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70587156 meters 0.016113048166324775 Centerline is valid? [True, True] Translation: X:272.53, Y:-46.29, Z:-12.08 [[ 9.75395815e-01 2.17927824e-01 3.33236682e-02 2.72526394e+02] [-2.17809563e-01 9.75964856e-01 -7.18289097e-03 -4.62903500e+01] [-3.40880808e-02 -2.52051817e-04 9.99418801e-01 -1.20822660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73587156 meters 0.015882146853597096 Centerline is valid? [True, True] Translation: X:272.55, Y:-46.30, Z:-12.08 [[ 9.75500558e-01 2.17424701e-01 3.35434162e-02 2.72553167e+02] [-2.17304629e-01 9.76077068e-01 -7.22877844e-03 -4.62961102e+01] [-3.43126743e-02 -2.37462191e-04 9.99411119e-01 -1.20830798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76587156 meters 0.015529662200717522 Centerline is valid? [True, True] Translation: X:272.58, Y:-46.30, Z:-12.08 [[ 9.75636793e-01 2.16807860e-01 3.35737997e-02 2.72580418e+02] [-2.16687272e-01 9.76214272e-01 -7.23337385e-03 -4.63020791e+01] [-3.43434747e-02 -2.17869408e-04 9.99410065e-01 -1.20846643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79587156 meters 0.01561252610805765 Centerline is valid? [True, True] Translation: X:272.61, Y:-46.31, Z:-12.09 [[ 9.75669835e-01 2.16659383e-01 3.35720740e-02 2.72608327e+02] [-2.16538795e-01 9.76247236e-01 -7.23081531e-03 -4.63084910e+01] [-3.43412684e-02 -2.14768058e-04 9.99410142e-01 -1.20867263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82587156 meters 0.016140364700600065 Centerline is valid? [True, True] Translation: X:272.64, Y:-46.32, Z:-12.09 [[ 9.75674316e-01 2.16777109e-01 3.26697634e-02 2.72635642e+02] [-2.16663028e-01 9.76221101e-01 -7.03513824e-03 -4.63151590e+01] [-3.34179694e-02 -2.14326187e-04 9.99441441e-01 -1.20901108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85587156 meters 0.016450879043551726 Centerline is valid? [True, True] Translation: X:272.66, Y:-46.32, Z:-12.09 [[ 9.75636783e-01 2.17019008e-01 3.21810168e-02 2.72663872e+02] [-2.16908512e-01 9.76167353e-01 -6.92793222e-03 -4.63208669e+01] [-3.29175510e-02 -2.21190952e-04 9.99458046e-01 -1.20924172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88587156 meters 0.01677650981765307 Centerline is valid? [True, True] Translation: X:272.69, Y:-46.33, Z:-12.09 [[ 9.75580826e-01 2.17291029e-01 3.20415627e-02 2.72691815e+02] [-2.17181683e-01 9.76106836e-01 -6.89643713e-03 -4.63262996e+01] [-3.27745223e-02 -2.30808695e-04 9.99462744e-01 -1.20941462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91587156 meters 0.017679167839263207 Centerline is valid? [True, True] Translation: X:272.72, Y:-46.33, Z:-12.10 [[ 9.75373050e-01 2.18235142e-01 3.19505126e-02 2.72719119e+02] [-2.18126967e-01 9.75896180e-01 -6.87550703e-03 -4.63295621e+01] [-3.26808604e-02 -2.63084146e-04 9.99465803e-01 -1.20954345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94587156 meters 0.01857516481186628 Centerline is valid? [True, True] Translation: X:272.75, Y:-46.33, Z:-12.10 [[ 9.75204955e-01 2.19004955e-01 3.18139138e-02 2.72747314e+02] [-2.18898176e-01 9.75723704e-01 -6.84415669e-03 -4.63338778e+01] [-3.25404940e-02 -2.89552186e-04 9.99470376e-01 -1.20971688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97587156000003 meters 0.019306258713265523 Centerline is valid? [True, True] Translation: X:272.78, Y:-46.34, Z:-12.10 [[ 9.75011561e-01 2.19806488e-01 3.22112296e-02 2.72776232e+02] [-2.19697512e-01 9.75543440e-01 -6.92814226e-03 -4.63379283e+01] [-3.29463043e-02 -3.21708187e-04 9.99457071e-01 -1.20978388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00587156 meters 0.01907198550356067 Centerline is valid? [True, True] Translation: X:272.81, Y:-46.34, Z:-12.09 [[ 9.74345993e-01 2.22694575e-01 3.25117287e-02 2.72805205e+02] [-2.22585209e-01 9.74888171e-01 -6.99134456e-03 -4.63421747e+01] [-3.32522342e-02 -4.24641367e-04 9.99446901e-01 -1.20941459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03587156000003 meters 0.024068150485034565 Centerline is valid? [True, True] Translation: X:272.83, Y:-46.34, Z:-12.10 [[ 9.74004424e-01 2.24132527e-01 3.28632298e-02 2.72833484e+02] [-2.24021652e-01 9.74558556e-01 -7.06537440e-03 -4.63410881e+01] [-3.36107221e-02 -4.80369136e-04 9.99434885e-01 -1.20991939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06587156 meters 0.025705819992017674 Centerline is valid? [True, True] Translation: X:272.86, Y:-46.34, Z:-12.10 [[ 9.73620939e-01 2.25735490e-01 3.32528931e-02 2.72862407e+02] [-2.25622984e-01 9.74188479e-01 -7.14681023e-03 -4.63443729e+01] [-3.40078740e-02 -5.44332885e-04 9.99421417e-01 -1.20995529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09587156000003 meters 0.028584515017600558 Centerline is valid? [True, True] Translation: X:272.89, Y:-46.34, Z:-12.10 [[ 9.72955993e-01 2.28452124e-01 3.41505896e-02 2.72892038e+02] [-2.28335187e-01 9.73554926e-01 -7.33816001e-03 -4.63430393e+01] [-3.49238930e-02 -6.58074490e-04 9.99389758e-01 -1.20984039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12587156 meters 0.025684337809470898 Centerline is valid? [True, True] Translation: X:272.92, Y:-46.35, Z:-12.10 [[ 9.72714256e-01 2.29458954e-01 3.42865024e-02 2.72920107e+02] [-2.29341762e-01 9.73318088e-01 -7.36584916e-03 -4.63515046e+01] [-3.50618330e-02 -6.98460379e-04 9.99384901e-01 -1.20965952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15587156 meters 0.03598275759687132 Centerline is valid? [True, True] Translation: X:272.95, Y:-46.35, Z:-12.10 [[ 9.72335841e-01 2.30980505e-01 3.47997020e-02 2.72948416e+02] [-2.30860810e-01 9.72958077e-01 -7.47445129e-03 -4.63526118e+01] [-3.55851037e-02 -7.66210516e-04 9.99366356e-01 -1.20953421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18587156 meters 0.02847376323622656 Centerline is valid? [True, True] Translation: X:272.98, Y:-46.36, Z:-12.10 [[ 9.72215371e-01 2.31416724e-01 3.52643267e-02 2.72977003e+02] [-2.31294181e-01 9.72854392e-01 -7.57191966e-03 -4.63575860e+01] [-3.60593240e-02 -7.94896891e-04 9.99349335e-01 -1.20978821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21587156 meters 0.03369207411335408 Centerline is valid? [True, True] Translation: X:273.01, Y:-46.35, Z:-12.10 [[ 9.72189767e-01 2.31560507e-01 3.50255425e-02 2.73006121e+02] [-2.31439768e-01 9.72820177e-01 -7.51906672e-03 -4.63544664e+01] [-3.58146734e-02 -7.96343730e-04 9.99358132e-01 -1.21021402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24587156 meters 0.03347907899954717 Centerline is valid? [True, True] Translation: X:273.03, Y:-46.36, Z:-12.10 [[ 9.72300989e-01 2.31157955e-01 3.45946132e-02 2.73033441e+02] [-2.31039989e-01 9.72915927e-01 -7.42445022e-03 -4.63582640e+01] [-3.53738709e-02 -7.73938774e-04 9.99373849e-01 -1.21047274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27587156 meters 0.034429683809932186 Centerline is valid? [True, True] Translation: X:273.06, Y:-46.36, Z:-12.11 [[ 9.72357033e-01 2.30956152e-01 3.43665132e-02 2.73060239e+02] [-2.30839670e-01 9.72963860e-01 -7.37382665e-03 -4.63619425e+01] [-3.51404060e-02 -7.63162360e-04 9.99382094e-01 -1.21070817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30587156 meters 0.02932922214345044 Centerline is valid? [True, True] Translation: X:273.09, Y:-46.37, Z:-12.11 [[ 9.72349678e-01 2.31034520e-01 3.40463470e-02 2.73088104e+02] [-2.30920347e-01 9.72945256e-01 -7.30226887e-03 -4.63702940e+01] [-3.48123080e-02 -7.61635469e-04 9.99393578e-01 -1.21054626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33587156 meters 0.03270614034533809 Centerline is valid? [True, True] Translation: X:273.12, Y:-46.38, Z:-12.10 [[ 9.72298983e-01 2.31263032e-01 3.39425677e-02 2.73116337e+02] [-2.31149748e-01 9.72890959e-01 -7.27841838e-03 -4.63767217e+01] [-3.47056464e-02 -7.69017197e-04 9.99397282e-01 -1.21030716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36587156 meters 0.035119712927856754 Centerline is valid? [True, True] Translation: X:273.15, Y:-46.37, Z:-12.11 [[ 9.72233507e-01 2.31481652e-01 3.43256740e-02 2.73145522e+02] [-2.31365989e-01 9.72838951e-01 -7.35893844e-03 -4.63704359e+01] [-3.50968119e-02 -7.87186972e-04 9.99383607e-01 -1.21104849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39587156 meters 0.03283405814853608 Centerline is valid? [True, True] Translation: X:273.17, Y:-46.38, Z:-12.10 [[ 9.72232953e-01 2.31472288e-01 3.44044255e-02 2.73171957e+02] [-2.31356159e-01 9.72841177e-01 -7.37380048e-03 -4.63826495e+01] [-3.51768723e-02 -7.90623910e-04 9.99380790e-01 -1.21049237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42587156 meters 0.02883995371997679 Centerline is valid? [True, True] Translation: X:273.20, Y:-46.38, Z:-12.11 [[ 9.72389109e-01 2.30780510e-01 3.46377862e-02 2.73199590e+02] [-2.30662460e-01 9.73005528e-01 -7.42104372e-03 -4.63845855e+01] [-3.54153897e-02 -7.73494875e-04 9.99372379e-01 -1.21089027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45587156 meters 0.03424823738609698 Centerline is valid? [True, True] Translation: X:273.23, Y:-46.38, Z:-12.11 [[ 9.72543628e-01 2.30071432e-01 3.50146822e-02 2.73228363e+02] [-2.29950410e-01 9.73173449e-01 -7.49979412e-03 -4.63816523e+01] [-3.58008475e-02 -7.57763560e-04 9.99358657e-01 -1.21132970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48587156 meters 0.027499603481297666 Centerline is valid? [True, True] Translation: X:273.26, Y:-46.39, Z:-12.11 [[ 9.72929240e-01 2.28342803e-01 3.56126102e-02 2.73255369e+02] [-2.28216583e-01 9.73580537e-01 -7.62429846e-03 -4.63923048e+01] [-3.64126978e-02 -7.09485309e-04 9.99336586e-01 -1.21104356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51587156 meters 0.034188351535777046 Centerline is valid? [True, True] Translation: X:273.28, Y:-46.40, Z:-12.11 [[ 9.73156346e-01 2.27388103e-01 3.55158735e-02 2.73283300e+02] [-2.27261993e-01 9.73803983e-01 -7.60193945e-03 -4.64002738e+01] [-3.63140897e-02 -6.73532568e-04 9.99340199e-01 -1.21088481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54587156 meters 0.030112968785897407 Centerline is valid? [True, True] Translation: X:273.31, Y:-46.40, Z:-12.12 [[ 9.73439209e-01 2.26125604e-01 3.58234197e-02 2.73311780e+02] [-2.25996506e-01 9.74097947e-01 -7.66610130e-03 -4.63970223e+01] [-3.66290213e-02 -6.33484099e-04 9.99328731e-01 -1.21160251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57587156 meters 0.022974107379011944 Centerline is valid? [True, True] Translation: X:273.34, Y:-46.41, Z:-12.11 [[ 9.73499863e-01 2.25872780e-01 3.57701577e-02 2.73338819e+02] [-2.25743978e-01 9.74156608e-01 -7.65245530e-03 -4.64106278e+01] [-3.65742168e-02 -6.25233491e-04 9.99330744e-01 -1.21130332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60587156 meters 0.025298665503149163 Centerline is valid? [True, True] Translation: X:273.37, Y:-46.41, Z:-12.12 [[ 9.73539043e-01 2.25730707e-01 3.56002866e-02 2.73365735e+02] [-2.25603084e-01 9.74189543e-01 -7.61466335e-03 -4.64112093e+01] [-3.64002903e-02 -6.18362381e-04 9.99337099e-01 -1.21164153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63587156 meters 0.02173499874254538 Centerline is valid? [True, True] Translation: X:273.39, Y:-46.42, Z:-12.12 [[ 9.73599258e-01 2.25497284e-01 3.54324766e-02 2.73392676e+02] [-2.25370821e-01 9.74243606e-01 -7.57563817e-03 -4.64203307e+01] [-3.62281496e-02 -6.09810632e-04 9.99343359e-01 -1.21158662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66587156 meters 0.022484884248566102 Centerline is valid? [True, True] Translation: X:273.42, Y:-46.42, Z:-12.12 [[ 9.73813844e-01 2.24650648e-01 3.49096458e-02 2.73420289e+02] [-2.24527445e-01 9.74439202e-01 -7.46108881e-03 -4.64228283e+01] [-3.56934658e-02 -5.72462004e-04 9.99362621e-01 -1.21198107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69587156 meters 0.021913190707994194 Centerline is valid? [True, True] Translation: X:273.45, Y:-46.43, Z:-12.12 [[ 9.73948026e-01 2.24113417e-01 3.46181839e-02 2.73449069e+02] [-2.23992010e-01 9.74562914e-01 -7.39635049e-03 -4.64282124e+01] [-3.53952196e-02 -5.50535635e-04 9.99373241e-01 -1.21214232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72587156000003 meters 0.020689851335189396 Centerline is valid? [True, True] Translation: X:273.48, Y:-46.43, Z:-12.12 [[ 9.74389483e-01 2.22194454e-01 3.45653095e-02 2.73476617e+02] [-2.22072239e-01 9.75002253e-01 -7.38426783e-03 -4.64328477e+01] [-3.53419980e-02 -4.80842749e-04 9.99375161e-01 -1.21230864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75587156 meters 0.020689851335189396 Centerline is valid? [True, True] Translation: X:273.50, Y:-46.44, Z:-12.12 [[ 9.74405082e-01 2.22125932e-01 3.45659733e-02 2.73503507e+02] [-2.22003783e-01 9.75017866e-01 -7.38115884e-03 -4.64384498e+01] [-3.53419883e-02 -4.81538165e-04 9.99375161e-01 -1.21243248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78587156000003 meters 0.018450359619916926 Centerline is valid? [True, True] Translation: X:273.53, Y:-46.45, Z:-12.12 [[ 9.74717890e-01 2.20743836e-01 3.46004772e-02 2.73531054e+02] [-2.20620671e-01 9.75331723e-01 -7.38576775e-03 -4.64467716e+01] [-3.53773058e-02 -4.34540532e-04 9.99373933e-01 -1.21245155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81587156 meters 0.017234078729870116 Centerline is valid? [True, True] Translation: X:273.56, Y:-46.45, Z:-12.13 [[ 9.75046574e-01 2.19279328e-01 3.46519083e-02 2.73558467e+02] [-2.19154934e-01 9.75662046e-01 -7.39498612e-03 -4.64542262e+01] [-3.54301193e-02 -3.83680804e-04 9.99372083e-01 -1.21255418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84587156000003 meters 0.016289454031516288 Centerline is valid? [True, True] Translation: X:273.59, Y:-46.46, Z:-12.13 [[ 9.75533388e-01 2.17100344e-01 3.46705969e-02 2.73585188e+02] [-2.16974498e-01 9.76149244e-01 -7.39732590e-03 -4.64598408e+01] [-3.54496389e-02 -3.06296955e-04 9.99371417e-01 -1.21278111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87587156 meters 0.015650471195529113 Centerline is valid? [True, True] Translation: X:273.61, Y:-46.47, Z:-12.13 [[ 9.75659444e-01 2.16513708e-01 3.47917311e-02 2.73613379e+02] [-2.16386691e-01 9.76279535e-01 -7.42082993e-03 -4.64651052e+01] [-3.55731665e-02 -2.88264763e-04 9.99367033e-01 -1.21287548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90587156 meters 0.01550905615453307 Centerline is valid? [True, True] Translation: X:273.64, Y:-46.47, Z:-12.13 [[ 9.75679840e-01 2.16412198e-01 3.48512527e-02 2.73640582e+02] [-2.16284734e-01 9.76302043e-01 -7.43204299e-03 -4.64702046e+01] [-3.56337339e-02 -2.86499402e-04 9.99364876e-01 -1.21296237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93587156 meters 0.015560217186347031 Centerline is valid? [True, True] Translation: X:273.67, Y:-46.47, Z:-12.13 [[ 9.75611348e-01 2.16620199e-01 3.54709224e-02 2.73668964e+02] [-2.16488403e-01 9.76255908e-01 -7.56128746e-03 -4.64742887e+01] [-3.62666252e-02 -3.02165500e-04 9.99342104e-01 -1.21295242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96587156 meters 0.015937253025414468 Centerline is valid? [True, True] Translation: X:273.70, Y:-46.48, Z:-12.13 [[ 9.75561189e-01 2.16868259e-01 3.53344740e-02 2.73697031e+02] [-2.16737698e-01 9.76200830e-01 -7.53055709e-03 -4.64780664e+01] [-3.61266816e-02 -3.11793333e-04 9.99347170e-01 -1.21312011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99587156 meters 0.016353007227429252 Centerline is valid? [True, True] Translation: X:273.73, Y:-46.48, Z:-12.14 [[ 9.75561325e-01 2.17058910e-01 3.41398701e-02 2.73725697e+02] [-2.16937222e-01 9.76158457e-01 -7.27381426e-03 -4.64811947e+01] [-3.49047691e-02 -3.10156691e-04 9.99390595e-01 -1.21352071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02587156 meters 0.01621126356898715 Centerline is valid? [True, True] Translation: X:273.75, Y:-46.49, Z:-12.14 [[ 9.75648542e-01 2.16649308e-01 3.42490836e-02 2.73752879e+02] [-2.16526643e-01 9.76249450e-01 -7.29551618e-03 -4.64860009e+01] [-3.50162176e-02 -2.97979367e-04 9.99386700e-01 -1.21367722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05587156 meters 0.015758486994391353 Centerline is valid? [True, True] Translation: X:273.78, Y:-46.49, Z:-12.14 [[ 9.75786399e-01 2.16070100e-01 3.39796308e-02 2.73779858e+02] [-2.15949073e-01 9.76377814e-01 -7.23618944e-03 -4.64920752e+01] [-3.47404819e-02 -2.76894551e-04 9.99396329e-01 -1.21382402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08587156 meters 0.014559751720540425 Centerline is valid? [True, True] Translation: X:273.81, Y:-46.50, Z:-12.14 [[ 9.76142710e-01 2.14494829e-01 3.37250305e-02 2.73807420e+02] [-2.14374763e-01 9.76725099e-01 -7.17926246e-03 -4.64992970e+01] [-3.44799985e-02 -2.21810728e-04 9.99405363e-01 -1.21396773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11587156 meters 0.014191018548567011 Centerline is valid? [True, True] Translation: X:273.83, Y:-46.51, Z:-12.14 [[ 9.76374643e-01 2.13380812e-01 3.40761665e-02 2.73834547e+02] [-2.13257609e-01 9.76969086e-01 -7.25242139e-03 -4.65054703e+01] [-3.48388888e-02 -1.85921450e-04 9.99392924e-01 -1.21409028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14587156 meters 0.013776650890727814 Centerline is valid? [True, True] Translation: X:273.86, Y:-46.51, Z:-12.14 [[ 9.76543776e-01 2.12560188e-01 3.43572346e-02 2.73861151e+02] [-2.12434512e-01 9.77147963e-01 -7.31007818e-03 -4.65120052e+01] [-3.51259334e-02 -1.60051008e-04 9.99382881e-01 -1.21416628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17587156 meters 0.01892371160777888 Centerline is valid? [True, True] Translation: X:273.89, Y:-46.52, Z:-12.14 [[ 9.76834036e-01 2.11177446e-01 3.46316673e-02 2.73889010e+02] [-2.11048963e-01 9.77447734e-01 -7.36625755e-03 -4.65203118e+01] [-3.54062322e-02 -1.13366387e-04 9.99372996e-01 -1.21394264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20587156 meters 0.012672997649648273 Centerline is valid? [True, True] Translation: X:273.92, Y:-46.53, Z:-12.14 [[ 9.76909280e-01 2.10752527e-01 3.50945927e-02 2.73917591e+02] [-2.10620378e-01 9.77539443e-01 -7.46284764e-03 -4.65265548e+01] [-3.58791626e-02 -1.01111289e-04 9.99356130e-01 -1.21417012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23587156 meters 0.01252169787186648 Centerline is valid? [True, True] Translation: X:273.95, Y:-46.53, Z:-12.14 [[ 9.76931156e-01 2.10603945e-01 3.53764572e-02 2.73946118e+02] [-2.10469611e-01 9.77571465e-01 -7.52157000e-03 -4.65322140e+01] [-3.61670874e-02 -9.76131241e-05 9.99345752e-01 -1.21426350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26587156 meters 0.01271436111929397 Centerline is valid? [True, True] Translation: X:273.97, Y:-46.54, Z:-12.14 [[ 9.76953451e-01 2.10515567e-01 3.52866923e-02 2.73972179e+02] [-2.10381900e-01 9.77590501e-01 -7.50128325e-03 -4.65371837e+01] [-3.60750721e-02 -9.52768084e-05 9.99349078e-01 -1.21441838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29587156 meters 0.012702096423414405 Centerline is valid? [True, True] Translation: X:274.00, Y:-46.54, Z:-12.15 [[ 9.76936284e-01 2.10591748e-01 3.53074046e-02 2.73999356e+02] [-2.10458124e-01 9.77574092e-01 -7.50151737e-03 -4.65425663e+01] [-3.60953617e-02 -1.02225659e-04 9.99348345e-01 -1.21454432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32587156 meters 0.01267067462498276 Centerline is valid? [True, True] Translation: X:274.03, Y:-46.55, Z:-12.15 [[ 9.76925083e-01 2.10660625e-01 3.52062860e-02 2.74027078e+02] [-2.10527902e-01 9.77559251e-01 -7.47747792e-03 -4.65481308e+01] [-3.59914408e-02 -1.06969807e-04 9.99352092e-01 -1.21468509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35587156 meters 0.01289527292815753 Centerline is valid? [True, True] Translation: X:274.06, Y:-46.55, Z:-12.15 [[ 9.76854582e-01 2.11078698e-01 3.46541390e-02 2.74055535e+02] [-2.10950467e-01 9.77469063e-01 -7.35747428e-03 -4.65544847e+01] [-3.54263549e-02 -1.23124344e-04 9.99372282e-01 -1.21486119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38587156 meters 0.013371986550290942 Centerline is valid? [True, True] Translation: X:274.08, Y:-46.56, Z:-12.15 [[ 9.76774244e-01 2.11412325e-01 3.48841652e-02 2.74082273e+02] [-2.11282636e-01 9.77396956e-01 -7.40522568e-03 -4.65599051e+01] [-3.56612328e-02 -1.37184667e-04 9.99363927e-01 -1.21503806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41587156 meters 0.013955046917581681 Centerline is valid? [True, True] Translation: X:274.11, Y:-46.56, Z:-12.15 [[ 9.76414327e-01 2.12923039e-01 3.57608934e-02 2.74108702e+02] [-2.12787934e-01 9.77068953e-01 -7.58659645e-03 -4.65636529e+01] [-3.65562198e-02 -2.01825168e-04 9.99331578e-01 -1.21495025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44587156 meters 0.014685297801389092 Centerline is valid? [True, True] Translation: X:274.14, Y:-46.57, Z:-12.15 [[ 9.76100216e-01 2.14284337e-01 3.62020955e-02 2.74137424e+02] [-2.14146937e-01 9.76771291e-01 -7.67684000e-03 -4.65674210e+01] [-3.70061941e-02 -2.59202668e-04 9.99315003e-01 -1.21495038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47587156000003 meters 0.017816096544894248 Centerline is valid? [True, True] Translation: X:274.17, Y:-46.57, Z:-12.15 [[ 9.75306421e-01 2.17737400e-01 3.69839152e-02 2.74166173e+02] [-2.17596545e-01 9.76007308e-01 -7.84088391e-03 -4.65664487e+01] [-3.78038252e-02 -4.00307726e-04 9.99285100e-01 -1.21496779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50587156 meters 0.019596717786788228 Centerline is valid? [True, True] Translation: X:274.20, Y:-46.57, Z:-12.15 [[ 9.74791504e-01 2.20019362e-01 3.70540693e-02 2.74195133e+02] [-2.19879706e-01 9.75495381e-01 -7.85344351e-03 -4.65686787e+01] [-3.78739830e-02 -4.91967842e-04 9.99282402e-01 -1.21499336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53587156000003 meters 0.02199257750569096 Centerline is valid? [True, True] Translation: X:274.22, Y:-46.57, Z:-12.15 [[ 9.74269970e-01 2.22338190e-01 3.69290386e-02 2.74224552e+02] [-2.22201206e-01 9.74969431e-01 -7.82517524e-03 -4.65695120e+01] [-3.77445190e-02 -5.81843659e-04 9.99287252e-01 -1.21511387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56587156 meters 0.027314623002494667 Centerline is valid? [True, True] Translation: X:274.25, Y:-46.56, Z:-12.15 [[ 9.73325046e-01 2.26519792e-01 3.64299105e-02 2.74254397e+02] [-2.26389475e-01 9.74006285e-01 -7.71768212e-03 -4.65643008e+01] [-3.72311695e-02 -7.35535022e-04 9.99306409e-01 -1.21548988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59587156000003 meters 0.028801486121599093 Centerline is valid? [True, True] Translation: X:274.28, Y:-46.57, Z:-12.16 [[ 9.73046090e-01 2.27805515e-01 3.58602099e-02 2.74282847e+02] [-2.27680166e-01 9.73706346e-01 -7.59564193e-03 -4.65663808e+01] [-3.66476431e-02 -7.73748845e-04 9.99327950e-01 -1.21571854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62587156 meters 0.031309981168726825 Centerline is valid? [True, True] Translation: X:274.31, Y:-46.56, Z:-12.16 [[ 9.72609286e-01 2.29663635e-01 3.58579346e-02 2.74312141e+02] [-2.29539689e-01 9.73269694e-01 -7.59169787e-03 -4.65643100e+01] [-3.66429780e-02 -8.47063306e-04 9.99328062e-01 -1.21589953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65587156 meters 0.031746743171329576 Centerline is valid? [True, True] Translation: X:274.34, Y:-46.57, Z:-12.16 [[ 9.72532705e-01 2.29982125e-01 3.58937408e-02 2.74340723e+02] [-2.29858195e-01 9.73194472e-01 -7.59801687e-03 -4.65669304e+01] [-3.66789982e-02 -8.61150566e-04 9.99326728e-01 -1.21605188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68587156 meters 0.031931324959414434 Centerline is valid? [True, True] Translation: X:274.37, Y:-46.57, Z:-12.16 [[ 9.72600160e-01 2.29735180e-01 3.56465306e-02 2.74368385e+02] [-2.29612992e-01 9.73252805e-01 -7.54000123e-03 -4.65700319e+01] [-3.64252894e-02 -8.51500153e-04 9.99336016e-01 -1.21624419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71587156 meters 0.032761334449770974 Centerline is valid? [True, True] Translation: X:274.40, Y:-46.57, Z:-12.16 [[ 9.72702273e-01 2.29304752e-01 3.56317098e-02 2.74396309e+02] [-2.29182664e-01 9.73354314e-01 -7.52901516e-03 -4.65729741e+01] [-3.64087174e-02 -8.42680005e-04 9.99336628e-01 -1.21646006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74587156 meters 0.029848266807263855 Centerline is valid? [True, True] Translation: X:274.42, Y:-46.58, Z:-12.17 [[ 9.73281784e-01 2.26790443e-01 3.58979696e-02 2.74424470e+02] [-2.26664896e-01 9.73943285e-01 -7.58303398e-03 -4.65786165e+01] [-3.66823461e-02 -7.56380698e-04 9.99326690e-01 -1.21655818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77587156 meters 0.02705644282644855 Centerline is valid? [True, True] Translation: X:274.45, Y:-46.59, Z:-12.17 [[ 9.73775099e-01 2.24642176e-01 3.60270627e-02 2.74452253e+02] [-2.24514281e-01 9.74441087e-01 -7.60956913e-03 -4.65858732e+01] [-3.68156803e-02 -6.78581147e-04 9.99321843e-01 -1.21666925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80587156 meters 0.019433034563753337 Centerline is valid? [True, True] Translation: X:274.48, Y:-46.60, Z:-12.17 [[ 9.74969393e-01 2.19345575e-01 3.63621002e-02 2.74479581e+02] [-2.19211865e-01 9.75647108e-01 -7.67329480e-03 -4.65989889e+01] [-3.71596811e-02 -4.89776218e-04 9.99309221e-01 -1.21662714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83587156 meters 0.017800130945374013 Centerline is valid? [True, True] Translation: X:274.51, Y:-46.61, Z:-12.17 [[ 9.75701088e-01 2.16003695e-01 3.67395094e-02 2.74506223e+02] [-2.15864848e-01 9.76392477e-01 -7.75229098e-03 -4.66063098e+01] [-3.75467041e-02 -3.66849871e-04 9.99294807e-01 -1.21689298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86587156 meters 0.012239382849944478 Centerline is valid? [True, True] Translation: X:274.53, Y:-46.62, Z:-12.17 [[ 9.77244093e-01 2.08797592e-01 3.73838052e-02 2.74532387e+02] [-2.08648646e-01 9.77958873e-01 -7.88578591e-03 -4.66225824e+01] [-3.82063571e-02 -9.37426666e-05 9.99269866e-01 -1.21690899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89587156 meters 0.023004256584183178 Centerline is valid? [True, True] Translation: X:274.56, Y:-46.63, Z:-12.17 [[ 9.77955500e-01 2.05441891e-01 3.73720391e-02 2.74559423e+02] [-2.05290653e-01 9.78669315e-01 -7.88160788e-03 -4.66327537e+01] [-3.81940803e-02 3.57314870e-05 9.99270339e-01 -1.21683939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92587156 meters 0.012463562847269046 Centerline is valid? [True, True] Translation: X:274.59, Y:-46.64, Z:-12.17 [[ 9.78566631e-01 2.02549340e-01 3.71633329e-02 2.74586750e+02] [-2.02397763e-01 9.79272048e-01 -7.83595314e-03 -4.66410447e+01] [-3.79801802e-02 1.46226833e-04 9.99278482e-01 -1.21699855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95587156 meters 0.015704865317339098 Centerline is valid? [True, True] Translation: X:274.61, Y:-46.65, Z:-12.17 [[ 9.79370094e-01 1.98660963e-01 3.69870492e-02 2.74612523e+02] [-1.98508110e-01 9.80068230e-01 -7.79709934e-03 -4.66511530e+01] [-3.77988111e-02 2.94016678e-04 9.99285326e-01 -1.21729590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98587156 meters 0.016865964873638412 Centerline is valid? [True, True] Translation: X:274.64, Y:-46.66, Z:-12.17 [[ 9.79615833e-01 1.97510795e-01 3.66374977e-02 2.74639732e+02] [-1.97360096e-01 9.80300655e-01 -7.72122263e-03 -4.66581119e+01] [-3.74407878e-02 3.33051867e-04 9.99298792e-01 -1.21749269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01587156 meters 0.01661930146025603 Centerline is valid? [True, True] Translation: X:274.67, Y:-46.66, Z:-12.17 [[ 9.79824931e-01 1.96459741e-01 3.66970573e-02 2.74668459e+02] [-1.96307894e-01 9.80511821e-01 -7.73168121e-03 -4.66634617e+01] [-3.75008626e-02 3.71771971e-04 9.99296526e-01 -1.21749834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04587156 meters 0.01991563543243634 Centerline is valid? [True, True] Translation: X:274.69, Y:-46.67, Z:-12.18 [[ 9.80172643e-01 1.94625990e-01 3.71794789e-02 2.74694477e+02] [-1.94468868e-01 9.80877426e-01 -7.83162087e-03 -4.66744387e+01] [-3.79927485e-02 4.46089354e-04 9.99277915e-01 -1.21776021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07587156 meters 0.02115956907677623 Centerline is valid? [True, True] Translation: X:274.72, Y:-46.68, Z:-12.18 [[ 9.80398484e-01 1.93502879e-01 3.70870484e-02 2.74722020e+02] [-1.93345821e-01 9.81099587e-01 -7.80986364e-03 -4.66821082e+01] [-3.78973189e-02 4.86152648e-04 9.99281520e-01 -1.21789682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10587156 meters 0.023297888719139136 Centerline is valid? [True, True] Translation: X:274.75, Y:-46.69, Z:-12.18 [[ 9.80733624e-01 1.91810150e-01 3.70192418e-02 2.74749667e+02] [-1.91652522e-01 9.81431895e-01 -7.79396791e-03 -4.66910983e+01] [-3.78268268e-02 5.48975356e-04 9.99284159e-01 -1.21807293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13587156 meters 0.02562548514401618 Centerline is valid? [True, True] Translation: X:274.78, Y:-46.70, Z:-12.18 [[ 9.81516954e-01 1.87817905e-01 3.67274287e-02 2.74777818e+02] [-1.87660022e-01 9.82203620e-01 -7.73080214e-03 -4.67026936e+01] [-3.75257965e-02 6.95643269e-04 9.99295417e-01 -1.21817104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16587156 meters 0.028470402727434747 Centerline is valid? [True, True] Translation: X:274.80, Y:-46.71, Z:-12.18 [[ 9.81965868e-01 1.85484980e-01 3.65835481e-02 2.74804792e+02] [-1.85326739e-01 9.82646789e-01 -7.69984352e-03 -4.67137047e+01] [-3.73769114e-02 7.81073839e-04 9.99300934e-01 -1.21836920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19587156 meters 0.031036353298815048 Centerline is valid? [True, True] Translation: X:274.83, Y:-46.72, Z:-12.19 [[ 9.82355892e-01 1.83428545e-01 3.64810818e-02 2.74831982e+02] [-1.83269834e-01 9.83032674e-01 -7.67663730e-03 -4.67248268e+01] [-3.72702098e-02 8.55308078e-04 9.99304858e-01 -1.21854068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22587156000003 meters 0.03324389500355078 Centerline is valid? [True, True] Translation: X:274.86, Y:-46.74, Z:-12.19 [[ 9.82995878e-01 1.79974082e-01 3.64476836e-02 2.74859732e+02] [-1.79813356e-01 9.83670861e-01 -7.66777790e-03 -4.67378775e+01] [-3.72325256e-02 9.83613770e-04 9.99306145e-01 -1.21860838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25587156 meters 0.03453734155799203 Centerline is valid? [True, True] Translation: X:274.89, Y:-46.75, Z:-12.19 [[ 9.83192645e-01 1.78897371e-01 3.64410839e-02 2.74887326e+02] [-1.78735996e-01 9.83867208e-01 -7.66553181e-03 -4.67478926e+01] [-3.72245309e-02 1.02336107e-03 9.99306403e-01 -1.21874025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28587156000003 meters 0.03289869979083667 Centerline is valid? [True, True] Translation: X:274.92, Y:-46.76, Z:-12.19 [[ 9.83400210e-01 1.77745270e-01 3.64780158e-02 2.74916898e+02] [-1.77582818e-01 9.84075953e-01 -7.67217784e-03 -4.67565263e+01] [-3.72608315e-02 1.06695247e-03 9.99305005e-01 -1.21874012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31587156 meters 0.033440974510228934 Centerline is valid? [True, True] Translation: X:274.95, Y:-46.77, Z:-12.19 [[ 9.83356643e-01 1.77916409e-01 3.68166257e-02 2.74945370e+02] [-1.77751028e-01 9.84045022e-01 -7.74385088e-03 -4.67664542e+01] [-3.76069754e-02 1.07077412e-03 9.99292034e-01 -1.21885101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34587156000003 meters 0.032935420061307036 Centerline is valid? [True, True] Translation: X:274.98, Y:-46.78, Z:-12.19 [[ 9.83310915e-01 1.78194936e-01 3.66907247e-02 2.74975743e+02] [-1.78030865e-01 9.83994638e-01 -7.71772662e-03 -4.67752300e+01] [-3.74787362e-02 1.05684338e-03 9.99296867e-01 -1.21903927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37587156 meters 0.03363010308146732 Centerline is valid? [True, True] Translation: X:275.00, Y:-46.79, Z:-12.19 [[ 9.83028312e-01 1.79846491e-01 3.62018921e-02 2.75004582e+02] [-1.79687889e-01 9.83694200e-01 -7.61472095e-03 -4.67899697e+01] [-3.69810721e-02 9.80444700e-04 9.99315485e-01 -1.21935976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40587156 meters 0.02991573567723401 Centerline is valid? [True, True] Translation: X:275.04, Y:-46.79, Z:-12.19 [[ 9.82800325e-01 1.81043391e-01 3.64254235e-02 2.75035532e+02] [-1.80883391e-01 9.83474652e-01 -7.66856945e-03 -4.67947096e+01] [-3.72118245e-02 9.47918425e-04 9.99306951e-01 -1.21933983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43587156 meters 0.041615542760494256 Centerline is valid? [True, True] Translation: X:275.06, Y:-46.81, Z:-12.19 [[ 9.82487188e-01 1.82708677e-01 3.65577042e-02 2.75064724e+02] [-1.82548629e-01 9.83166695e-01 -7.69733121e-03 -4.68051024e+01] [-3.73486863e-02 8.88970533e-04 9.99301899e-01 -1.21940119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46587156 meters 0.03151799834214354 Centerline is valid? [True, True] Translation: X:275.09, Y:-46.81, Z:-12.20 [[ 9.81912511e-01 1.85837317e-01 3.62258426e-02 2.75094728e+02] [-1.85682249e-01 9.82580230e-01 -7.62853821e-03 -4.68105915e+01] [-3.70124638e-02 7.64061179e-04 9.99314512e-01 -1.21953982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49587156 meters 0.023309379602684532 Centerline is valid? [True, True] Translation: X:275.12, Y:-46.82, Z:-12.20 [[ 9.81627040e-01 1.87432170e-01 3.57426381e-02 2.75124753e+02] [-1.87282269e-01 9.82277303e-01 -7.52678366e-03 -4.68164066e+01] [-3.65199435e-02 6.94532008e-04 9.99332683e-01 -1.21982314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52587156 meters 0.03134562572325479 Centerline is valid? [True, True] Translation: X:275.15, Y:-46.82, Z:-12.20 [[ 9.80867553e-01 1.91181792e-01 3.67201002e-02 2.75153293e+02] [-1.91026197e-01 9.81554480e-01 -7.73271131e-03 -4.68241244e+01] [-3.75211325e-02 5.70264527e-04 9.99295672e-01 -1.21973796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55587156 meters 0.021096396968974793 Centerline is valid? [True, True] Translation: X:275.18, Y:-46.83, Z:-12.20 [[ 9.80553451e-01 1.92738134e-01 3.69721673e-02 2.75181449e+02] [-1.92581518e-01 9.81250094e-01 -7.78532920e-03 -4.68331092e+01] [-3.77794725e-02 5.13775319e-04 9.99285969e-01 -1.22006545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58587156 meters 0.018331667787210716 Centerline is valid? [True, True] Translation: X:275.21, Y:-46.84, Z:-12.20 [[ 9.80291155e-01 1.94014104e-01 3.72529088e-02 2.75210366e+02] [-1.93856033e-01 9.80998628e-01 -7.84407544e-03 -4.68380582e+01] [-3.80669137e-02 4.67776636e-04 9.99275083e-01 -1.22007511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61587156 meters 0.016517601317584694 Centerline is valid? [True, True] Translation: X:275.24, Y:-46.85, Z:-12.20 [[ 9.79838021e-01 1.96204300e-01 3.77004585e-02 2.75239662e+02] [-1.96044069e-01 9.80562963e-01 -7.93722769e-03 -4.68482674e+01] [-3.85249915e-02 3.86246186e-04 9.99257562e-01 -1.22014408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64587156 meters 0.016517601317584694 Centerline is valid? [True, True] Translation: X:275.27, Y:-46.85, Z:-12.20 [[ 9.79838021e-01 1.96204300e-01 3.77004585e-02 2.75268991e+02] [-1.96044069e-01 9.80562963e-01 -7.93722770e-03 -4.68544421e+01] [-3.85249915e-02 3.86246186e-04 9.99257562e-01 -1.22027920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67587156 meters 0.016210164475114953 Centerline is valid? [True, True] Translation: X:275.30, Y:-46.86, Z:-12.20 [[ 9.79667239e-01 1.97015827e-01 3.79059898e-02 2.75297441e+02] [-1.96854447e-01 9.80400243e-01 -7.98057358e-03 -4.68633422e+01] [-3.87353409e-02 3.56343809e-04 9.99249442e-01 -1.22045283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70587156 meters 0.024037352929662106 Centerline is valid? [True, True] Translation: X:275.33, Y:-46.87, Z:-12.20 [[ 9.79523001e-01 1.97774987e-01 3.76795049e-02 2.75327295e+02] [-1.97616112e-01 9.80247392e-01 -7.93236028e-03 -4.68711731e+01] [-3.85040589e-02 3.23852064e-04 9.99258391e-01 -1.22038590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73587156 meters 0.014713248068235537 Centerline is valid? [True, True] Translation: X:275.36, Y:-46.88, Z:-12.21 [[ 9.79361467e-01 1.98706455e-01 3.69710965e-02 2.75356214e+02] [-1.98554164e-01 9.80059011e-01 -7.78322481e-03 -4.68824980e+01] [-3.77804333e-02 2.81825291e-04 9.99286025e-01 -1.22087294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76587156 meters 0.014589739878298957 Centerline is valid? [True, True] Translation: X:275.39, Y:-46.89, Z:-12.21 [[ 9.79258979e-01 1.99325262e-01 3.63495780e-02 2.75385240e+02] [-1.99178493e-01 9.79933353e-01 -7.65194529e-03 -4.68911412e+01] [-3.71453899e-02 2.53181965e-04 9.99309840e-01 -1.22117973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79587156 meters 0.029698276668661282 Centerline is valid? [True, True] Translation: X:275.42, Y:-46.90, Z:-12.21 [[ 9.79131809e-01 2.00164644e-01 3.51427814e-02 2.75415168e+02] [-2.00027923e-01 9.79762251e-01 -7.40008882e-03 -4.69013216e+01] [-3.59128067e-02 2.16124791e-04 9.99354904e-01 -1.22126870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82587156 meters 0.0135792327765841 Centerline is valid? [True, True] Translation: X:275.45, Y:-46.91, Z:-12.22 [[ 9.79022679e-01 2.00625272e-01 3.55540905e-02 2.75445203e+02] [-2.00485603e-01 9.79668035e-01 -7.48759391e-03 -4.69093464e+01] [-3.63334065e-02 2.02440998e-04 9.99339703e-01 -1.22150524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85587156 meters 0.013284199839953817 Centerline is valid? [True, True] Translation: X:275.48, Y:-46.92, Z:-12.22 [[ 9.78925968e-01 2.00993400e-01 3.61331097e-02 2.75475593e+02] [-2.00849359e-01 9.79592576e-01 -7.61046866e-03 -4.69179428e+01] [-3.69253800e-02 1.92773485e-04 9.99318007e-01 -1.22158937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88587156 meters 0.014438390806633698 Centerline is valid? [True, True] Translation: X:275.50, Y:-46.93, Z:-12.22 [[ 9.78862697e-01 2.01352252e-01 3.58481684e-02 2.75504987e+02] [-2.01210704e-01 9.79518881e-01 -7.55075520e-03 -4.69285711e+01] [-3.66343194e-02 1.78117402e-04 9.99328722e-01 -1.22207330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91587156 meters 0.013045739325205743 Centerline is valid? [True, True] Translation: X:275.54, Y:-46.94, Z:-12.22 [[ 9.78626414e-01 2.02558160e-01 3.55039902e-02 2.75535980e+02] [-2.02419962e-01 9.79270225e-01 -7.48233802e-03 -4.69360819e+01] [-3.62836091e-02 1.35697283e-04 9.99341524e-01 -1.22202928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94587156 meters 0.012641363763349478 Centerline is valid? [True, True] Translation: X:275.57, Y:-46.94, Z:-12.22 [[ 9.78433951e-01 2.03422984e-01 3.58621477e-02 2.75567008e+02] [-2.03282532e-01 9.79090945e-01 -7.55870657e-03 -4.69427472e+01] [-3.66499187e-02 1.05546961e-04 9.99328160e-01 -1.22210655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97587156000003 meters 0.02052280396811948 Centerline is valid? [True, True] Translation: X:275.60, Y:-46.95, Z:-12.22 [[ 9.78112863e-01 2.04826574e-01 3.66237852e-02 2.75597983e+02] [-2.04681038e-01 9.78798279e-01 -7.72017454e-03 -4.69492707e+01] [-3.74285948e-02 5.50076636e-05 9.99299303e-01 -1.22194341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00587156 meters 0.012110994331753302 Centerline is valid? [True, True] Translation: X:275.63, Y:-46.96, Z:-12.22 [[ 9.78058479e-01 2.05071596e-01 3.67049248e-02 2.75627289e+02] [-2.04925548e-01 9.78746974e-01 -7.73830180e-03 -4.69561245e+01] [-3.75117399e-02 4.67348714e-05 9.99296186e-01 -1.22232896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03587156000003 meters 0.01222964186610072 Centerline is valid? [True, True] Translation: X:275.66, Y:-46.97, Z:-12.23 [[ 9.78143663e-01 2.04635772e-01 3.68669993e-02 2.75655882e+02] [-2.04488116e-01 9.78838187e-01 -7.77261100e-03 -4.69663455e+01] [-3.76773810e-02 6.38669439e-05 9.99289953e-01 -1.22254110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06587156 meters 0.012430477521493078 Centerline is valid? [True, True] Translation: X:275.69, Y:-46.98, Z:-12.23 [[ 9.78308509e-01 2.03818964e-01 3.70174564e-02 2.75686813e+02] [-2.03669465e-01 9.79008591e-01 -7.80566702e-03 -4.69766077e+01] [-3.78313507e-02 9.70249310e-05 9.99284134e-01 -1.22263444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09587156000003 meters 0.012588138970983487 Centerline is valid? [True, True] Translation: X:275.72, Y:-46.99, Z:-12.23 [[ 9.78419685e-01 2.03147327e-01 3.77635289e-02 2.75718121e+02] [-2.02990987e-01 9.79148174e-01 -7.96951570e-03 -4.69869204e+01] [-3.85950762e-02 1.31875026e-04 9.99254924e-01 -1.22269260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12587156 meters 0.013336687627114934 Centerline is valid? [True, True] Translation: X:275.75, Y:-47.00, Z:-12.23 [[ 9.78776614e-01 2.01382255e-01 3.79674613e-02 2.75749646e+02] [-2.01222602e-01 9.79512707e-01 -8.02004667e-03 -4.69981176e+01] [-3.88047059e-02 2.09922761e-04 9.99246792e-01 -1.22274538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15587156 meters 0.014081321682122276 Centerline is valid? [True, True] Translation: X:275.78, Y:-47.01, Z:-12.23 [[ 9.78994496e-01 2.00356896e-01 3.77742053e-02 2.75779710e+02] [-2.00197783e-01 9.79722945e-01 -7.98746978e-03 -4.70072141e+01] [-3.86086003e-02 2.57376805e-04 9.99254377e-01 -1.22293796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18587156 meters 0.015002918639717111 Centerline is valid? [True, True] Translation: X:275.81, Y:-47.02, Z:-12.23 [[ 9.79184859e-01 1.99490039e-01 3.74264101e-02 2.75809355e+02] [-1.99333091e-01 9.79899811e-01 -7.91707746e-03 -4.70169845e+01] [-3.82535103e-02 2.91960373e-04 9.99268024e-01 -1.22320883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21587156 meters 0.01664845047265145 Centerline is valid? [True, True] Translation: X:275.84, Y:-47.03, Z:-12.24 [[ 9.79541820e-01 1.97855218e-01 3.67577996e-02 2.75838271e+02] [-1.97702460e-01 9.80231190e-01 -7.78142639e-03 -4.70293161e+01] [-3.75707375e-02 3.55125138e-04 9.99293908e-01 -1.22353795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24587156 meters 0.01794794390554202 Centerline is valid? [True, True] Translation: X:275.87, Y:-47.04, Z:-12.24 [[ 9.79619833e-01 1.97506556e-01 3.65532959e-02 2.75868785e+02] [-1.97355043e-01 9.80301495e-01 -7.74370798e-03 -4.70400667e+01] [-3.73626837e-02 3.71912630e-04 9.99301702e-01 -1.22377036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27587156 meters 0.017427982492373335 Centerline is valid? [True, True] Translation: X:275.90, Y:-47.05, Z:-12.24 [[ 9.79670854e-01 1.97259204e-01 3.65215515e-02 2.75900675e+02] [-1.97107538e-01 9.80351292e-01 -7.74353305e-03 -4.70485822e+01] [-3.73314333e-02 3.87440551e-04 9.99302864e-01 -1.22385710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30587156 meters 0.01795118762205373 Centerline is valid? [True, True] Translation: X:275.93, Y:-47.06, Z:-12.24 [[ 9.79620372e-01 1.97718168e-01 3.53758857e-02 2.75931110e+02] [-1.97575926e-01 9.80258840e-01 -7.50736833e-03 -4.70588024e+01] [-3.61618678e-02 3.64947554e-04 9.99345879e-01 -1.22425362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33587156 meters 0.021776318090317007 Centerline is valid? [True, True] Translation: X:275.96, Y:-47.06, Z:-12.24 [[ 9.79400895e-01 1.98852361e-01 3.50945246e-02 2.75962585e+02] [-1.98712871e-01 9.80029404e-01 -7.45407082e-03 -4.70640431e+01] [-3.58759256e-02 3.26789912e-04 9.99356198e-01 -1.22422608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36587156 meters 0.015106594856251362 Centerline is valid? [True, True] Translation: X:275.99, Y:-47.07, Z:-12.25 [[ 9.78851626e-01 2.01552957e-01 3.50128425e-02 2.75993523e+02] [-2.01415621e-01 9.79477591e-01 -7.44287518e-03 -4.70693155e+01] [-3.57944282e-02 2.33337048e-04 9.99359147e-01 -1.22461891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39587156 meters 0.02302302134999168 Centerline is valid? [True, True] Translation: X:276.03, Y:-47.07, Z:-12.24 [[ 9.78448192e-01 2.03495659e-01 3.50521354e-02 2.76025266e+02] [-2.03359063e-01 9.79075834e-01 -7.45673932e-03 -4.70740826e+01] [-3.58361127e-02 1.67863699e-04 9.99357666e-01 -1.22447521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42587156 meters 0.017428343473626928 Centerline is valid? [True, True] Translation: X:276.06, Y:-47.08, Z:-12.25 [[ 9.77981215e-01 2.05646564e-01 3.55279267e-02 2.76056565e+02] [-2.05507424e-01 9.78626324e-01 -7.56420058e-03 -4.70790283e+01] [-3.63241161e-02 9.63933847e-05 9.99340057e-01 -1.22462041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45587156 meters 0.012772417297474017 Centerline is valid? [True, True] Translation: X:276.09, Y:-47.08, Z:-12.25 [[ 9.76939363e-01 2.10455038e-01 3.60299521e-02 2.76088409e+02] [-2.10314948e-01 9.77603535e-01 -7.67799268e-03 -4.70802985e+01] [-3.68388808e-02 -7.67042412e-05 9.99321215e-01 -1.22488752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48587156 meters 0.01324979431399531 Centerline is valid? [True, True] Translation: X:276.12, Y:-47.08, Z:-12.25 [[ 9.76409133e-01 2.12851059e-01 3.63267347e-02 2.76120041e+02] [-2.12710153e-01 9.77084643e-01 -7.74539036e-03 -4.70834523e+01] [-3.71429092e-02 -1.64395434e-04 9.99309951e-01 -1.22488829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51587156 meters 0.0149872428173545 Centerline is valid? [True, True] Translation: X:276.15, Y:-47.09, Z:-12.25 [[ 9.75887158e-01 2.15216401e-01 3.64164297e-02 2.76150226e+02] [-2.15076406e-01 9.76566350e-01 -7.76550807e-03 -4.70850257e+01] [-3.72343245e-02 -2.54055236e-04 9.99306530e-01 -1.22505199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54587156 meters 0.01872396267233233 Centerline is valid? [True, True] Translation: X:276.18, Y:-47.08, Z:-12.25 [[ 9.75021443e-01 2.19231017e-01 3.56503343e-02 2.76180648e+02] [-2.19099507e-01 9.75672897e-01 -7.60286949e-03 -4.70828188e+01] [-3.64498498e-02 -3.98009872e-04 9.99335404e-01 -1.22539671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57587156 meters 0.019534075411081854 Centerline is valid? [True, True] Translation: X:276.21, Y:-47.09, Z:-12.25 [[ 9.74665382e-01 2.20858369e-01 3.53408161e-02 2.76210013e+02] [-2.20730231e-01 9.75305784e-01 -7.53605525e-03 -4.70872266e+01] [-3.61325032e-02 -4.55654317e-04 9.99346904e-01 -1.22549406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60587156 meters 0.02297658149320054 Centerline is valid? [True, True] Translation: X:276.24, Y:-47.09, Z:-12.26 [[ 9.74437558e-01 2.21876137e-01 3.52480521e-02 2.76238234e+02] [-2.21749376e-01 9.75074734e-01 -7.51516839e-03 -4.70897650e+01] [-3.60369216e-02 -4.93171224e-04 9.99350338e-01 -1.22572409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63587156 meters 0.021307840571626414 Centerline is valid? [True, True] Translation: X:276.27, Y:-47.09, Z:-12.26 [[ 9.74289573e-01 2.22542663e-01 3.51367407e-02 2.76266854e+02] [-2.22417112e-01 9.74922816e-01 -7.49206845e-03 -4.70939041e+01] [-3.59229151e-02 -5.15568224e-04 9.99354431e-01 -1.22585909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66587156 meters 0.0207523664534522 Centerline is valid? [True, True] Translation: X:276.30, Y:-47.10, Z:-12.26 [[ 9.74360639e-01 2.22189343e-01 3.54011556e-02 2.76295549e+02] [-2.22061723e-01 9.75003404e-01 -7.54672886e-03 -4.70994790e+01] [-3.61930499e-02 -5.08006066e-04 9.99344688e-01 -1.22594193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69587156 meters 0.018247261048042918 Centerline is valid? [True, True] Translation: X:276.32, Y:-47.11, Z:-12.26 [[ 9.74726451e-01 2.20563916e-01 3.54951300e-02 2.76324848e+02] [-2.20434618e-01 9.75372419e-01 -7.56462349e-03 -4.71084881e+01] [-3.62894538e-02 -4.50916827e-04 9.99341219e-01 -1.22603393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72587156000003 meters 0.017945637161121346 Centerline is valid? [True, True] Translation: X:276.35, Y:-47.11, Z:-12.26 [[ 9.75014671e-01 2.19325635e-01 3.52513317e-02 2.76353987e+02] [-2.19197295e-01 9.75651631e-01 -7.51277665e-03 -4.71143577e+01] [-3.60407638e-02 -4.01929085e-04 9.99350240e-01 -1.22626716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75587156 meters 0.01695511199818455 Centerline is valid? [True, True] Translation: X:276.38, Y:-47.12, Z:-12.26 [[ 9.75284737e-01 2.18123622e-01 3.52387243e-02 2.76382678e+02] [-2.17994601e-01 9.75921082e-01 -7.50975292e-03 -4.71216330e+01] [-3.60282685e-02 -3.57704239e-04 9.99350707e-01 -1.22639990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78587156000003 meters 0.01580209656207535 Centerline is valid? [True, True] Translation: X:276.41, Y:-47.13, Z:-12.27 [[ 9.76003102e-01 2.14840320e-01 3.55187507e-02 2.76410627e+02] [-2.14707111e-01 9.76649159e-01 -7.56815423e-03 -4.71302936e+01] [-3.63153027e-02 -2.39586351e-04 9.99340353e-01 -1.22677035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81587156 meters 0.013567833444036366 Centerline is valid? [True, True] Translation: X:276.44, Y:-47.14, Z:-12.27 [[ 9.76414684e-01 2.12932596e-01 3.56941941e-02 2.76440262e+02] [-2.12796767e-01 9.77066877e-01 -7.60624690e-03 -4.71418930e+01] [-3.64952326e-02 -1.68757926e-04 9.99333813e-01 -1.22660777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84587156000003 meters 0.012414397799341096 Centerline is valid? [True, True] Translation: X:276.47, Y:-47.15, Z:-12.27 [[ 9.77273753e-01 2.08934569e-01 3.58100124e-02 2.76470932e+02] [-2.08795184e-01 9.77929622e-01 -7.63057531e-03 -4.71544825e+01] [-3.66139629e-02 -1.97971659e-05 9.99329484e-01 -1.22671946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87587156 meters 0.012738748775444834 Centerline is valid? [True, True] Translation: X:276.50, Y:-47.16, Z:-12.27 [[ 9.77662227e-01 2.07137430e-01 3.56462434e-02 2.76501590e+02] [-2.06997900e-01 9.78311853e-01 -7.60179703e-03 -4.71644319e+01] [-3.64477591e-02 5.32922893e-05 9.99335558e-01 -1.22698944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90587156 meters 0.025153973910510528 Centerline is valid? [True, True] Translation: X:276.53, Y:-47.17, Z:-12.27 [[ 9.77994141e-01 2.05640594e-01 3.52052001e-02 2.76532460e+02] [-2.05503288e-01 9.78627576e-01 -7.51434469e-03 -4.71746339e+01] [-3.59980340e-02 1.14200697e-04 9.99351854e-01 -1.22697004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93587156 meters 0.013720609760032088 Centerline is valid? [True, True] Translation: X:276.56, Y:-47.18, Z:-12.27 [[ 9.78229208e-01 2.04466646e-01 3.55106558e-02 2.76562950e+02] [-2.04325951e-01 9.78873518e-01 -7.58567362e-03 -4.71846337e+01] [-3.63114578e-02 1.64778990e-04 9.99340508e-01 -1.22728308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96587156 meters 0.01489310503356671 Centerline is valid? [True, True] Translation: X:276.59, Y:-47.20, Z:-12.28 [[ 9.78537349e-01 2.03023190e-01 3.53021363e-02 2.76592378e+02] [-2.02882963e-01 9.79173904e-01 -7.54777364e-03 -4.71953031e+01] [-3.60993037e-02 2.23576381e-04 9.99348183e-01 -1.22754558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99587156 meters 0.014880177259369534 Centerline is valid? [True, True] Translation: X:276.62, Y:-47.20, Z:-12.28 [[ 9.78544110e-01 2.02972658e-01 3.54051577e-02 2.76624103e+02] [-2.02831364e-01 9.79184378e-01 -7.57568884e-03 -4.72029605e+01] [-3.62058351e-02 2.31869240e-04 9.99344327e-01 -1.22762855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02587156 meters 0.014807896046962568 Centerline is valid? [True, True] Translation: X:276.66, Y:-47.21, Z:-12.28 [[ 9.78508308e-01 2.03139908e-01 3.54354209e-02 2.76655993e+02] [-2.02998233e-01 9.79149694e-01 -7.58905823e-03 -4.72116764e+01] [-3.62382221e-02 2.32628707e-04 9.99343153e-01 -1.22774884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05587156 meters 0.014739336605741525 Centerline is valid? [True, True] Translation: X:276.69, Y:-47.22, Z:-12.28 [[ 9.78425276e-01 2.03574171e-01 3.52354512e-02 2.76688200e+02] [-2.03434126e-01 9.79059502e-01 -7.55307772e-03 -4.72190799e+01] [-3.60352149e-02 2.22028932e-04 9.99350496e-01 -1.22799187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08587156 meters 0.014680661634541153 Centerline is valid? [True, True] Translation: X:276.72, Y:-47.23, Z:-12.28 [[ 9.78318512e-01 2.04200519e-01 3.45693124e-02 2.76719830e+02] [-2.04065873e-01 9.78929061e-01 -7.41702733e-03 -4.72256595e+01] [-3.53554654e-02 2.01798237e-04 9.99374780e-01 -1.22828009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11587156 meters 0.0182017909563003 Centerline is valid? [True, True] Translation: X:276.75, Y:-47.23, Z:-12.28 [[ 9.78033596e-01 2.05703195e-01 3.37117398e-02 2.76751573e+02] [-2.05575835e-01 9.78614415e-01 -7.23898216e-03 -4.72322774e+01] [-3.44798762e-02 1.49648685e-04 9.99405381e-01 -1.22849279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14587156 meters 0.013622110470220954 Centerline is valid? [True, True] Translation: X:276.78, Y:-47.24, Z:-12.29 [[ 9.77715763e-01 2.07124010e-01 3.42276321e-02 2.76782963e+02] [-2.06993365e-01 9.78314690e-01 -7.35619639e-03 -4.72381165e+01] [-3.50090402e-02 1.07376403e-04 9.99386990e-01 -1.22870547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17587156 meters 0.013048133452287938 Centerline is valid? [True, True] Translation: X:276.81, Y:-47.24, Z:-12.29 [[ 9.76814068e-01 2.11302426e-01 3.44319914e-02 2.76814719e+02] [-2.11172555e-01 9.77420730e-01 -7.40733164e-03 -4.72381334e+01] [-3.52197293e-02 -3.55058270e-05 9.99379592e-01 -1.22877027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20587156 meters 0.013834452025323097 Centerline is valid? [True, True] Translation: X:276.84, Y:-47.24, Z:-12.29 [[ 9.76287169e-01 2.13786700e-01 3.40383634e-02 2.76844309e+02] [-2.13661258e-01 9.76880357e-01 -7.32360709e-03 -4.72399066e+01] [-3.48170984e-02 -1.22735898e-04 9.99393693e-01 -1.22900485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23587156 meters 0.01693657165400325 Centerline is valid? [True, True] Translation: X:276.87, Y:-47.24, Z:-12.29 [[ 9.75255156e-01 2.18502855e-01 3.36731758e-02 2.76873662e+02] [-2.18382873e-01 9.75836267e-01 -7.24573342e-03 -4.72376918e+01] [-3.44427196e-02 -2.87205992e-04 9.99406632e-01 -1.22922076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26587156 meters 0.018389807864358784 Centerline is valid? [True, True] Translation: X:276.90, Y:-47.24, Z:-12.29 [[ 9.74890038e-01 2.20091355e-01 3.38999790e-02 2.76902477e+02] [-2.19970746e-01 9.75479203e-01 -7.29354818e-03 -4.72400974e+01] [-3.46739714e-02 -3.46596189e-04 9.99398617e-01 -1.22940089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29587156 meters 0.019668527013340553 Centerline is valid? [True, True] Translation: X:276.93, Y:-47.24, Z:-12.30 [[ 9.74594244e-01 2.21400304e-01 3.38816424e-02 2.76931178e+02] [-2.21280671e-01 9.75182931e-01 -7.28802297e-03 -4.72428901e+01] [-3.46543699e-02 -3.94487315e-04 9.99399279e-01 -1.22952979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32587156 meters 0.02053090261871586 Centerline is valid? [True, True] Translation: X:276.96, Y:-47.25, Z:-12.30 [[ 9.74413896e-01 2.22116724e-01 3.43761660e-02 2.76960477e+02] [-2.21994074e-01 9.75019989e-01 -7.39276549e-03 -4.72459943e+01] [-3.51595058e-02 -4.27691718e-04 9.99381622e-01 -1.22962953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35587156 meters 0.024053964493142847 Centerline is valid? [True, True] Translation: X:276.99, Y:-47.25, Z:-12.30 [[ 9.74488619e-01 2.21759821e-01 3.45617302e-02 2.76988642e+02] [-2.21635675e-01 9.75101229e-01 -7.43107820e-03 -4.72533055e+01] [-3.53491002e-02 -4.18611266e-04 9.99374938e-01 -1.22950469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38587156 meters 0.01833954307270414 Centerline is valid? [True, True] Translation: X:277.02, Y:-47.26, Z:-12.30 [[ 9.74831346e-01 2.20179035e-01 3.50005620e-02 2.77015447e+02] [-2.20050753e-01 9.75459408e-01 -7.52385588e-03 -4.72592892e+01] [-3.57982229e-02 -3.67409487e-04 9.99358971e-01 -1.22971048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41587156 meters 0.017868714442529535 Centerline is valid? [True, True] Translation: X:277.04, Y:-47.26, Z:-12.30 [[ 9.75054395e-01 2.19161353e-01 3.51742428e-02 2.77043212e+02] [-2.19031211e-01 9.75688572e-01 -7.55900322e-03 -4.72644968e+01] [-3.59757481e-02 -3.33817691e-04 9.99352608e-01 -1.22992050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44587156 meters 0.020434224193256002 Centerline is valid? [True, True] Translation: X:277.07, Y:-47.27, Z:-12.30 [[ 9.75302859e-01 2.18108609e-01 3.48276984e-02 2.77071500e+02] [-2.17980406e-01 9.75924458e-01 -7.48292823e-03 -4.72717297e+01] [-3.56212938e-02 -2.93634552e-04 9.99365317e-01 -1.23005427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47587156000003 meters 0.015154705944849986 Centerline is valid? [True, True] Translation: X:277.10, Y:-47.28, Z:-12.30 [[ 9.75707990e-01 2.16429360e-01 3.39448224e-02 2.77100647e+02] [-2.16306627e-01 9.76298254e-01 -7.29129470e-03 -4.72826816e+01] [-3.47183210e-02 -2.28315551e-04 9.99397111e-01 -1.23030742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50587156 meters 0.014286000135323246 Centerline is valid? [True, True] Translation: X:277.13, Y:-47.29, Z:-12.30 [[ 9.75830050e-01 2.15906464e-01 3.37655582e-02 2.77131022e+02] [-2.15784720e-01 9.76414029e-01 -7.25252620e-03 -4.72896146e+01] [-3.45350320e-02 -2.08858527e-04 9.99403466e-01 -1.23029808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53587156000003 meters 0.013918409428092048 Centerline is valid? [True, True] Translation: X:277.16, Y:-47.29, Z:-12.30 [[ 9.76028498e-01 2.14917918e-01 3.43316004e-02 2.77161065e+02] [-2.14791429e-01 9.76632099e-01 -7.37460094e-03 -4.72936690e+01] [-3.51142769e-02 -1.76312825e-04 9.99383288e-01 -1.23045067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56587156 meters 0.013918409428092048 Centerline is valid? [True, True] Translation: X:277.19, Y:-47.30, Z:-12.31 [[ 9.76028492e-01 2.14918046e-01 3.43309919e-02 2.77190367e+02] [-2.14791457e-01 9.76632072e-01 -7.37743248e-03 -4.72999641e+01] [-3.51142912e-02 -1.73419476e-04 9.99383288e-01 -1.23058579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59587156000003 meters 0.013706083140259158 Centerline is valid? [True, True] Translation: X:277.22, Y:-47.31, Z:-12.31 [[ 9.76140253e-01 2.14381742e-01 3.45061603e-02 2.77219102e+02] [-2.14253528e-01 9.76749940e-01 -7.41493313e-03 -4.73059525e+01] [-3.52935163e-02 -1.55051860e-04 9.99376978e-01 -1.23072566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62587156 meters 0.01343457348792615 Centerline is valid? [True, True] Translation: X:277.25, Y:-47.31, Z:-12.31 [[ 9.76263518e-01 2.13777930e-01 3.47640725e-02 2.77248646e+02] [-2.13647385e-01 9.76882275e-01 -7.47101443e-03 -4.73124716e+01] [-3.55575443e-02 -1.33574367e-04 9.99367622e-01 -1.23077831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65587156 meters 0.013029417519527714 Centerline is valid? [True, True] Translation: X:277.28, Y:-47.32, Z:-12.31 [[ 9.76417558e-01 2.13011871e-01 3.51382155e-02 2.77278341e+02] [-2.12878005e-01 9.77049605e-01 -7.55142007e-03 -4.73192404e+01] [-3.59403217e-02 -1.06814047e-04 9.99353932e-01 -1.23086563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68587156 meters 0.012709343387058184 Centerline is valid? [True, True] Translation: X:277.31, Y:-47.32, Z:-12.31 [[ 9.76616270e-01 2.12016798e-01 3.56305834e-02 2.77307915e+02] [-2.11878510e-01 9.77266019e-01 -7.65669350e-03 -4.73245575e+01] [-3.64439060e-02 -7.17034484e-05 9.99335698e-01 -1.23091565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71587156 meters 0.01703689317391191 Centerline is valid? [True, True] Translation: X:277.34, Y:-47.33, Z:-12.31 [[ 9.76634673e-01 2.11944053e-01 3.55588885e-02 2.77338168e+02] [-2.11806170e-01 9.77281799e-01 -7.64410984e-03 -4.73293388e+01] [-3.63711781e-02 -6.60892682e-05 9.99338348e-01 -1.23097696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74587156 meters 0.012719977268105028 Centerline is valid? [True, True] Translation: X:277.37, Y:-47.33, Z:-12.31 [[ 9.76576078e-01 2.12131430e-01 3.60474797e-02 2.77367575e+02] [-2.11989851e-01 9.77241143e-01 -7.74933753e-03 -4.73321336e+01] [-3.68709584e-02 -7.38822120e-05 9.99320032e-01 -1.23122862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77587156 meters 0.012551066614758142 Centerline is valid? [True, True] Translation: X:277.40, Y:-47.34, Z:-12.31 [[ 9.76506071e-01 2.12368163e-01 3.65466436e-02 2.77397439e+02] [-2.12222834e-01 9.77189724e-01 -7.85573960e-03 -4.73363906e+01] [-3.73813135e-02 -8.48548459e-05 9.99301071e-01 -1.23122524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80587156 meters 0.012944301463000083 Centerline is valid? [True, True] Translation: X:277.43, Y:-47.34, Z:-12.31 [[ 9.76235650e-01 2.13599962e-01 3.65925069e-02 2.77426279e+02] [-2.13455163e-01 9.76921204e-01 -7.86478261e-03 -4.73376742e+01] [-3.74279131e-02 -1.32978357e-04 9.99299321e-01 -1.23134494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83587156 meters 0.015422570736931998 Centerline is valid? [True, True] Translation: X:277.46, Y:-47.34, Z:-12.31 [[ 9.76054087e-01 2.14510262e-01 3.61077035e-02 2.77455602e+02] [-2.14369950e-01 9.76721721e-01 -7.75918672e-03 -4.73410506e+01] [-3.69316034e-02 -1.67020655e-04 9.99317782e-01 -1.23139537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86587156 meters 0.014056035253905062 Centerline is valid? [True, True] Translation: X:277.48, Y:-47.34, Z:-12.32 [[ 9.75870419e-01 2.15409583e-01 3.57160542e-02 2.77484546e+02] [-2.15272930e-01 9.76523769e-01 -7.67423329e-03 -4.73430443e+01] [-3.65306793e-02 -1.99642364e-04 9.99332512e-01 -1.23176407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89587156 meters 0.015694618818120922 Centerline is valid? [True, True] Translation: X:277.51, Y:-47.34, Z:-12.32 [[ 9.75487346e-01 2.17397019e-01 3.41024073e-02 2.77514053e+02] [-2.17273690e-01 9.76083228e-01 -7.32641372e-03 -4.73401998e+01] [-3.48795283e-02 -2.62732006e-04 9.99391490e-01 -1.23221826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92587156 meters 0.016497393223316743 Centerline is valid? [True, True] Translation: X:277.54, Y:-47.34, Z:-12.32 [[ 9.75309741e-01 2.18260290e-01 3.36653453e-02 2.77543408e+02] [-2.18140674e-01 9.75890548e-01 -7.23088258e-03 -4.73417853e+01] [-3.44319068e-02 -2.91430904e-04 9.99407004e-01 -1.23249887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95587156 meters 0.016977930775933722 Centerline is valid? [True, True] Translation: X:277.57, Y:-47.34, Z:-12.33 [[ 9.75197171e-01 2.18743353e-01 3.37908763e-02 2.77571524e+02] [-2.18623185e-01 9.75782378e-01 -7.25634727e-03 -4.73432306e+01] [-3.45598193e-02 -3.11099656e-04 9.99402583e-01 -1.23270666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98587156 meters 0.0167060319564438 Centerline is valid? [True, True] Translation: X:277.60, Y:-47.34, Z:-12.33 [[ 9.75333008e-01 2.18242145e-01 3.31042270e-02 2.77600648e+02] [-2.18126602e-01 9.75894606e-01 -7.10655574e-03 -4.73445722e+01] [-3.38571865e-02 -2.89654155e-04 9.99426639e-01 -1.23296303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01587156 meters 0.01821134807496268 Centerline is valid? [True, True] Translation: X:277.63, Y:-47.35, Z:-12.33 [[ 9.75500314e-01 2.17521596e-01 3.29164562e-02 2.77628604e+02] [-2.17407000e-01 9.76055472e-01 -7.06476803e-03 -4.73490388e+01] [-3.36650268e-02 -2.64584563e-04 9.99433137e-01 -1.23310703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04587156 meters 0.015235826470883116 Centerline is valid? [True, True] Translation: X:277.66, Y:-47.35, Z:-12.33 [[ 9.75928594e-01 2.15603847e-01 3.28384129e-02 2.77657323e+02] [-2.15488781e-01 9.76480896e-01 -7.04587402e-03 -4.73529654e+01] [-3.35852004e-02 -2.00039645e-04 9.99435838e-01 -1.23334256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07587156 meters 0.015105993708884685 Centerline is valid? [True, True] Translation: X:277.69, Y:-47.36, Z:-12.34 [[ 9.76204318e-01 2.14307991e-01 3.31242425e-02 2.77685035e+02] [-2.14190217e-01 9.76766124e-01 -7.10568567e-03 -4.73570565e+01] [-3.38774431e-02 -1.58287667e-04 9.99425982e-01 -1.23361579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10587156 meters 0.014369804286461079 Centerline is valid? [True, True] Translation: X:277.71, Y:-47.36, Z:-12.34 [[ 9.76456963e-01 2.13146787e-01 3.31699672e-02 2.77713667e+02] [-2.13028092e-01 9.77020180e-01 -7.11331939e-03 -4.73625787e+01] [-3.39239085e-02 -1.20284555e-04 9.99424411e-01 -1.23367329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13587156 meters 0.01362671941094722 Centerline is valid? [True, True] Translation: X:277.74, Y:-47.37, Z:-12.34 [[ 9.76759921e-01 2.11715113e-01 3.34180764e-02 2.77741569e+02] [-2.11593852e-01 9.77331421e-01 -7.16492797e-03 -4.73684934e+01] [-3.41774596e-02 -7.26450152e-05 9.99415777e-01 -1.23369269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16587156 meters 0.013074342732738078 Centerline is valid? [True, True] Translation: X:277.77, Y:-47.38, Z:-12.34 [[ 9.77371031e-01 2.08763675e-01 3.41115204e-02 2.77769438e+02] [-2.08635589e-01 9.77966118e-01 -7.31188885e-03 -4.73752689e+01] [-3.48863679e-02 2.95511828e-05 9.99391285e-01 -1.23373931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19587156 meters 0.013254774615018516 Centerline is valid? [True, True] Translation: X:277.80, Y:-47.38, Z:-12.34 [[ 9.77707482e-01 2.07193923e-01 3.40405403e-02 2.77797574e+02] [-2.07065478e-01 9.78299888e-01 -7.29496987e-03 -4.73817498e+01] [-3.48133302e-02 8.37258666e-05 9.99393829e-01 -1.23385325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22587156000003 meters 0.014239616255678687 Centerline is valid? [True, True] Translation: X:277.83, Y:-47.39, Z:-12.34 [[ 9.78312167e-01 2.04349304e-01 3.38624638e-02 2.77825305e+02] [-2.04220554e-01 9.78898017e-01 -7.25512934e-03 -4.73883281e+01] [-3.46304793e-02 1.82370198e-04 9.99400168e-01 -1.23398967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25587156 meters 0.015463939370057873 Centerline is valid? [True, True] Translation: X:277.85, Y:-47.39, Z:-12.34 [[ 9.78626130e-01 2.02855200e-01 3.37737497e-02 2.77851791e+02] [-2.02726295e-01 9.79208718e-01 -7.23435997e-03 -4.73947649e+01] [-3.45390777e-02 2.32906552e-04 9.99403321e-01 -1.23423800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28587156000003 meters 0.015829032964330778 Centerline is valid? [True, True] Translation: X:277.88, Y:-47.40, Z:-12.34 [[ 9.78841937e-01 2.01756749e-01 3.40980323e-02 2.77880017e+02] [-2.01624739e-01 9.79435623e-01 -7.30239714e-03 -4.74004144e+01] [-3.48701355e-02 2.72885714e-04 9.99391815e-01 -1.23431168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31587156 meters 0.01745923334112323 Centerline is valid? [True, True] Translation: X:277.91, Y:-47.41, Z:-12.34 [[ 9.79314078e-01 1.99479319e-01 3.39402007e-02 2.77907956e+02] [-1.99347218e-01 9.79901974e-01 -7.26694366e-03 -4.74077783e+01] [-3.47076746e-02 3.50735671e-04 9.99397446e-01 -1.23445525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34587156000003 meters 0.01821965950590486 Centerline is valid? [True, True] Translation: X:277.94, Y:-47.41, Z:-12.35 [[ 9.79514448e-01 1.98454433e-01 3.41655266e-02 2.77935697e+02] [-1.98320007e-01 9.80110038e-01 -7.31350962e-03 -4.74141714e+01] [-3.49373740e-02 3.87980864e-04 9.99389428e-01 -1.23456662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37587156 meters 0.01848356864430909 Centerline is valid? [True, True] Translation: X:277.96, Y:-47.42, Z:-12.35 [[ 9.79780065e-01 1.97057732e-01 3.46305500e-02 2.77964663e+02] [-1.96918817e-01 9.80391786e-01 -7.41112647e-03 -4.74184861e+01] [-3.54119265e-02 4.41867058e-04 9.99372703e-01 -1.23458307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40587156 meters 0.0203817124786057 Centerline is valid? [True, True] Translation: X:277.99, Y:-47.43, Z:-12.35 [[ 9.79948094e-01 1.96330174e-01 3.40028869e-02 2.77992150e+02] [-1.96195837e-01 9.80537736e-01 -7.27609252e-03 -4.74265039e+01] [-3.47696303e-02 4.58968142e-04 9.99395248e-01 -1.23497296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43587156 meters 0.019580523668791268 Centerline is valid? [True, True] Translation: X:278.02, Y:-47.43, Z:-12.35 [[ 9.80061015e-01 1.95826957e-01 3.36483342e-02 2.78021530e+02] [-1.95695158e-01 9.80638354e-01 -7.19885138e-03 -4.74307951e+01] [-3.44065762e-02 4.70497500e-04 9.99407808e-01 -1.23505694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46587156 meters 0.031442474104879325 Centerline is valid? [True, True] Translation: X:278.05, Y:-47.44, Z:-12.35 [[ 9.80211432e-01 1.95222944e-01 3.27650765e-02 2.78050623e+02] [-1.95097665e-01 9.80758774e-01 -7.00909276e-03 -4.74362064e+01] [-3.35029720e-02 4.78002922e-04 9.99438504e-01 -1.23504463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49587156 meters 0.02136537896628619 Centerline is valid? [True, True] Translation: X:278.08, Y:-47.44, Z:-12.36 [[ 9.80309098e-01 1.94723448e-01 3.28154225e-02 2.78078111e+02] [-1.94597527e-01 9.80858060e-01 -7.01916734e-03 -4.74436692e+01] [-3.35540681e-02 4.95153541e-04 9.99436781e-01 -1.23560776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52587156 meters 0.021569203760297834 Centerline is valid? [True, True] Translation: X:278.11, Y:-47.45, Z:-12.36 [[ 9.80415207e-01 1.94278183e-01 3.22801826e-02 2.78106761e+02] [-1.94156141e-01 9.80946348e-01 -6.90333220e-03 -4.74499544e+01] [-3.30062941e-02 5.00736179e-04 9.99455018e-01 -1.23579133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55587156 meters 0.02238030871243218 Centerline is valid? [True, True] Translation: X:278.13, Y:-47.46, Z:-12.36 [[ 9.80468881e-01 1.94134790e-01 3.15032778e-02 2.78134552e+02] [-1.94018499e-01 9.80974740e-01 -6.73658613e-03 -4.74574993e+01] [-3.22117255e-02 4.92794393e-04 9.99480946e-01 -1.23616261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58587156 meters 0.0223456283293213 Centerline is valid? [True, True] Translation: X:278.16, Y:-47.46, Z:-12.36 [[ 9.80450206e-01 1.94253682e-01 3.13512567e-02 2.78163067e+02] [-1.94138603e-01 9.80951207e-01 -6.70308499e-03 -4.74635353e+01] [-3.20561521e-02 4.85551875e-04 9.99485952e-01 -1.23627660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61587156 meters 0.020560945843817888 Centerline is valid? [True, True] Translation: X:278.19, Y:-47.47, Z:-12.36 [[ 9.80270757e-01 1.95151901e-01 3.13843805e-02 2.78191687e+02] [-1.95037087e-01 9.80772924e-01 -6.70866633e-03 -4.74670380e+01] [-3.20901597e-02 4.55191268e-04 9.99484875e-01 -1.23628983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64587156 meters 0.019862345247087198 Centerline is valid? [True, True] Translation: X:278.22, Y:-47.47, Z:-12.36 [[ 9.80159092e-01 1.95653859e-01 3.17446348e-02 2.78220454e+02] [-1.95536719e-01 9.80672918e-01 -6.78375038e-03 -4.74721177e+01] [-3.24583706e-02 4.41912873e-04 9.99472991e-01 -1.23635550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67587156 meters 0.02049525644155439 Centerline is valid? [True, True] Translation: X:278.25, Y:-47.48, Z:-12.37 [[ 9.80041574e-01 1.96189005e-01 3.20684876e-02 2.78248524e+02] [-1.96069770e-01 9.80566006e-01 -6.85228537e-03 -4.74789227e+01] [-3.27896118e-02 4.27863544e-04 9.99462185e-01 -1.23653981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70587156 meters 0.019386387817928286 Centerline is valid? [True, True] Translation: X:278.28, Y:-47.48, Z:-12.37 [[ 9.79719894e-01 1.97698922e-01 3.26200079e-02 2.78276317e+02] [-1.97576420e-01 9.80262715e-01 -6.96912048e-03 -4.74831105e+01] [-3.33539651e-02 3.82841613e-04 9.99443528e-01 -1.23659231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73587156 meters 0.024158426859229486 Centerline is valid? [True, True] Translation: X:278.30, Y:-47.49, Z:-12.37 [[ 9.79556735e-01 1.98580783e-01 3.21601682e-02 2.78304870e+02] [-1.98462253e-01 9.80084462e-01 -6.86885491e-03 -4.74882244e+01] [-3.28837037e-02 3.45853654e-04 9.99459125e-01 -1.23654994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76587156 meters 0.016394869136615902 Centerline is valid? [True, True] Translation: X:278.33, Y:-47.49, Z:-12.37 [[ 9.79162699e-01 2.00489933e-01 3.23140135e-02 2.78333463e+02] [-2.00371355e-01 9.79695722e-01 -6.90017159e-03 -4.74922737e+01] [-3.30413157e-02 2.81587969e-04 9.99453947e-01 -1.23679353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79587156 meters 0.015720811461118332 Centerline is valid? [True, True] Translation: X:278.36, Y:-47.50, Z:-12.37 [[ 9.78933909e-01 2.01582008e-01 3.24514496e-02 2.78360772e+02] [-2.01463067e-01 9.79471610e-01 -6.92807874e-03 -4.74969229e+01] [-3.31818496e-02 2.44362643e-04 9.99449301e-01 -1.23690083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82587156 meters 0.01587015205260038 Centerline is valid? [True, True] Translation: X:278.39, Y:-47.50, Z:-12.37 [[ 9.78722651e-01 2.02568583e-01 3.26793747e-02 2.78388355e+02] [-2.02448592e-01 9.79268056e-01 -6.97441904e-03 -4.75021776e+01] [-3.34146659e-02 2.10128483e-04 9.99441552e-01 -1.23715578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85587156 meters 0.013567793513016652 Centerline is valid? [True, True] Translation: X:278.42, Y:-47.51, Z:-12.37 [[ 9.78245184e-01 2.04660882e-01 3.39158339e-02 2.78417674e+02] [-2.04532953e-01 9.78832929e-01 -7.23657769e-03 -4.75052720e+01] [-3.46789794e-02 1.42241604e-04 9.99398493e-01 -1.23679517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88587156 meters 0.01346228276055626 Centerline is valid? [True, True] Translation: X:278.44, Y:-47.51, Z:-12.37 [[ 9.78040889e-01 2.05595670e-01 3.41531883e-02 2.78444463e+02] [-2.05466569e-01 9.78637016e-01 -7.28563513e-03 -4.75108854e+01] [-3.49214693e-02 1.08310649e-04 9.99390054e-01 -1.23698576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91587156 meters 0.013211918467989012 Centerline is valid? [True, True] Translation: X:278.47, Y:-47.51, Z:-12.37 [[ 9.77601057e-01 2.07650024e-01 3.43167748e-02 2.78472396e+02] [-2.07521030e-01 9.78203183e-01 -7.31817162e-03 -4.75147430e+01] [-3.50883969e-02 3.27998435e-05 9.99384212e-01 -1.23726075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94587156 meters 0.012789574537171285 Centerline is valid? [True, True] Translation: X:278.50, Y:-47.52, Z:-12.37 [[ 9.77347759e-01 2.08848999e-01 3.42557129e-02 2.78500736e+02] [-2.08721280e-01 9.77947900e-01 -7.30285637e-03 -4.75194321e+01] [-3.50254968e-02 -1.24659551e-05 9.99386419e-01 -1.23715758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97587156000003 meters 0.023703236308429514 Centerline is valid? [True, True] Translation: X:278.53, Y:-47.52, Z:-12.37 [[ 9.77135323e-01 2.09937980e-01 3.36541977e-02 2.78527942e+02] [-2.09815388e-01 9.77714704e-01 -7.17363763e-03 -4.75244030e+01] [-3.44102230e-02 -5.15538135e-05 9.99407792e-01 -1.23724372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00587156 meters 0.014253812382597736 Centerline is valid? [True, True] Translation: X:278.55, Y:-47.53, Z:-12.38 [[ 9.76709937e-01 2.11980764e-01 3.31941900e-02 2.78554814e+02] [-2.11862747e-01 9.77273831e-01 -7.07361385e-03 -4.75297182e+01] [-3.39392833e-02 -1.23743351e-04 9.99423889e-01 -1.23782381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03587156000003 meters 0.014471803581337029 Centerline is valid? [True, True] Translation: X:278.58, Y:-47.54, Z:-12.38 [[ 9.76502929e-01 2.12992909e-01 3.28032163e-02 2.78582510e+02] [-2.12878304e-01 9.77053732e-01 -6.98800492e-03 -4.75356482e+01] [-3.35389004e-02 -1.59285785e-04 9.99437400e-01 -1.23789490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06587156 meters 0.016513278996141183 Centerline is valid? [True, True] Translation: X:278.61, Y:-47.54, Z:-12.38 [[ 9.76062144e-01 2.15045205e-01 3.25307702e-02 2.78609503e+02] [-2.14933713e-01 9.76604069e-01 -6.92763483e-03 -4.75394221e+01] [-3.32594372e-02 -2.30157109e-04 9.99446725e-01 -1.23829451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09587156000003 meters 0.016614841778086985 Centerline is valid? [True, True] Translation: X:278.64, Y:-47.55, Z:-12.38 [[ 9.75898256e-01 2.15785008e-01 3.25488050e-02 2.78637232e+02] [-2.15673894e-01 9.76440865e-01 -6.92874233e-03 -4.75465339e+01] [-3.32771020e-02 -2.58179981e-04 9.99446131e-01 -1.23834639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12587156 meters 0.01707422588915905 Centerline is valid? [True, True] Translation: X:278.67, Y:-47.55, Z:-12.38 [[ 9.75796898e-01 2.16297296e-01 3.21852982e-02 2.78665584e+02] [-2.16188981e-01 9.76327509e-01 -6.84981729e-03 -4.75535966e+01] [-3.29049890e-02 -2.74076346e-04 9.99458447e-01 -1.23848203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15587156 meters 0.018864108727293914 Centerline is valid? [True, True] Translation: X:278.69, Y:-47.56, Z:-12.38 [[ 9.75594582e-01 2.17330497e-01 3.13475298e-02 2.78693200e+02] [-2.17228328e-01 9.76098030e-01 -6.67007963e-03 -4.75644747e+01] [-3.20478738e-02 -3.02277922e-04 9.99486289e-01 -1.23848448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18587156 meters 0.018999752758882434 Centerline is valid? [True, True] Translation: X:278.72, Y:-47.57, Z:-12.39 [[ 9.75534858e-01 2.17608727e-01 3.12759145e-02 2.78719754e+02] [-2.17507212e-01 9.76036037e-01 -6.65340914e-03 -4.75699176e+01] [-3.19742595e-02 -3.12104437e-04 9.99488644e-01 -1.23907149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21587156 meters 0.019265630554810665 Centerline is valid? [True, True] Translation: X:278.75, Y:-47.58, Z:-12.39 [[ 9.75457107e-01 2.18105287e-01 3.02244294e-02 2.78747238e+02] [-2.18010787e-01 9.75925193e-01 -6.42768294e-03 -4.75793832e+01] [-3.08986937e-02 -3.19322623e-04 9.99522470e-01 -1.23930261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24587156 meters 0.02612622946072428 Centerline is valid? [True, True] Translation: X:278.78, Y:-47.59, Z:-12.39 [[ 9.75369478e-01 2.18562625e-01 2.97449143e-02 2.78775490e+02] [-2.18471355e-01 9.75822868e-01 -6.32430494e-03 -4.75858308e+01] [-3.04080243e-02 -3.29877733e-04 9.99537515e-01 -1.23923028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27587156 meters 0.0198370995366892 Centerline is valid? [True, True] Translation: X:278.80, Y:-47.59, Z:-12.40 [[ 9.75353744e-01 2.18598582e-01 2.99955626e-02 2.78803374e+02] [-2.18505830e-01 9.75814812e-01 -6.37612801e-03 -4.75933398e+01] [-3.06639268e-02 -3.35224955e-04 9.99529695e-01 -1.23965529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30587156 meters 0.01988408926245054 Centerline is valid? [True, True] Translation: X:278.83, Y:-47.60, Z:-12.40 [[ 9.75171318e-01 2.19409612e-01 3.00053796e-02 2.78831153e+02] [-2.19317227e-01 9.75632764e-01 -6.37677942e-03 -4.76026684e+01] [-3.06733581e-02 -3.62244240e-04 9.99529396e-01 -1.23965400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33587156 meters 0.01958910300409103 Centerline is valid? [True, True] Translation: X:278.86, Y:-47.61, Z:-12.40 [[ 9.75029359e-01 2.20068705e-01 2.97911829e-02 2.78859158e+02] [-2.19977985e-01 9.75484300e-01 -6.32982101e-03 -4.76105381e+01] [-3.04538267e-02 -3.81643072e-04 9.99536102e-01 -1.23963449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36587156 meters 0.022207435087135307 Centerline is valid? [True, True] Translation: X:278.89, Y:-47.62, Z:-12.40 [[ 9.74683035e-01 2.21536421e-01 3.02422848e-02 2.78886037e+02] [-2.21443682e-01 9.75152001e-01 -6.42425293e-03 -4.76160620e+01] [-3.09140305e-02 -4.35352541e-04 9.99521952e-01 -1.23986457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39587156 meters 0.02162383736856902 Centerline is valid? [True, True] Translation: X:278.91, Y:-47.62, Z:-12.40 [[ 9.74487980e-01 2.22376889e-01 3.03594654e-02 2.78914243e+02] [-2.22283903e-01 9.74960667e-01 -6.44701999e-03 -4.76240069e+01] [-3.10329529e-02 -4.65876983e-04 9.99518253e-01 -1.23983220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42587156 meters 0.024847592810185407 Centerline is valid? [True, True] Translation: X:278.94, Y:-47.63, Z:-12.40 [[ 9.74268109e-01 2.23388733e-01 2.99854199e-02 2.78941697e+02] [-2.23298544e-01 9.74729312e-01 -6.36626592e-03 -4.76260620e+01] [-3.06498197e-02 -4.93250753e-04 9.99530062e-01 -1.24028071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45587156 meters 0.024847592810185407 Centerline is valid? [True, True] Translation: X:278.97, Y:-47.63, Z:-12.40 [[ 9.74283343e-01 2.23322236e-01 2.99857823e-02 2.78968599e+02] [-2.23232069e-01 9.74744549e-01 -6.36455849e-03 -4.76316308e+01] [-3.06498252e-02 -4.92904896e-04 9.99530062e-01 -1.24040456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48587156 meters 0.025138496917933986 Centerline is valid? [True, True] Translation: X:279.00, Y:-47.64, Z:-12.40 [[ 9.73813527e-01 2.25425926e-01 2.95019854e-02 2.78997286e+02] [-2.25339681e-01 9.74260154e-01 -6.25950972e-03 -4.76373005e+01] [-3.01536646e-02 -5.52372730e-04 9.99545122e-01 -1.24042628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51587156 meters 0.026133622118449298 Centerline is valid? [True, True] Translation: X:279.02, Y:-47.64, Z:-12.41 [[ 9.73654277e-01 2.26119076e-01 2.94535535e-02 2.79024468e+02] [-2.26033470e-01 9.74099499e-01 -6.24794183e-03 -4.76419406e+01] [-3.01034705e-02 -5.74153608e-04 9.99546623e-01 -1.24062815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54587156 meters 0.026814333139704497 Centerline is valid? [True, True] Translation: X:279.05, Y:-47.65, Z:-12.41 [[ 9.73582461e-01 2.26508801e-01 2.88262956e-02 2.79052059e+02] [-2.26427015e-01 9.74008949e-01 -6.11345490e-03 -4.76477950e+01] [-2.94618212e-02 -5.75099599e-04 9.99565741e-01 -1.24087407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57587156 meters 0.03739507290331035 Centerline is valid? [True, True] Translation: X:279.08, Y:-47.65, Z:-12.41 [[ 9.73505356e-01 2.26998736e-01 2.75480593e-02 2.79078966e+02] [-2.26924309e-01 9.73894888e-01 -5.83989432e-03 -4.76542388e+01] [-2.81545627e-02 -5.66155929e-04 9.99603421e-01 -1.24082686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60587156 meters 0.027816978382537313 Centerline is valid? [True, True] Translation: X:279.11, Y:-47.66, Z:-12.41 [[ 9.73551502e-01 2.26785091e-01 2.76766332e-02 2.79105863e+02] [-2.26709931e-01 9.73944662e-01 -5.86542111e-03 -4.76598715e+01] [-2.82856992e-02 -5.64278077e-04 9.99599720e-01 -1.24132494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63587156 meters 0.026788389273071662 Centerline is valid? [True, True] Translation: X:279.13, Y:-47.67, Z:-12.41 [[ 9.73705134e-01 2.26100181e-01 2.78750802e-02 2.79133585e+02] [-2.26023714e-01 9.74103899e-01 -5.90555889e-03 -4.76682169e+01] [-2.84884722e-02 -5.50156127e-04 9.99593970e-01 -1.24135663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66587156 meters 0.025639044752068182 Centerline is valid? [True, True] Translation: X:279.16, Y:-47.68, Z:-12.41 [[ 9.73851502e-01 2.25422846e-01 2.82452245e-02 2.79161843e+02] [-2.25344089e-01 9.74260874e-01 -5.98256849e-03 -4.76755466e+01] [-2.88668247e-02 -5.38761072e-04 9.99583121e-01 -1.24136363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69587156 meters 0.025967367634138636 Centerline is valid? [True, True] Translation: X:279.19, Y:-47.68, Z:-12.42 [[ 9.73995452e-01 2.24791114e-01 2.83163143e-02 2.79189478e+02] [-2.24711729e-01 9.74406836e-01 -5.99639643e-03 -4.76804337e+01] [-2.89395468e-02 -5.22545092e-04 9.99581027e-01 -1.24155463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72587156000003 meters 0.026047154257771394 Centerline is valid? [True, True] Translation: X:279.22, Y:-47.68, Z:-12.42 [[ 9.74130256e-01 2.24140501e-01 2.88319436e-02 2.79216576e+02] [-2.24057968e-01 9.74556705e-01 -6.10371767e-03 -4.76849058e+01] [-2.94664543e-02 -5.14210646e-04 9.99565637e-01 -1.24172753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75587156 meters 0.025062184943997014 Centerline is valid? [True, True] Translation: X:279.24, Y:-47.69, Z:-12.42 [[ 9.74193637e-01 2.23877928e-01 2.87303215e-02 2.79244009e+02] [-2.23795907e-01 9.74617062e-01 -6.08067122e-03 -4.76920488e+01] [-2.93623896e-02 -5.05977163e-04 9.99568704e-01 -1.24177796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78587156000003 meters 0.02497308742187571 Centerline is valid? [True, True] Translation: X:279.27, Y:-47.70, Z:-12.42 [[ 9.74248103e-01 2.23677889e-01 2.84400440e-02 2.79271852e+02] [-2.23597504e-01 9.74662995e-01 -6.01678554e-03 -4.76987549e+01] [-2.90652804e-02 -4.97280949e-04 9.99577392e-01 -1.24193062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81587156 meters 0.026540167524517936 Centerline is valid? [True, True] Translation: X:279.30, Y:-47.70, Z:-12.42 [[ 9.74349546e-01 2.23266427e-01 2.81968964e-02 2.79298233e+02] [-2.23187261e-01 9.74757339e-01 -5.96455527e-03 -4.77034368e+01] [-2.88168167e-02 -4.81626352e-04 9.99584593e-01 -1.24232522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84587156000003 meters 0.024673264271311654 Centerline is valid? [True, True] Translation: X:279.33, Y:-47.71, Z:-12.42 [[ 9.74415222e-01 2.23042551e-01 2.76946678e-02 2.79325817e+02] [-2.22966172e-01 9.74808597e-01 -5.85541783e-03 -4.77118445e+01] [-2.83030076e-02 -4.69365809e-04 9.99599279e-01 -1.24230664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87587156 meters 0.02626536488670964 Centerline is valid? [True, True] Translation: X:279.35, Y:-47.72, Z:-12.43 [[ 9.74481226e-01 2.22793629e-01 2.73740550e-02 2.79352804e+02] [-2.22718942e-01 9.74865524e-01 -5.78651095e-03 -4.77157447e+01] [-2.79752202e-02 -4.57874283e-04 9.99608512e-01 -1.24271449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90587156 meters 0.024722666611329124 Centerline is valid? [True, True] Translation: X:279.38, Y:-47.72, Z:-12.43 [[ 9.74577352e-01 2.22394389e-01 2.71978226e-02 2.79379786e+02] [-2.22320545e-01 9.74956685e-01 -5.74780858e-03 -4.77233514e+01] [-2.77949794e-02 -4.44950701e-04 9.99613546e-01 -1.24263681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93587156 meters 0.024701698734254488 Centerline is valid? [True, True] Translation: X:279.41, Y:-47.73, Z:-12.43 [[ 9.74628012e-01 2.22231574e-01 2.67088877e-02 2.79407583e+02] [-2.22160364e-01 9.74993815e-01 -5.64218179e-03 -4.77286897e+01] [-2.72948713e-02 -4.34627797e-04 9.99627331e-01 -1.24283079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96587156 meters 0.024510216359151293 Centerline is valid? [True, True] Translation: X:279.44, Y:-47.73, Z:-12.43 [[ 9.74713691e-01 2.21859650e-01 2.66742453e-02 2.79435946e+02] [-2.21788521e-01 9.75078517e-01 -5.63356044e-03 -4.77340651e+01] [-2.72593433e-02 -4.24932928e-04 9.99628305e-01 -1.24297057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99587156 meters 0.024694630324846166 Centerline is valid? [True, True] Translation: X:279.46, Y:-47.74, Z:-12.43 [[ 9.74658511e-01 2.22055826e-01 2.70554579e-02 2.79464836e+02] [-2.21982761e-01 9.75033855e-01 -5.71271631e-03 -4.77382750e+01] [-2.76485293e-02 -4.37897668e-04 9.99617610e-01 -1.24299229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02587156 meters 0.030388215994482007 Centerline is valid? [True, True] Translation: X:279.49, Y:-47.75, Z:-12.43 [[ 9.74625377e-01 2.22219950e-01 2.69010819e-02 2.79492984e+02] [-2.22147814e-01 9.74996461e-01 -5.67885866e-03 -4.77451936e+01] [-2.74904153e-02 -4.41256773e-04 9.99621970e-01 -1.24268244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05587156 meters 0.023049199961203186 Centerline is valid? [True, True] Translation: X:279.52, Y:-47.75, Z:-12.43 [[ 9.74736674e-01 2.21729643e-01 2.69143519e-02 2.79521283e+02] [-2.21657286e-01 9.75108087e-01 -5.68030210e-03 -4.77512353e+01] [-2.75038936e-02 -4.28963438e-04 9.99621604e-01 -1.24303077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08587156 meters 0.02261504513772099 Centerline is valid? [True, True] Translation: X:279.55, Y:-47.76, Z:-12.43 [[ 9.74807417e-01 2.21402403e-01 2.70457987e-02 2.79549103e+02] [-2.21329251e-01 9.75182443e-01 -5.70666613e-03 -4.77579036e+01] [-2.76380576e-02 -4.23125879e-04 9.99617906e-01 -1.24310769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11587156 meters 0.022314843267824968 Centerline is valid? [True, True] Translation: X:279.58, Y:-47.76, Z:-12.43 [[ 9.75155573e-01 2.19841975e-01 2.72234180e-02 2.79576232e+02] [-2.19767289e-01 9.75535422e-01 -5.74273904e-03 -4.77637721e+01] [-2.78199037e-02 -3.82752788e-04 9.99612878e-01 -1.24327132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14587156 meters 0.020582089777099355 Centerline is valid? [True, True] Translation: X:279.60, Y:-47.77, Z:-12.43 [[ 9.75730137e-01 2.17289011e-01 2.71327460e-02 2.79602756e+02] [-2.17213867e-01 9.76107263e-01 -5.72244466e-03 -4.77719668e+01] [-2.77278948e-02 -3.10046993e-04 9.99615460e-01 -1.24347279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17587156 meters 0.018475165184982795 Centerline is valid? [True, True] Translation: X:279.63, Y:-47.78, Z:-12.43 [[ 9.76097528e-01 2.15593429e-01 2.74424588e-02 2.79630632e+02] [-2.15515948e-01 9.76483181e-01 -5.78565437e-03 -4.77823381e+01] [-2.80444485e-02 -2.66924601e-04 9.99606641e-01 -1.24338195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20587156 meters 0.01895278458945591 Centerline is valid? [True, True] Translation: X:279.66, Y:-47.79, Z:-12.43 [[ 9.76484716e-01 2.13759726e-01 2.80067849e-02 2.79657595e+02] [-2.13678291e-01 9.76886243e-01 -5.90393163e-03 -4.77910678e+01] [-2.86214657e-02 -2.19342930e-04 9.99590298e-01 -1.24335806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23587156 meters 0.015783409526560276 Centerline is valid? [True, True] Translation: X:279.68, Y:-47.80, Z:-12.44 [[ 9.77238242e-01 2.10195231e-01 2.86946599e-02 2.79684139e+02] [-2.10108264e-01 9.77659425e-01 -6.04704564e-03 -4.78005710e+01] [-2.93246648e-02 -1.19580925e-04 9.99569932e-01 -1.24353308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26587156 meters 0.01530976666464722 Centerline is valid? [True, True] Translation: X:279.71, Y:-47.81, Z:-12.44 [[ 9.77609002e-01 2.08476215e-01 2.86060710e-02 2.79711956e+02] [-2.08389106e-01 9.78027435e-01 -6.02641194e-03 -4.78096706e+01] [-2.92338858e-02 -6.97189950e-05 9.99572596e-01 -1.24373428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29587156 meters 0.01503991516680751 Centerline is valid? [True, True] Translation: X:279.74, Y:-47.82, Z:-12.44 [[ 9.78364927e-01 2.05020544e-01 2.77244708e-02 2.79739767e+02] [-2.04937382e-01 9.78757669e-01 -5.83899309e-03 -4.78235886e+01] [-2.83326520e-02 3.08855661e-05 9.99598549e-01 -1.24382494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32587156 meters 0.015677408570498586 Centerline is valid? [True, True] Translation: X:279.77, Y:-47.83, Z:-12.44 [[ 9.78557093e-01 2.04157232e-01 2.73100657e-02 2.79767267e+02] [-2.04076215e-01 9.78938109e-01 -5.75124672e-03 -4.78312066e+01] [-2.79090227e-02 5.45884324e-05 9.99610466e-01 -1.24413128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35587156 meters 0.015938053728003825 Centerline is valid? [True, True] Translation: X:279.80, Y:-47.84, Z:-12.44 [[ 9.78702158e-01 2.03510511e-01 2.69361684e-02 2.79796028e+02] [-2.03431486e-01 9.79072759e-01 -5.67129715e-03 -4.78379484e+01] [-2.75266373e-02 7.08459993e-05 9.99621068e-01 -1.24435583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38587156 meters 0.015720809160170265 Centerline is valid? [True, True] Translation: X:279.82, Y:-47.85, Z:-12.44 [[ 9.78730160e-01 2.03381494e-01 2.68931677e-02 2.79824947e+02] [-2.03302690e-01 9.79099567e-01 -5.66159655e-03 -4.78463646e+01] [-2.74825528e-02 7.37219586e-05 9.99622281e-01 -1.24432702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41587156 meters 0.016257722994034 Centerline is valid? [True, True] Translation: X:279.85, Y:-47.85, Z:-12.45 [[ 9.78663809e-01 2.03697525e-01 2.69159131e-02 2.79852315e+02] [-2.03618721e-01 9.79033868e-01 -5.66591811e-03 -4.78530256e+01] [-2.75057240e-02 6.44452056e-05 9.99621644e-01 -1.24460342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44587156 meters 0.01523727868955714 Centerline is valid? [True, True] Translation: X:279.88, Y:-47.86, Z:-12.44 [[ 9.78384282e-01 2.05048705e-01 2.68183855e-02 2.79881765e+02] [-2.04971011e-01 9.78751770e-01 -5.64418617e-03 -4.78563862e+01] [-2.74058754e-02 2.51914475e-05 9.99624388e-01 -1.24448091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47587156000003 meters 0.025928126965458438 Centerline is valid? [True, True] Translation: X:279.91, Y:-47.86, Z:-12.45 [[ 9.78157804e-01 2.06144454e-01 2.66791206e-02 2.79910383e+02] [-2.06067984e-01 9.78521571e-01 -5.61442222e-03 -4.78615379e+01] [-2.72634770e-02 -5.92168749e-06 9.99628282e-01 -1.24452853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50587156 meters 0.01601894578250903 Centerline is valid? [True, True] Translation: X:279.94, Y:-47.87, Z:-12.45 [[ 9.78097683e-01 2.06490792e-01 2.62006832e-02 2.79937202e+02] [-2.06417181e-01 9.78448544e-01 -5.51318190e-03 -4.78667503e+01] [-2.67744416e-02 -1.58407156e-05 9.99641500e-01 -1.24501357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53587156000003 meters 0.016487726031431154 Centerline is valid? [True, True] Translation: X:279.97, Y:-47.87, Z:-12.45 [[ 9.77842942e-01 2.07771905e-01 2.55737423e-02 2.79965821e+02] [-2.07702257e-01 9.78177301e-01 -5.37953425e-03 -4.78712906e+01] [-2.61333704e-02 -5.13844094e-05 9.99658464e-01 -1.24522117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56587156 meters 0.016574703280486023 Centerline is valid? [True, True] Translation: X:279.99, Y:-47.88, Z:-12.45 [[ 9.77684830e-01 2.08563918e-01 2.51687525e-02 2.79994660e+02] [-2.08496752e-01 9.78008736e-01 -5.29315330e-03 -4.78757830e+01] [-2.57192206e-02 -7.25674647e-05 9.99669204e-01 -1.24536867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59587156000003 meters 0.023129346553167156 Centerline is valid? [True, True] Translation: X:280.02, Y:-47.88, Z:-12.45 [[ 9.77528944e-01 2.09377052e-01 2.44624907e-02 2.80022740e+02] [-2.09313887e-01 9.77834977e-01 -5.14346142e-03 -4.78810835e+01] [-2.49972018e-02 -9.24565986e-05 9.99687517e-01 -1.24527251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62587156 meters 0.020021736968924706 Centerline is valid? [True, True] Translation: X:280.05, Y:-47.88, Z:-12.46 [[ 9.77122569e-01 2.11270539e-01 2.44181373e-02 2.80050581e+02] [-2.11208218e-01 9.77427613e-01 -5.13315142e-03 -4.78845731e+01] [-2.49514453e-02 -1.41593169e-04 9.99688654e-01 -1.24555156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65587156 meters 0.01835046710525123 Centerline is valid? [True, True] Translation: X:280.08, Y:-47.89, Z:-12.46 [[ 9.76921904e-01 2.12152266e-01 2.47994006e-02 2.80078439e+02] [-2.12088308e-01 9.77236608e-01 -5.21170549e-03 -4.78880123e+01] [-2.53405573e-02 -1.68233680e-04 9.99678862e-01 -1.24578986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68587156 meters 0.019071487952470097 Centerline is valid? [True, True] Translation: X:280.11, Y:-47.89, Z:-12.46 [[ 9.76575041e-01 2.13626763e-01 2.57836370e-02 2.80106802e+02] [-2.13558186e-01 9.76915329e-01 -5.41683860e-03 -4.78903836e+01] [-2.63456120e-02 -2.16357372e-04 9.99652871e-01 -1.24576171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71587156 meters 0.018883971898393182 Centerline is valid? [True, True] Translation: X:280.14, Y:-47.90, Z:-12.46 [[ 9.76545308e-01 2.13705653e-01 2.62517703e-02 2.80135183e+02] [-2.13634641e-01 9.76898072e-01 -5.51331792e-03 -4.78961763e+01] [-2.68235310e-02 -2.24282782e-04 9.99640159e-01 -1.24578451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74587156 meters 0.018950634006171165 Centerline is valid? [True, True] Translation: X:280.16, Y:-47.90, Z:-12.46 [[ 9.76597651e-01 2.13456958e-01 2.63278332e-02 2.80162256e+02] [-2.13385473e-01 9.76952445e-01 -5.52820585e-03 -4.79020013e+01] [-2.69010750e-02 -2.19144286e-04 9.99638077e-01 -1.24597360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77587156 meters 0.018997895757577613 Centerline is valid? [True, True] Translation: X:280.19, Y:-47.91, Z:-12.46 [[ 9.76920706e-01 2.12099861e-01 2.52899619e-02 2.80188407e+02] [-2.12033481e-01 9.77247982e-01 -5.30895844e-03 -4.79101484e+01] [-2.58405936e-02 -1.75887221e-04 9.99666061e-01 -1.24645449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80587156 meters 0.02289454746504534 Centerline is valid? [True, True] Translation: X:280.21, Y:-47.92, Z:-12.46 [[ 9.77071505e-01 2.11414287e-01 2.52046499e-02 2.80214942e+02] [-2.11348170e-01 9.77396529e-01 -5.28932355e-03 -4.79175179e+01] [-2.57531759e-02 -1.58909307e-04 9.99668319e-01 -1.24644217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83587156 meters 0.021081107366461824 Centerline is valid? [True, True] Translation: X:280.24, Y:-47.93, Z:-12.46 [[ 9.77422842e-01 2.09804127e-01 2.50362942e-02 2.80242370e+02] [-2.09738408e-01 9.77743430e-01 -5.25221802e-03 -4.79272085e+01] [-2.55810092e-02 -1.17434637e-04 9.99672746e-01 -1.24602602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86587156 meters 0.017799788556248166 Centerline is valid? [True, True] Translation: X:280.27, Y:-47.93, Z:-12.47 [[ 9.77597148e-01 2.09038334e-01 2.46331457e-02 2.80268971e+02] [-2.08974497e-01 9.77907442e-01 -5.16664431e-03 -4.79323346e+01] [-2.51689632e-02 -9.68024769e-05 9.99683207e-01 -1.24686188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89587156 meters 0.01763282457135245 Centerline is valid? [True, True] Translation: X:280.30, Y:-47.94, Z:-12.47 [[ 9.77777386e-01 2.08216652e-01 2.44378740e-02 2.80296880e+02] [-2.08153613e-01 9.78082727e-01 -5.12380697e-03 -4.79392667e+01] [-2.49691243e-02 -7.68891734e-05 9.99688220e-01 -1.24700090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92587156 meters 0.01776747393739824 Centerline is valid? [True, True] Translation: X:280.32, Y:-47.95, Z:-12.47 [[ 9.78209428e-01 2.06232520e-01 2.39679572e-02 2.80323243e+02] [-2.06171308e-01 9.78503013e-01 -5.02441316e-03 -4.79481405e+01] [-2.44889158e-02 -2.65767708e-05 9.99700101e-01 -1.24727252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95587156 meters 0.017857514741136303 Centerline is valid? [True, True] Translation: X:280.35, Y:-47.96, Z:-12.47 [[ 9.78476655e-01 2.04971697e-01 2.38754968e-02 2.80351084e+02] [-2.04910622e-01 9.78767901e-01 -5.00335854e-03 -4.79557282e+01] [-2.43941168e-02 3.32662523e-06 9.99702419e-01 -1.24740784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98587156 meters 0.016953157214363815 Centerline is valid? [True, True] Translation: X:280.38, Y:-47.97, Z:-12.47 [[ 9.78952470e-01 2.02668916e-01 2.40285459e-02 2.80379408e+02] [-2.02606401e-01 9.79247316e-01 -5.03385485e-03 -4.79661560e+01] [-2.45500950e-02 5.95674493e-05 9.99698599e-01 -1.24712532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01587156 meters 0.01697841681752264 Centerline is valid? [True, True] Translation: X:280.41, Y:-47.97, Z:-12.47 [[ 9.79181619e-01 2.01535331e-01 2.42253322e-02 2.80408089e+02] [-2.01471455e-01 9.79481242e-01 -5.07446927e-03 -4.79747101e+01] [-2.47509433e-02 8.81141121e-05 9.99693645e-01 -1.24720531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04587156 meters 0.01714627662182198 Centerline is valid? [True, True] Translation: X:280.44, Y:-47.98, Z:-12.47 [[ 9.79339472e-01 2.00767077e-01 2.42235316e-02 2.80436943e+02] [-2.00702991e-01 9.79639000e-01 -5.07348620e-03 -4.79825511e+01] [-2.47489052e-02 1.06930072e-04 9.99693693e-01 -1.24725711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07587156 meters 0.017175868468445602 Centerline is valid? [True, True] Translation: X:280.47, Y:-47.99, Z:-12.47 [[ 9.79530606e-01 1.99723844e-01 2.51033514e-02 2.80466652e+02] [-1.99654704e-01 9.79852217e-01 -5.25662024e-03 -4.79911582e+01] [-2.56474469e-02 1.37018230e-04 9.99671041e-01 -1.24718725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10587156 meters 0.02854581369818979 Centerline is valid? [True, True] Translation: X:280.49, Y:-48.00, Z:-12.47 [[ 9.79604525e-01 1.99266005e-01 2.58463478e-02 2.80494927e+02] [-1.99192545e-01 9.79945425e-01 -5.41242874e-03 -4.79989265e+01] [-2.64065233e-02 1.53639892e-04 9.99651275e-01 -1.24706172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13587156 meters 0.01788371903378523 Centerline is valid? [True, True] Translation: X:280.52, Y:-48.01, Z:-12.47 [[ 9.79720054e-01 1.98710073e-01 2.57472772e-02 2.80524155e+02] [-1.98637004e-01 9.80058304e-01 -5.39091565e-03 -4.80063704e+01] [-2.63050620e-02 1.67226180e-04 9.99653948e-01 -1.24741821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16587156 meters 0.017339023542434263 Centerline is valid? [True, True] Translation: X:280.55, Y:-48.01, Z:-12.47 [[ 9.79817458e-01 1.98205644e-01 2.59281849e-02 2.80554932e+02] [-1.98131365e-01 9.80160441e-01 -5.42887345e-03 -4.80140504e+01] [-2.64898145e-02 1.82118325e-04 9.99649067e-01 -1.24725783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19587156 meters 0.02219428291033194 Centerline is valid? [True, True] Translation: X:280.58, Y:-48.02, Z:-12.47 [[ 9.79751161e-01 1.98487251e-01 2.62768514e-02 2.80584403e+02] [-1.98411063e-01 9.80103454e-01 -5.50183416e-03 -4.80219564e+01] [-2.68460767e-02 1.76810398e-04 9.99639563e-01 -1.24736426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22587156000003 meters 0.016921462810894378 Centerline is valid? [True, True] Translation: X:280.61, Y:-48.03, Z:-12.47 [[ 9.79621163e-01 1.99130035e-01 2.62603463e-02 2.80614785e+02] [-1.99054107e-01 9.79973062e-01 -5.50084758e-03 -4.80289063e+01] [-2.68298159e-02 1.61516933e-04 9.99640003e-01 -1.24749364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25587156 meters 0.017147040527354693 Centerline is valid? [True, True] Translation: X:280.64, Y:-48.03, Z:-12.48 [[ 9.79534239e-01 1.99612808e-01 2.58341365e-02 2.80644713e+02] [-1.99539470e-01 9.79874842e-01 -5.41242917e-03 -4.80349742e+01] [-2.63946106e-02 1.46729782e-04 9.99651591e-01 -1.24777917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28587156000003 meters 0.02692977257384119 Centerline is valid? [True, True] Translation: X:280.68, Y:-48.04, Z:-12.48 [[ 9.79405190e-01 2.00263990e-01 2.56867118e-02 2.80676070e+02] [-2.00191709e-01 9.79741965e-01 -5.38162717e-03 -4.80406843e+01] [-2.62440957e-02 1.28526831e-04 9.99655556e-01 -1.24761528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31587156 meters 0.015877217089938847 Centerline is valid? [True, True] Translation: X:280.71, Y:-48.05, Z:-12.48 [[ 9.79114773e-01 2.01626690e-01 2.60948253e-02 2.80706165e+02] [-2.01552547e-01 9.79462439e-01 -5.46826219e-03 -4.80463339e+01] [-2.66614489e-02 9.45777801e-05 9.99644516e-01 -1.24781015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34587156000003 meters 0.01642375967331109 Centerline is valid? [True, True] Translation: X:280.74, Y:-48.05, Z:-12.48 [[ 9.78888103e-01 2.02664478e-01 2.65554407e-02 2.80735958e+02] [-2.02588082e-01 9.79248234e-01 -5.56456563e-03 -4.80518786e+01] [-2.71321082e-02 6.72712902e-05 9.99631854e-01 -1.24819390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37587156 meters 0.01642375967331109 Centerline is valid? [True, True] Translation: X:280.76, Y:-48.06, Z:-12.48 [[ 9.78892712e-01 2.02642241e-01 2.65552459e-02 2.80764488e+02] [-2.02565812e-01 9.79252836e-01 -5.56549519e-03 -4.80578095e+01] [-2.71321043e-02 6.88377413e-05 9.99631854e-01 -1.24832527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40587156 meters 0.015322723122221039 Centerline is valid? [True, True] Translation: X:280.79, Y:-48.06, Z:-12.48 [[ 9.78618709e-01 2.03944532e-01 2.66842576e-02 2.80794651e+02] [-2.03867870e-01 9.78982445e-01 -5.59148066e-03 -4.80622228e+01] [-2.72637717e-02 3.18648314e-05 9.99628274e-01 -1.24818075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43587156 meters 0.015490420876071808 Centerline is valid? [True, True] Translation: X:280.82, Y:-48.07, Z:-12.48 [[ 9.78505759e-01 2.04538927e-01 2.62736902e-02 2.80824158e+02] [-2.04464826e-01 9.78858431e-01 -5.50523717e-03 -4.80673607e+01] [-2.68442585e-02 1.48607719e-05 9.99639628e-01 -1.24836604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46587156 meters 0.015816547106403584 Centerline is valid? [True, True] Translation: X:280.85, Y:-48.07, Z:-12.49 [[ 9.78353971e-01 2.05311186e-01 2.59002732e-02 2.80852908e+02] [-2.05239440e-01 9.78696744e-01 -5.42729443e-03 -4.80720421e+01] [-2.64627973e-02 -5.94249530e-06 9.99649799e-01 -1.24858726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49587156 meters 0.016325082661925654 Centerline is valid? [True, True] Translation: X:280.88, Y:-48.07, Z:-12.49 [[ 9.77913703e-01 2.07430647e-01 2.56381776e-02 2.80881897e+02] [-2.07361042e-01 9.78249724e-01 -5.37357754e-03 -4.80731876e+01] [-2.61951848e-02 -6.14641253e-05 9.99656845e-01 -1.24879082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52587156 meters 0.016387855807448077 Centerline is valid? [True, True] Translation: X:280.91, Y:-48.08, Z:-12.49 [[ 9.77679484e-01 2.08522396e-01 2.57145201e-02 2.80910412e+02] [-2.08452772e-01 9.78017588e-01 -5.38885661e-03 -4.80765117e+01] [-2.62729502e-02 -9.16884480e-05 9.99654802e-01 -1.24881614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55587156 meters 0.016910171116715084 Centerline is valid? [True, True] Translation: X:280.94, Y:-48.08, Z:-12.49 [[ 9.77263862e-01 2.10370857e-01 2.64470446e-02 2.80939413e+02] [-2.10297917e-01 9.77621645e-01 -5.54119988e-03 -4.80762416e+01] [-2.70209102e-02 -1.46543995e-04 9.99634858e-01 -1.24878185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58587156 meters 0.01707524832293886 Centerline is valid? [True, True] Translation: X:280.97, Y:-48.08, Z:-12.49 [[ 9.77105325e-01 2.10997292e-01 2.73006696e-02 2.80966821e+02] [-2.10919862e-01 9.77486631e-01 -5.71825907e-03 -4.80801008e+01] [-2.78925767e-02 -1.70912056e-04 9.99610912e-01 -1.24881790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61587156 meters 0.016397746690039534 Centerline is valid? [True, True] Translation: X:281.00, Y:-48.09, Z:-12.49 [[ 9.77075330e-01 2.11094033e-01 2.76244165e-02 2.80995537e+02] [-2.11014847e-01 9.77465742e-01 -5.78417222e-03 -4.80856503e+01] [-2.82229251e-02 -1.77590050e-04 9.99601638e-01 -1.24873155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64587156 meters 0.016532264406683674 Centerline is valid? [True, True] Translation: X:281.02, Y:-48.09, Z:-12.49 [[ 9.77139321e-01 2.10921616e-01 2.66612035e-02 2.81024553e+02] [-2.10847827e-01 9.77502964e-01 -5.58123471e-03 -4.80894204e+01] [-2.72386085e-02 -1.67812922e-04 9.99628946e-01 -1.24893872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67587156 meters 0.017018155462186987 Centerline is valid? [True, True] Translation: X:281.05, Y:-48.09, Z:-12.49 [[ 9.77268056e-01 2.10363095e-01 2.63536540e-02 2.81051832e+02] [-2.10290825e-01 9.77623315e-01 -5.51575150e-03 -4.80938406e+01] [-2.69242571e-02 -1.51563889e-04 9.99637465e-01 -1.24926704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70587156 meters 0.016978493296077136 Centerline is valid? [True, True] Translation: X:281.08, Y:-48.10, Z:-12.50 [[ 9.77530720e-01 2.09173189e-01 2.60819427e-02 2.81078691e+02] [-2.09102021e-01 9.77878603e-01 -5.45729611e-03 -4.80987087e+01] [-2.66464937e-02 -1.19112332e-04 9.99644912e-01 -1.24954475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73587156 meters 0.015683646334769402 Centerline is valid? [True, True] Translation: X:281.11, Y:-48.11, Z:-12.49 [[ 9.77760378e-01 2.08113752e-01 2.59482284e-02 2.81106517e+02] [-2.08042990e-01 9.78104625e-01 -5.42737460e-03 -4.81054412e+01] [-2.65095935e-02 -9.16751777e-05 9.99648555e-01 -1.24935602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76587156 meters 0.015470746951032042 Centerline is valid? [True, True] Translation: X:281.13, Y:-48.11, Z:-12.49 [[ 9.78080689e-01 2.06596574e-01 2.60003969e-02 2.81133649e+02] [-2.06525019e-01 9.78426212e-01 -5.43725037e-03 -4.81115116e+01] [-2.65627872e-02 -5.16628637e-05 9.99647146e-01 -1.24949006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79587156 meters 0.015025976357707315 Centerline is valid? [True, True] Translation: X:281.16, Y:-48.12, Z:-12.50 [[ 9.78770178e-01 2.03178762e-01 2.69690448e-02 2.81160864e+02] [-2.03100545e-01 9.79141659e-01 -5.63734488e-03 -4.81203645e+01] [-2.75519040e-02 4.02373552e-05 9.99620373e-01 -1.24953024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82587156 meters 0.015519100983396766 Centerline is valid? [True, True] Translation: X:281.19, Y:-48.13, Z:-12.50 [[ 9.79160844e-01 2.01227474e-01 2.74143162e-02 2.81188236e+02] [-2.01145917e-01 9.79544534e-01 -5.72935041e-03 -4.81291136e+01] [-2.80064463e-02 9.56778021e-05 9.99607738e-01 -1.24961058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85587156 meters 0.01750862794915162 Centerline is valid? [True, True] Translation: X:281.22, Y:-48.14, Z:-12.50 [[ 9.80058168e-01 1.96778801e-01 2.76422114e-02 2.81216269e+02] [-1.96694164e-01 9.80447884e-01 -5.77509250e-03 -4.81420788e+01] [-2.82381635e-02 2.22864894e-04 9.99601199e-01 -1.24970220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88587156 meters 0.01783776428880933 Centerline is valid? [True, True] Translation: X:281.25, Y:-48.15, Z:-12.50 [[ 9.80402973e-01 1.95082986e-01 2.74342714e-02 2.81247239e+02] [-1.94999023e-01 9.80786703e-01 -5.72920720e-03 -4.81508693e+01] [-2.80248394e-02 2.67275653e-04 9.99607191e-01 -1.24968148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91587156 meters 0.029475641492596717 Centerline is valid? [True, True] Translation: X:281.28, Y:-48.16, Z:-12.50 [[ 9.80721204e-01 1.93553766e-01 2.68860584e-02 2.81277476e+02] [-1.93472417e-01 9.81089621e-01 -5.61960786e-03 -4.81609823e+01] [-2.74653291e-02 3.09557888e-04 9.99622709e-01 -1.24971541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94587156 meters 0.020983642595648194 Centerline is valid? [True, True] Translation: X:281.31, Y:-48.17, Z:-12.50 [[ 9.81201899e-01 1.91234536e-01 2.59265582e-02 2.81307754e+02] [-1.91157980e-01 9.81544303e-01 -5.42284582e-03 -4.81720359e+01] [-2.64851009e-02 3.64838105e-04 9.99649142e-01 -1.25017343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97587156000003 meters 0.02206449784191246 Centerline is valid? [True, True] Translation: X:281.34, Y:-48.18, Z:-12.50 [[ 9.81243262e-01 1.91047718e-01 2.57377197e-02 2.81337936e+02] [-1.90972089e-01 9.81580680e-01 -5.38794720e-03 -4.81801346e+01] [-2.62930034e-02 3.71700782e-04 9.99654210e-01 -1.25043344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00587156 meters 0.021709203376633218 Centerline is valid? [True, True] Translation: X:281.37, Y:-48.19, Z:-12.51 [[ 9.81223562e-01 1.91178601e-01 2.55159562e-02 2.81369740e+02] [-1.91104198e-01 9.81555198e-01 -5.34599946e-03 -4.81869300e+01] [-2.60673601e-02 3.69414295e-04 9.99660120e-01 -1.25055851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03587156000003 meters 0.02125077180346194 Centerline is valid? [True, True] Translation: X:281.40, Y:-48.20, Z:-12.51 [[ 9.81065593e-01 1.92068461e-01 2.48999817e-02 2.81401371e+02] [-1.91997798e-01 9.81381470e-01 -5.22072641e-03 -4.81955912e+01] [-2.54391176e-02 3.41133392e-04 9.99676315e-01 -1.25075320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06587156 meters 0.022641428898514445 Centerline is valid? [True, True] Translation: X:281.43, Y:-48.21, Z:-12.51 [[ 9.80931452e-01 1.92719351e-01 2.51542800e-02 2.81431561e+02] [-1.92647302e-01 9.81253862e-01 -5.27978755e-03 -4.82050339e+01] [-2.57002517e-02 3.33205478e-04 9.99669638e-01 -1.25116824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09587156000003 meters 0.018944599970622495 Centerline is valid? [True, True] Translation: X:281.46, Y:-48.21, Z:-12.51 [[ 9.80406982e-01 1.95214293e-01 2.63349595e-02 2.81463711e+02] [-1.95136084e-01 9.80760571e-01 -5.53264422e-03 -4.82077473e+01] [-2.69083412e-02 2.85342142e-04 9.99637864e-01 -1.25076416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12587156 meters 0.018513463069002027 Centerline is valid? [True, True] Translation: X:281.49, Y:-48.21, Z:-12.51 [[ 9.80031921e-01 1.97056386e-01 2.65747168e-02 2.81494634e+02] [-1.96977285e-01 9.80392127e-01 -5.58809791e-03 -4.82128082e+01] [-2.71548135e-02 2.41898766e-04 9.99631211e-01 -1.25098733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15587156 meters 0.016751218657518416 Centerline is valid? [True, True] Translation: X:281.52, Y:-48.22, Z:-12.51 [[ 9.79579213e-01 1.99319899e-01 2.63845147e-02 2.81524958e+02] [-1.99242552e-01 9.79934459e-01 -5.55535764e-03 -4.82157555e+01] [-2.69623885e-02 1.84994831e-04 9.99636432e-01 -1.25092929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18587156 meters 0.014794305196310233 Centerline is valid? [True, True] Translation: X:281.56, Y:-48.21, Z:-12.51 [[ 9.78201459e-01 2.05845672e-01 2.73763511e-02 2.81555194e+02] [-2.05764938e-01 9.78584467e-01 -5.76461588e-03 -4.82139128e+01] [-2.79766932e-02 5.86247054e-06 9.99608576e-01 -1.25094332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21587156 meters 0.020391803612497147 Centerline is valid? [True, True] Translation: X:281.59, Y:-48.21, Z:-12.51 [[ 9.77412833e-01 2.09549418e-01 2.74443976e-02 2.81585611e+02] [-2.09469761e-01 9.77798052e-01 -5.77824416e-03 -4.82145081e+01] [-2.80459062e-02 -1.01041403e-04 9.99606631e-01 -1.25081917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24587156 meters 0.017274571949967607 Centerline is valid? [True, True] Translation: X:281.61, Y:-48.21, Z:-12.51 [[ 9.76605398e-01 2.13227569e-01 2.78549727e-02 2.81614282e+02] [-2.13147005e-01 9.77002538e-01 -5.86468898e-03 -4.82139225e+01] [-2.84648924e-02 -2.09717079e-04 9.99594771e-01 -1.25122704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27587156 meters 0.027403856258437633 Centerline is valid? [True, True] Translation: X:281.65, Y:-48.21, Z:-12.51 [[ 9.74976262e-01 2.20610357e-01 2.74291704e-02 2.81645404e+02] [-2.20535221e-01 9.75361929e-01 -5.77262628e-03 -4.82094897e+01] [-2.80268697e-02 -4.20924569e-04 9.99607082e-01 -1.25109676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30587156 meters 0.02529830260011938 Centerline is valid? [True, True] Translation: X:281.67, Y:-48.21, Z:-12.51 [[ 9.74232422e-01 2.23820920e-01 2.78456990e-02 2.81674931e+02] [-2.23744818e-01 9.74630147e-01 -5.85943228e-03 -4.82089798e+01] [-2.84507213e-02 -5.21881966e-04 9.99595060e-01 -1.25138548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33587156 meters 0.029607316030650154 Centerline is valid? [True, True] Translation: X:281.71, Y:-48.20, Z:-12.51 [[ 9.73138262e-01 2.28461265e-01 2.84143280e-02 2.81706111e+02] [-2.28384045e-01 9.73552771e-01 -5.97741980e-03 -4.82036681e+01] [-2.90284566e-02 -6.72523251e-04 9.99578359e-01 -1.25147984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36587156 meters 0.0315971273748517 Centerline is valid? [True, True] Translation: X:281.73, Y:-48.21, Z:-12.52 [[ 9.72828012e-01 2.29770261e-01 2.84830824e-02 2.81734113e+02] [-2.29693248e-01 9.73244634e-01 -5.99118820e-03 -4.82052338e+01] [-2.90976040e-02 -7.13976012e-04 9.99576320e-01 -1.25166211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39587156 meters 0.03377005197465278 Centerline is valid? [True, True] Translation: X:281.76, Y:-48.21, Z:-12.52 [[ 9.72689799e-01 2.30418857e-01 2.79590000e-02 2.81762064e+02] [-2.30344969e-01 9.73091275e-01 -5.87926564e-03 -4.82066656e+01] [-2.85613526e-02 -7.21513263e-04 9.99591781e-01 -1.25196211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42587156 meters 0.03222019353288263 Centerline is valid? [True, True] Translation: X:281.79, Y:-48.21, Z:-12.52 [[ 9.72809436e-01 2.29982172e-01 2.73861776e-02 2.81790340e+02] [-2.29911147e-01 9.73194594e-01 -5.75740770e-03 -4.82093805e+01] [-2.79761811e-02 -6.95526978e-04 9.99608348e-01 -1.25206371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45587156 meters 0.03130394306022665 Centerline is valid? [True, True] Translation: X:281.82, Y:-48.21, Z:-12.52 [[ 9.73086505e-01 2.28792480e-01 2.75073542e-02 2.81818958e+02] [-2.28720419e-01 9.73474990e-01 -5.78043040e-03 -4.82144174e+01] [-2.81002404e-02 -6.66634764e-04 9.99604888e-01 -1.25222878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48587156 meters 0.026990988892305872 Centerline is valid? [True, True] Translation: X:281.85, Y:-48.23, Z:-12.52 [[ 9.74049563e-01 2.24648171e-01 2.75798602e-02 2.81846705e+02] [-2.24574116e-01 9.74439786e-01 -5.79392296e-03 -4.82267543e+01] [-2.81765073e-02 -5.50154613e-04 9.99602812e-01 -1.25196331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51587156 meters 0.03318257143411706 Centerline is valid? [True, True] Translation: X:281.87, Y:-48.23, Z:-12.52 [[ 9.74697909e-01 2.21752680e-01 2.81022347e-02 2.81873443e+02] [-2.21674588e-01 9.75102827e-01 -5.90375164e-03 -4.82331625e+01] [-2.87117413e-02 -4.75176908e-04 9.99587620e-01 -1.25205924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54587156 meters 0.021769182797461283 Centerline is valid? [True, True] Translation: X:281.90, Y:-48.24, Z:-12.52 [[ 9.75348366e-01 2.18782665e-01 2.88047099e-02 2.81900221e+02] [-2.18699398e-01 9.75773532e-01 -6.04876435e-03 -4.82411356e+01] [-2.94302383e-02 -3.99920293e-04 9.99566757e-01 -1.25238941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57587156 meters 0.018914241960355706 Centerline is valid? [True, True] Translation: X:281.93, Y:-48.25, Z:-12.53 [[ 9.76135476e-01 2.15274390e-01 2.85739308e-02 2.81927997e+02] [-2.15190993e-01 9.76553558e-01 -5.99876502e-03 -4.82511200e+01] [-2.91953542e-02 -2.93245190e-04 9.99573682e-01 -1.25255280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60587156 meters 0.016843185759910118 Centerline is valid? [True, True] Translation: X:281.95, Y:-48.27, Z:-12.53 [[ 9.77768578e-01 2.07870506e-01 2.75401565e-02 2.81954833e+02] [-2.07790166e-01 9.78156351e-01 -5.77921481e-03 -4.82663074e+01] [-2.81399073e-02 -7.18390222e-05 9.99603992e-01 -1.25260234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63587156 meters 0.014700354219325298 Centerline is valid? [True, True] Translation: X:281.98, Y:-48.28, Z:-12.53 [[ 9.78559922e-01 2.04088358e-01 2.77204078e-02 2.81982218e+02] [-2.04005469e-01 9.78952471e-01 -5.81617798e-03 -4.82767113e+01] [-2.83239760e-02 3.63638764e-05 9.99598795e-01 -1.25280321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66587156 meters 0.01704725768655035 Centerline is valid? [True, True] Translation: X:282.01, Y:-48.29, Z:-12.53 [[ 9.80022193e-01 1.96819970e-01 2.86077131e-02 2.82008880e+02] [-1.96728644e-01 9.80439613e-01 -6.00041821e-03 -4.82941388e+01] [-2.92291373e-02 2.52586401e-04 9.99572706e-01 -1.25275132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69587156 meters 0.018839495072141235 Centerline is valid? [True, True] Translation: X:282.04, Y:-48.31, Z:-12.53 [[ 9.80613731e-01 1.93809933e-01 2.88863458e-02 2.82037477e+02] [-1.93715546e-01 9.81039037e-01 -6.05773004e-03 -4.83050952e+01] [-2.95126811e-02 3.44559024e-04 9.99564347e-01 -1.25280468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72587156000003 meters 0.024637445747060976 Centerline is valid? [True, True] Translation: X:282.07, Y:-48.32, Z:-12.53 [[ 9.81633975e-01 1.88536222e-01 2.91347191e-02 2.82065557e+02] [-1.88437953e-01 9.82066107e-01 -6.10736883e-03 -4.83233128e+01] [-2.97636804e-02 5.05113921e-04 9.99556836e-01 -1.25305817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75587156 meters 0.0267371300720202 Centerline is valid? [True, True] Translation: X:282.10, Y:-48.34, Z:-12.53 [[ 9.81969199e-01 1.86750296e-01 2.93397158e-02 2.82095953e+02] [-1.86649699e-01 9.82407250e-01 -6.15512022e-03 -4.83352626e+01] [-2.99730200e-02 5.67889359e-04 9.99550547e-01 -1.25319971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78587156000003 meters 0.03088528108467235 Centerline is valid? [True, True] Translation: X:282.13, Y:-48.35, Z:-12.53 [[ 9.82222525e-01 1.85443320e-01 2.91493647e-02 2.82127167e+02] [-1.85343304e-01 9.82654774e-01 -6.12005279e-03 -4.83455195e+01] [-2.97786853e-02 6.08614131e-04 9.99556331e-01 -1.25311001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81587156 meters 0.027615673214055916 Centerline is valid? [True, True] Translation: X:282.16, Y:-48.35, Z:-12.53 [[ 9.82277904e-01 1.85180360e-01 2.89543427e-02 2.82157927e+02] [-1.85081419e-01 9.82704357e-01 -6.08398290e-03 -4.83544012e+01] [-2.95801929e-02 6.17251124e-04 9.99562220e-01 -1.25335672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84587156000003 meters 0.02651668955284788 Centerline is valid? [True, True] Translation: X:282.19, Y:-48.36, Z:-12.53 [[ 9.82100875e-01 1.86116791e-01 2.89553383e-02 2.82189613e+02] [-1.86018104e-01 9.82527449e-01 -6.08912220e-03 -4.83609182e+01] [-2.95827025e-02 5.93915102e-04 9.99562160e-01 -1.25344860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87587156 meters 0.02621646278011714 Centerline is valid? [True, True] Translation: X:282.22, Y:-48.37, Z:-12.54 [[ 9.81498312e-01 1.89245973e-01 2.91037089e-02 2.82219839e+02] [-1.89147494e-01 9.81929582e-01 -6.12543911e-03 -4.83698948e+01] [-2.97370074e-02 5.07214525e-04 9.99557629e-01 -1.25384473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90587156 meters 0.026319958499180368 Centerline is valid? [True, True] Translation: X:282.25, Y:-48.37, Z:-12.54 [[ 9.81141580e-01 1.91207415e-01 2.83006053e-02 2.82252318e+02] [-1.91114977e-01 9.81549556e-01 -5.96108927e-03 -4.83726484e+01] [-2.89182510e-02 4.40003014e-04 9.99581683e-01 -1.25362033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93587156 meters 0.02072952265106293 Centerline is valid? [True, True] Translation: X:282.28, Y:-48.38, Z:-12.54 [[ 9.80642040e-01 1.93781186e-01 2.81076875e-02 2.82283110e+02] [-1.93690887e-01 9.81044707e-01 -5.92649260e-03 -4.83771915e+01] [-2.87233408e-02 3.67564861e-04 9.99587332e-01 -1.25401681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96587156 meters 0.017289717228442972 Centerline is valid? [True, True] Translation: X:282.31, Y:-48.38, Z:-12.54 [[ 9.79611282e-01 1.98865558e-01 2.85346393e-02 2.82313546e+02] [-1.98774519e-01 9.80026754e-01 -6.02095564e-03 -4.83786754e+01] [-2.91620706e-02 2.26236876e-04 9.99574671e-01 -1.25419702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99587156 meters 0.015841510925450424 Centerline is valid? [True, True] Translation: X:282.34, Y:-48.38, Z:-12.54 [[ 9.79101926e-01 2.01365900e-01 2.84814547e-02 2.82344295e+02] [-2.01276257e-01 9.79516080e-01 -6.00973343e-03 -4.83820664e+01] [-2.91081983e-02 1.51500965e-04 9.99576255e-01 -1.25430589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02587156 meters 0.01433391218932796 Centerline is valid? [True, True] Translation: X:282.38, Y:-48.38, Z:-12.54 [[ 9.78046152e-01 2.06465163e-01 2.82464339e-02 2.82375365e+02] [-2.06379106e-01 9.78453952e-01 -5.96054416e-03 -4.83807041e+01] [-2.88684797e-02 2.13478086e-07 9.99583219e-01 -1.25431250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05587156 meters 0.015065114930258593 Centerline is valid? [True, True] Translation: X:282.40, Y:-48.38, Z:-12.55 [[ 9.77516355e-01 2.08936848e-01 2.84107341e-02 2.82403641e+02] [-2.08850845e-01 9.77929133e-01 -5.99468471e-03 -4.83828090e+01] [-2.90361951e-02 -7.37034867e-05 9.99578358e-01 -1.25454738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08587156 meters 0.015436921151937814 Centerline is valid? [True, True] Translation: X:282.43, Y:-48.39, Z:-12.55 [[ 9.77051386e-01 2.11029451e-01 2.89337243e-02 2.82432631e+02] [-2.10941198e-01 9.77479694e-01 -6.10407410e-03 -4.83863717e+01] [-2.95702673e-02 -1.39320395e-04 9.99562694e-01 -1.25456865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11587156 meters 0.016349526173797965 Centerline is valid? [True, True] Translation: X:282.46, Y:-48.39, Z:-12.55 [[ 9.76654283e-01 2.12867061e-01 2.88795118e-02 2.82461008e+02] [-2.12779982e-01 9.77081151e-01 -6.09122659e-03 -4.83901418e+01] [-2.95142482e-02 -1.95959478e-04 9.99564340e-01 -1.25461921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14587156 meters 0.017698753467711627 Centerline is valid? [True, True] Translation: X:282.49, Y:-48.39, Z:-12.54 [[ 9.75986977e-01 2.15749389e-01 3.00270212e-02 2.82490534e+02] [-2.15656663e-01 9.76448725e-01 -6.33169097e-03 -4.83911322e+01] [-3.06859051e-02 -2.95879260e-04 9.99529033e-01 -1.25446358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17587156 meters 0.018504182162227895 Centerline is valid? [True, True] Translation: X:282.52, Y:-48.39, Z:-12.54 [[ 9.75677636e-01 2.16972214e-01 3.12443373e-02 2.82518093e+02] [-2.16872490e-01 9.76177718e-01 -6.58688198e-03 -4.83937040e+01] [-3.19291962e-02 -3.49363783e-04 9.99490072e-01 -1.25442441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20587156 meters 0.025346512949293794 Centerline is valid? [True, True] Translation: X:282.55, Y:-48.40, Z:-12.54 [[ 9.75383110e-01 2.18208163e-01 3.18274434e-02 2.82546003e+02] [-2.18105404e-01 9.75902166e-01 -6.70778598e-03 -4.83965399e+01] [-3.25241646e-02 -3.99076256e-04 9.99470870e-01 -1.25428297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23587156 meters 0.019886322242623544 Centerline is valid? [True, True] Translation: X:282.57, Y:-48.40, Z:-12.55 [[ 9.75300377e-01 2.18513336e-01 3.22660235e-02 2.82574415e+02] [-2.18407963e-01 9.75833873e-01 -6.79805117e-03 -4.84019181e+01] [-3.29717435e-02 -4.17014599e-04 9.99456197e-01 -1.25453956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26587156 meters 0.019886322242623544 Centerline is valid? [True, True] Translation: X:282.60, Y:-48.41, Z:-12.55 [[ 9.75310548e-01 2.18467890e-01 3.22663409e-02 2.82602131e+02] [-2.18362542e-01 9.75844049e-01 -6.79654440e-03 -4.84076640e+01] [-3.29717434e-02 -4.17018768e-04 9.99456197e-01 -1.25466716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29587156 meters 0.018386671672499307 Centerline is valid? [True, True] Translation: X:282.63, Y:-48.41, Z:-12.55 [[ 9.75353317e-01 2.18282763e-01 3.22264184e-02 2.82629916e+02] [-2.18177625e-01 9.75885478e-01 -6.78660532e-03 -4.84140646e+01] [-3.29306927e-02 -4.11745435e-04 9.99457553e-01 -1.25461681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32587156 meters 0.019858298553039676 Centerline is valid? [True, True] Translation: X:282.66, Y:-48.42, Z:-12.55 [[ 9.75438713e-01 2.18008078e-01 3.14927883e-02 2.82656930e+02] [-2.17907573e-01 9.75946885e-01 -6.63076979e-03 -4.84176725e+01] [-3.21808500e-02 -3.94607530e-04 9.99481984e-01 -1.25507780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35587156 meters 0.026460485640612572 Centerline is valid? [True, True] Translation: X:282.68, Y:-48.42, Z:-12.55 [[ 9.75541049e-01 2.17693869e-01 3.04801730e-02 2.82684720e+02] [-2.17599645e-01 9.76017028e-01 -6.41523869e-03 -4.84235340e+01] [-3.11457260e-02 -3.74146129e-04 9.99514784e-01 -1.25515666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38587156 meters 0.020139498346428638 Centerline is valid? [True, True] Translation: X:282.71, Y:-48.43, Z:-12.56 [[ 9.75527611e-01 2.17719123e-01 3.07288803e-02 2.82711904e+02] [-2.17623409e-01 9.76011393e-01 -6.46622396e-03 -4.84268367e+01] [-3.13995579e-02 -3.79343697e-04 9.99506840e-01 -1.25550032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41587156 meters 0.019553918306307417 Centerline is valid? [True, True] Translation: X:282.74, Y:-48.43, Z:-12.56 [[ 9.75578292e-01 2.17475782e-01 3.08428216e-02 2.82739960e+02] [-2.17379300e-01 9.76065645e-01 -6.48815180e-03 -4.84326069e+01] [-3.15156344e-02 -3.74890916e-04 9.99503189e-01 -1.25557197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44587156 meters 0.018573208482752162 Centerline is valid? [True, True] Translation: X:282.77, Y:-48.44, Z:-12.56 [[ 9.75690994e-01 2.17006168e-01 3.05844388e-02 2.82768101e+02] [-2.16911112e-01 9.76170167e-01 -6.43233170e-03 -4.84392945e+01] [-3.12514724e-02 -3.58136522e-04 9.99511489e-01 -1.25565591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47587156000003 meters 0.0182189522473338 Centerline is valid? [True, True] Translation: X:282.80, Y:-48.45, Z:-12.56 [[ 9.76060690e-01 2.15387808e-01 3.02261758e-02 2.82795480e+02] [-2.15294231e-01 9.76528545e-01 -6.35564911e-03 -4.84453956e+01] [-3.08856528e-02 -3.04022030e-04 9.99522878e-01 -1.25594237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50587156 meters 0.0165592784100467 Centerline is valid? [True, True] Translation: X:282.82, Y:-48.45, Z:-12.56 [[ 9.76281685e-01 2.14355338e-01 3.04279628e-02 2.82822972e+02] [-2.14260071e-01 9.76755708e-01 -6.39598399e-03 -4.84532394e+01] [-3.10916996e-02 -2.75215452e-04 9.99516498e-01 -1.25584501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53587156000003 meters 0.016013518306403435 Centerline is valid? [True, True] Translation: X:282.85, Y:-48.46, Z:-12.56 [[ 9.76568273e-01 2.13002803e-01 3.07280534e-02 2.82850313e+02] [-2.12905022e-01 9.77051560e-01 -6.45767099e-03 -4.84594500e+01] [-3.13983945e-02 -2.35800268e-04 9.99506921e-01 -1.25603533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56587156 meters 0.014515318518297923 Centerline is valid? [True, True] Translation: X:282.88, Y:-48.47, Z:-12.56 [[ 9.77312613e-01 2.09554549e-01 3.07724990e-02 2.82876591e+02] [-2.09454840e-01 9.77796950e-01 -6.46492470e-03 -4.84684725e+01] [-3.14440100e-02 -1.27196396e-04 9.99505507e-01 -1.25624903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59587156000003 meters 0.013910952672602481 Centerline is valid? [True, True] Translation: X:282.90, Y:-48.48, Z:-12.56 [[ 9.77747905e-01 2.07548069e-01 3.05423326e-02 2.82904370e+02] [-2.07448931e-01 9.78224818e-01 -6.41450810e-03 -4.84770074e+01] [-3.12085865e-02 -6.42024045e-05 9.99512891e-01 -1.25638042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62587156 meters 0.013635042654637873 Centerline is valid? [True, True] Translation: X:282.93, Y:-48.49, Z:-12.57 [[ 9.78157339e-01 2.05607504e-01 3.05577323e-02 2.82932330e+02] [-2.05507376e-01 9.78634536e-01 -6.41590474e-03 -4.84858369e+01] [-3.12240103e-02 -4.07509103e-06 9.99512412e-01 -1.25651705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65587156 meters 0.01374446399676538 Centerline is valid? [True, True] Translation: X:282.96, Y:-48.50, Z:-12.57 [[ 9.78854581e-01 2.02272782e-01 3.04865692e-02 2.82961490e+02] [-2.02171536e-01 9.79329215e-01 -6.39987292e-03 -4.84963958e+01] [-3.11509080e-02 1.01028378e-04 9.99514688e-01 -1.25652425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68587156 meters 0.014395799470740706 Centerline is valid? [True, True] Translation: X:282.99, Y:-48.50, Z:-12.57 [[ 9.79107577e-01 2.01027991e-01 3.05957366e-02 2.82989823e+02] [-2.00925406e-01 9.79585487e-01 -6.42296151e-03 -4.85041337e+01] [-3.12623346e-02 1.41309503e-04 9.99511204e-01 -1.25669814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71587156 meters 0.021136681742506915 Centerline is valid? [True, True] Translation: X:283.02, Y:-48.52, Z:-12.57 [[ 9.79423774e-01 1.99422394e-01 3.09803248e-02 2.83018677e+02] [-1.99316451e-01 9.79913604e-01 -6.50238075e-03 -4.85152777e+01] [-3.16547621e-02 1.93697893e-04 9.99498844e-01 -1.25679933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74587156 meters 0.02911334828745361 Centerline is valid? [True, True] Translation: X:283.05, Y:-48.52, Z:-12.57 [[ 9.79470705e-01 1.99190761e-01 3.09867522e-02 2.83048309e+02] [-1.99084579e-01 9.79960713e-01 -6.50625089e-03 -4.85211146e+01] [-3.16617849e-02 2.03697632e-04 9.99498619e-01 -1.25663818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77587156 meters 0.0153288518095009 Centerline is valid? [True, True] Translation: X:283.08, Y:-48.53, Z:-12.57 [[ 9.79373346e-01 1.99588239e-01 3.15021330e-02 2.83077654e+02] [-1.99478695e-01 9.79879838e-01 -6.61461771e-03 -4.85266850e+01] [-3.21885049e-02 1.94175910e-04 9.99481797e-01 -1.25691991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80587156 meters 0.014069162230358777 Centerline is valid? [True, True] Translation: X:283.11, Y:-48.53, Z:-12.57 [[ 9.79114273e-01 2.00652926e-01 3.27665078e-02 2.83107504e+02] [-2.00535014e-01 9.79662379e-01 -6.87982057e-03 -4.85294759e+01] [-3.34805711e-02 1.65298394e-04 9.99439355e-01 -1.25678132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83587156 meters 0.013549980123084426 Centerline is valid? [True, True] Translation: X:283.14, Y:-48.53, Z:-12.57 [[ 9.78987719e-01 2.01239050e-01 3.29528497e-02 2.83137085e+02] [-2.01120162e-01 9.79542150e-01 -6.91786643e-03 -4.85347081e+01] [-3.36708502e-02 1.45023817e-04 9.99432966e-01 -1.25684804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86587156 meters 0.013478548837791 Centerline is valid? [True, True] Translation: X:283.17, Y:-48.54, Z:-12.57 [[ 9.78854578e-01 2.01892878e-01 3.29086769e-02 2.83166169e+02] [-2.01774678e-01 9.79407602e-01 -6.90859313e-03 -4.85420376e+01] [-3.36258041e-02 1.22370328e-04 9.99434485e-01 -1.25701947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89587156 meters 0.013557820338425588 Centerline is valid? [True, True] Translation: X:283.20, Y:-48.55, Z:-12.57 [[ 9.78856587e-01 2.01833837e-01 3.32097099e-02 2.83195641e+02] [-2.01713434e-01 9.79419770e-01 -6.97165607e-03 -4.85488407e+01] [-3.39333625e-02 1.25406849e-04 9.99424090e-01 -1.25714947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92587156 meters 0.016430777011310595 Centerline is valid? [True, True] Translation: X:283.23, Y:-48.55, Z:-12.57 [[ 9.78829035e-01 2.01983725e-01 3.31103512e-02 2.83226708e+02] [-2.01864118e-01 9.79388871e-01 -6.95105965e-03 -4.85541615e+01] [-3.38319104e-02 1.20107159e-04 9.99427530e-01 -1.25703247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95587156 meters 0.013156667854657599 Centerline is valid? [True, True] Translation: X:283.26, Y:-48.56, Z:-12.57 [[ 9.78763468e-01 2.02490961e-01 3.19293738e-02 2.83257096e+02] [-2.02379977e-01 9.79284127e-01 -6.70405403e-03 -4.85588595e+01] [-3.26254393e-02 9.98172432e-05 9.99467644e-01 -1.25745459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98587156 meters 0.013419101271648767 Centerline is valid? [True, True] Translation: X:283.29, Y:-48.57, Z:-12.58 [[ 9.78692754e-01 2.02835663e-01 3.19090571e-02 2.83286192e+02] [-2.02724979e-01 9.79212789e-01 -6.70051206e-03 -4.85653801e+01] [-3.26048596e-02 8.89796747e-05 9.99468316e-01 -1.25765098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01587156 meters 0.013232600805749721 Centerline is valid? [True, True] Translation: X:283.31, Y:-48.57, Z:-12.58 [[ 9.78545242e-01 2.03478989e-01 3.23343692e-02 2.83314698e+02] [-2.03365699e-01 9.79079311e-01 -6.78939393e-03 -4.85713728e+01] [-3.30394109e-02 6.80275262e-05 9.99454047e-01 -1.25775638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04587156 meters 0.012634163479456563 Centerline is valid? [True, True] Translation: X:283.34, Y:-48.57, Z:-12.58 [[ 9.77997398e-01 2.05956748e-01 3.32100654e-02 2.83344810e+02] [-2.05838674e-01 9.78561096e-01 -6.97297167e-03 -4.85732970e+01] [-3.39342085e-02 -1.63676876e-05 9.99424069e-01 -1.25757847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07587156 meters 0.012978817650035352 Centerline is valid? [True, True] Translation: X:283.38, Y:-48.57, Z:-12.57 [[ 9.77153470e-01 2.09736711e-01 3.43745357e-02 2.83375051e+02] [-2.09612577e-01 9.77757889e-01 -7.21659058e-03 -4.85725914e+01] [-3.51235574e-02 -1.53618468e-04 9.99382966e-01 -1.25743137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10587156 meters 0.014490474490087982 Centerline is valid? [True, True] Translation: X:283.40, Y:-48.57, Z:-12.58 [[ 9.76776640e-01 2.11539674e-01 3.40347255e-02 2.83403901e+02] [-2.11419102e-01 9.77369387e-01 -7.14450886e-03 -4.85743955e+01] [-3.47758459e-02 -2.17001761e-04 9.99395114e-01 -1.25776806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13587156 meters 0.015711294242674312 Centerline is valid? [True, True] Translation: X:283.43, Y:-48.58, Z:-12.58 [[ 9.76433505e-01 2.13171293e-01 3.36988141e-02 2.83433196e+02] [-2.13054101e-01 9.77014803e-01 -7.07282678e-03 -4.85770724e+01] [-3.44319639e-02 -2.73525516e-04 9.99407007e-01 -1.25795597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16587156 meters 0.016654799133221897 Centerline is valid? [True, True] Translation: X:283.46, Y:-48.58, Z:-12.58 [[ 9.76128568e-01 2.14570394e-01 3.36536087e-02 2.83462374e+02] [-2.14454403e-01 9.76708473e-01 -7.06170264e-03 -4.85801455e+01] [-3.43849971e-02 -3.24034899e-04 9.99408609e-01 -1.25810613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19587156 meters 0.01761841121948695 Centerline is valid? [True, True] Translation: X:283.49, Y:-48.58, Z:-12.58 [[ 9.75698617e-01 2.16509762e-01 3.37006080e-02 2.83490811e+02] [-2.16394660e-01 9.76280373e-01 -7.06991328e-03 -4.85835956e+01] [-3.44319474e-02 -3.94527003e-04 9.99406967e-01 -1.25821997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22587156000003 meters 0.018674443377168164 Centerline is valid? [True, True] Translation: X:283.52, Y:-48.59, Z:-12.58 [[ 9.75634907e-01 2.16827890e-01 3.34991590e-02 2.83518594e+02] [-2.16714399e-01 9.76209764e-01 -7.02615379e-03 -4.85877969e+01] [-3.42256722e-02 -4.04789214e-04 9.99414048e-01 -1.25841199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25587156 meters 0.01852072603759158 Centerline is valid? [True, True] Translation: X:283.55, Y:-48.59, Z:-12.58 [[ 9.75594737e-01 2.17055254e-01 3.31952663e-02 2.83547565e+02] [-2.16944029e-01 9.76159233e-01 -6.95994421e-03 -4.85924424e+01] [-3.39145581e-02 -4.11429875e-04 9.99424651e-01 -1.25847431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28587156000003 meters 0.01919117672173524 Centerline is valid? [True, True] Translation: X:283.58, Y:-48.60, Z:-12.59 [[ 9.75598689e-01 2.17076922e-01 3.29364261e-02 2.83575413e+02] [-2.16967488e-01 9.76154415e-01 -6.90416876e-03 -4.85962583e+01] [-3.36497734e-02 -4.10435653e-04 9.99433602e-01 -1.25875084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31587156 meters 0.018837404839340443 Centerline is valid? [True, True] Translation: X:283.60, Y:-48.60, Z:-12.59 [[ 9.75638209e-01 2.16966355e-01 3.24913291e-02 2.83603792e+02] [-2.16859870e-01 9.76178999e-01 -6.80873311e-03 -4.86023919e+01] [-3.31946192e-02 -4.03205227e-04 9.99448825e-01 -1.25892339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34587156000003 meters 0.01846937878299669 Centerline is valid? [True, True] Translation: X:283.63, Y:-48.61, Z:-12.59 [[ 9.75806943e-01 2.16238187e-01 3.22778072e-02 2.83631455e+02] [-2.16132752e-01 9.76340568e-01 -6.76238642e-03 -4.86085201e+01] [-3.29764188e-02 -3.77507671e-04 9.99456059e-01 -1.25909711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37587156 meters 0.017731674031211214 Centerline is valid? [True, True] Translation: X:283.66, Y:-48.61, Z:-12.59 [[ 9.75958196e-01 2.15582277e-01 3.20917608e-02 2.83659729e+02] [-2.15477750e-01 9.76485615e-01 -6.72183597e-03 -4.86149563e+01] [-3.27862515e-02 -3.54829511e-04 9.99462323e-01 -1.25921846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40587156 meters 0.01607417108440154 Centerline is valid? [True, True] Translation: X:283.69, Y:-48.62, Z:-12.59 [[ 9.76313918e-01 2.13815092e-01 3.30793073e-02 2.83687522e+02] [-2.13703076e-01 9.76874103e-01 -6.92695036e-03 -4.86216691e+01] [-3.37954051e-02 -3.06271677e-04 9.99428725e-01 -1.25918992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43587156 meters 0.015594633299802561 Centerline is valid? [True, True] Translation: X:283.71, Y:-48.63, Z:-12.59 [[ 9.76566950e-01 2.12674738e-01 3.29613223e-02 2.83714583e+02] [-2.12562922e-01 9.77123014e-01 -6.90071583e-03 -4.86282615e+01] [-3.36748745e-02 -2.67343963e-04 9.99432805e-01 -1.25930338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46587156 meters 0.014712007409823414 Centerline is valid? [True, True] Translation: X:283.74, Y:-48.64, Z:-12.59 [[ 9.76828105e-01 2.11455095e-01 3.30695522e-02 2.83742200e+02] [-2.11341920e-01 9.77387687e-01 -6.92114279e-03 -4.86359951e+01] [-3.37852840e-02 -2.28215844e-04 9.99429088e-01 -1.25943159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49587156 meters 0.014165279328372991 Centerline is valid? [True, True] Translation: X:283.77, Y:-48.64, Z:-12.60 [[ 9.77289179e-01 2.09443069e-01 3.22406712e-02 2.83768545e+02] [-2.09334449e-01 9.77820831e-01 -6.74623697e-03 -4.86444680e+01] [-3.29385524e-02 -1.56058757e-04 9.99457366e-01 -1.25973459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52587156 meters 0.01373134277350414 Centerline is valid? [True, True] Translation: X:283.80, Y:-48.65, Z:-12.60 [[ 9.77406475e-01 2.08840035e-01 3.25948111e-02 2.83797119e+02] [-2.08728754e-01 9.77949805e-01 -6.81812112e-03 -4.86507673e+01] [-3.32999858e-02 -1.39398597e-04 9.99445392e-01 -1.25979219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55587156 meters 0.01380549084772801 Centerline is valid? [True, True] Translation: X:283.82, Y:-48.66, Z:-12.60 [[ 9.77487307e-01 2.08467258e-01 3.25571278e-02 2.83823850e+02] [-2.08356077e-01 9.78029338e-01 -6.80875284e-03 -4.86564833e+01] [-3.32612282e-02 -1.28005955e-04 9.99446684e-01 -1.25999054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58587156 meters 0.02418775282597517 Centerline is valid? [True, True] Translation: X:283.85, Y:-48.66, Z:-12.60 [[ 9.77613481e-01 2.07904816e-01 3.23646428e-02 2.83852031e+02] [-2.07794709e-01 9.78149056e-01 -6.76636067e-03 -4.86627817e+01] [-3.30642038e-02 -1.10316114e-04 9.99453224e-01 -1.25990405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61587156 meters 0.013222162393126284 Centerline is valid? [True, True] Translation: X:283.88, Y:-48.67, Z:-12.60 [[ 9.77649677e-01 2.07625950e-01 3.30541236e-02 2.83880583e+02] [-2.07510997e-01 9.78208288e-01 -6.90883931e-03 -4.86686240e+01] [-3.37682720e-02 -1.04669619e-04 9.99429684e-01 -1.26007530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64587156 meters 0.01301537278623411 Centerline is valid? [True, True] Translation: X:283.91, Y:-48.68, Z:-12.60 [[ 9.77850116e-01 2.06626520e-01 3.33860922e-02 2.83907683e+02] [-2.06508716e-01 9.78419887e-01 -6.97667438e-03 -4.86757767e+01] [-3.41071825e-02 -7.23771965e-05 9.99418178e-01 -1.26017331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67587156 meters 0.012841115825748699 Centerline is valid? [True, True] Translation: X:283.94, Y:-48.68, Z:-12.60 [[ 9.77991341e-01 2.05975984e-01 3.32690596e-02 2.83935220e+02] [-2.05858703e-01 9.78557045e-01 -6.95004679e-03 -4.86826193e+01] [-3.39872154e-02 -5.16398937e-05 9.99422266e-01 -1.26026985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70587156 meters 0.012820395069993435 Centerline is valid? [True, True] Translation: X:283.96, Y:-48.69, Z:-12.60 [[ 9.78090495e-01 2.05513883e-01 3.32118673e-02 2.83963599e+02] [-2.05396794e-01 9.78654200e-01 -6.93648497e-03 -4.86888972e+01] [-3.39284774e-02 -3.71010395e-05 9.99424263e-01 -1.26041695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73587156 meters 0.012738209067244545 Centerline is valid? [True, True] Translation: X:283.99, Y:-48.70, Z:-12.61 [[ 9.78167743e-01 2.05109147e-01 3.34380763e-02 2.83990388e+02] [-2.04990271e-01 9.78739106e-01 -6.98221790e-03 -4.86957297e+01] [-3.41592697e-02 -2.47000159e-05 9.99416402e-01 -1.26055607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76587156 meters 0.012884468742983973 Centerline is valid? [True, True] Translation: X:284.02, Y:-48.70, Z:-12.61 [[ 9.78186401e-01 2.05069920e-01 3.31314599e-02 2.84018375e+02] [-2.04953264e-01 9.78747326e-01 -6.91609375e-03 -4.87020166e+01] [-3.38456106e-02 -2.51720015e-05 9.99427073e-01 -1.26072213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79587156 meters 0.012866229301850713 Centerline is valid? [True, True] Translation: X:284.05, Y:-48.71, Z:-12.61 [[ 9.78178979e-01 2.05130505e-01 3.29751514e-02 2.84046085e+02] [-2.05015029e-01 9.78734630e-01 -6.88207951e-03 -4.87077736e+01] [-3.36856470e-02 -2.84961006e-05 9.99432477e-01 -1.26084660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82587156 meters 0.01278772631702058 Centerline is valid? [True, True] Translation: X:284.07, Y:-48.71, Z:-12.61 [[ 9.78171135e-01 2.05081284e-01 3.35096728e-02 2.84073088e+02] [-2.04962080e-01 9.78744944e-01 -6.99138967e-03 -4.87134237e+01] [-3.42312260e-02 -2.94366774e-05 9.99413939e-01 -1.26092612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85587156 meters 0.012658014894527113 Centerline is valid? [True, True] Translation: X:284.10, Y:-48.72, Z:-12.61 [[ 9.78125335e-01 2.05214733e-01 3.40256130e-02 2.84101000e+02] [-2.05091992e-01 9.78716972e-01 -7.09669627e-03 -4.87190339e+01] [-3.47577916e-02 -3.69223282e-05 9.99395765e-01 -1.26096246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88587156 meters 0.01247345734294927 Centerline is valid? [True, True] Translation: X:284.13, Y:-48.72, Z:-12.61 [[ 9.78068915e-01 2.05397913e-01 3.45383095e-02 2.84128682e+02] [-2.05271613e-01 9.78678545e-01 -7.20207543e-03 -4.87243148e+01] [-3.52811938e-02 -4.56083957e-05 9.99377424e-01 -1.26095019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91587156 meters 0.012489772945517437 Centerline is valid? [True, True] Translation: X:284.16, Y:-48.73, Z:-12.61 [[ 9.78068133e-01 2.05345377e-01 3.48712489e-02 2.84156691e+02] [-2.05216673e-01 9.78689570e-01 -7.26932699e-03 -4.87304515e+01] [-3.56208503e-02 -4.62646049e-05 9.99365375e-01 -1.26103352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94587156 meters 0.01238005996369579 Centerline is valid? [True, True] Translation: X:284.18, Y:-48.74, Z:-12.61 [[ 9.78109579e-01 2.05113610e-01 3.50721739e-02 2.84184481e+02] [-2.04983329e-01 9.78738170e-01 -7.30956670e-03 -4.87376110e+01] [-3.58257669e-02 -3.96537407e-05 9.99358050e-01 -1.26113102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97587156000003 meters 0.012212680328001258 Centerline is valid? [True, True] Translation: X:284.21, Y:-48.74, Z:-12.61 [[ 9.78190420e-01 2.04657587e-01 3.54791990e-02 2.84211784e+02] [-2.04524020e-01 9.78833628e-01 -7.39281833e-03 -4.87448382e+01] [-3.62412294e-02 -2.47643471e-05 9.99343071e-01 -1.26119271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00587156 meters 0.012006962894597378 Centerline is valid? [True, True] Translation: X:284.24, Y:-48.75, Z:-12.61 [[ 9.78315842e-01 2.03979356e-01 3.59240208e-02 2.84240186e+02] [-2.03842041e-01 9.78975190e-01 -7.48331202e-03 -4.87522566e+01] [-3.66951662e-02 -1.78302123e-06 9.99326506e-01 -1.26120741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03587156000003 meters 0.012105196102413349 Centerline is valid? [True, True] Translation: X:284.27, Y:-48.76, Z:-12.61 [[ 9.78443689e-01 2.03376670e-01 3.58591374e-02 2.84267284e+02] [-2.03239504e-01 9.79100572e-01 -7.46823657e-03 -4.87597129e+01] [-3.66285670e-02 1.92556559e-05 9.99328949e-01 -1.26137318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06587156 meters 0.011863631768068967 Centerline is valid? [True, True] Translation: X:284.30, Y:-48.77, Z:-12.61 [[ 9.78600849e-01 2.02652662e-01 3.56689875e-02 2.84296278e+02] [-2.02516550e-01 9.79250681e-01 -7.42631381e-03 -4.87681253e+01] [-3.64338426e-02 4.38367149e-05 9.99336066e-01 -1.26138780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09587156000003 meters 0.012861106679182489 Centerline is valid? [True, True] Translation: X:284.33, Y:-48.78, Z:-12.62 [[ 9.78890044e-01 2.01362353e-01 3.50354798e-02 2.84325404e+02] [-2.01230264e-01 9.79516817e-01 -7.29286765e-03 -4.87782130e+01] [-3.57863506e-02 8.87167001e-05 9.99359459e-01 -1.26191003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12587156 meters 0.012622525946200393 Centerline is valid? [True, True] Translation: X:284.36, Y:-48.79, Z:-12.62 [[ 9.79037713e-01 2.00721516e-01 3.45836651e-02 2.84355874e+02] [-2.00592337e-01 9.79648335e-01 -7.20096860e-03 -4.87862652e+01] [-3.53252192e-02 1.12801624e-04 9.99375863e-01 -1.26187773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15587156 meters 0.02010934952647671 Centerline is valid? [True, True] Translation: X:284.38, Y:-48.80, Z:-12.62 [[ 9.79385872e-01 1.99120304e-01 3.39767225e-02 2.84383922e+02] [-1.98994639e-01 9.79975039e-01 -7.07510822e-03 -4.87995441e+01] [-3.47051376e-02 1.68075402e-04 9.99397581e-01 -1.26230826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18587156 meters 0.02010934952647671 Centerline is valid? [True, True] Translation: X:284.41, Y:-48.81, Z:-12.62 [[ 9.79390120e-01 1.99099499e-01 3.39762041e-02 2.84412457e+02] [-1.98973735e-01 9.79979265e-01 -7.07759668e-03 -4.88054377e+01] [-3.47051215e-02 1.71356012e-04 9.99397581e-01 -1.26243962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21587156 meters 0.015174504376658285 Centerline is valid? [True, True] Translation: X:284.44, Y:-48.81, Z:-12.63 [[ 9.79515470e-01 1.98560625e-01 3.35130128e-02 2.84439922e+02] [-1.98437974e-01 9.80088590e-01 -6.98049128e-03 -4.88130906e+01] [-3.42317721e-02 1.87244838e-04 9.99413904e-01 -1.26277387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24587156 meters 0.017318410909768465 Centerline is valid? [True, True] Translation: X:284.47, Y:-48.82, Z:-12.63 [[ 9.79575695e-01 1.98267561e-01 3.34877882e-02 2.84468552e+02] [-1.98144966e-01 9.80147915e-01 -6.97400573e-03 -4.88195220e+01] [-3.42057049e-02 1.96129859e-04 9.99414794e-01 -1.26287618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27587156 meters 0.014741566208165253 Centerline is valid? [True, True] Translation: X:284.50, Y:-48.83, Z:-12.63 [[ 9.79662434e-01 1.97760486e-01 3.39456244e-02 2.84498239e+02] [-1.97634244e-01 9.80250347e-01 -7.06835864e-03 -4.88276275e+01] [-3.46730521e-02 2.15787608e-04 9.99398686e-01 -1.26276610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30587156 meters 0.014324685897606187 Centerline is valid? [True, True] Translation: X:284.53, Y:-48.84, Z:-12.63 [[ 9.79675412e-01 1.97623482e-01 3.43663694e-02 2.84529044e+02] [-1.97494064e-01 9.80277976e-01 -7.15431419e-03 -4.88362618e+01] [-3.51024555e-02 2.21751731e-04 9.99383694e-01 -1.26270422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33587156 meters 0.014261068708994023 Centerline is valid? [True, True] Translation: X:284.56, Y:-48.84, Z:-12.63 [[ 9.79631442e-01 1.97787517e-01 3.46747205e-02 2.84559999e+02] [-1.97655657e-01 9.80244892e-01 -7.22446978e-03 -4.88448855e+01] [-3.54186275e-02 2.23663091e-04 9.99372539e-01 -1.26278763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36587156 meters 0.021985414412222282 Centerline is valid? [True, True] Translation: X:284.59, Y:-48.85, Z:-12.63 [[ 9.79575403e-01 1.98120499e-01 3.43554772e-02 2.84590837e+02] [-1.97991058e-01 9.80177648e-01 -7.16375901e-03 -4.88521996e+01] [-3.50937584e-02 2.15364845e-04 9.99384001e-01 -1.26294492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39587156 meters 0.014478302877500434 Centerline is valid? [True, True] Translation: X:284.62, Y:-48.86, Z:-12.63 [[ 9.79486785e-01 1.98678270e-01 3.36538624e-02 2.84620727e+02] [-1.98554196e-01 9.80064746e-01 -7.02317660e-03 -4.88611082e+01] [-3.43783167e-02 1.96993079e-04 9.99408872e-01 -1.26333657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42587156 meters 0.014145031264615658 Centerline is valid? [True, True] Translation: X:284.65, Y:-48.87, Z:-12.64 [[ 9.79362155e-01 1.99343828e-01 3.33437642e-02 2.84651130e+02] [-1.99222191e-01 9.79929592e-01 -6.96508872e-03 -4.88670025e+01] [-3.40629887e-02 1.78526540e-04 9.99419672e-01 -1.26350087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45587156 meters 0.013794259959158403 Centerline is valid? [True, True] Translation: X:284.68, Y:-48.87, Z:-12.64 [[ 9.79194616e-01 2.00206952e-01 3.30919948e-02 2.84682212e+02] [-2.00087611e-01 9.79753619e-01 -6.91328556e-03 -4.88721942e+01] [-3.38060895e-02 1.48153809e-04 9.99428400e-01 -1.26373152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48587156 meters 0.013271664967027618 Centerline is valid? [True, True] Translation: X:284.71, Y:-48.88, Z:-12.64 [[ 9.78796399e-01 2.02232120e-01 3.25542446e-02 2.84713381e+02] [-2.02117720e-01 9.79337615e-01 -6.80171089e-03 -4.88763861e+01] [-3.32571207e-02 7.77004157e-05 9.99446826e-01 -1.26399497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51587156 meters 0.01312170086652677 Centerline is valid? [True, True] Translation: X:284.74, Y:-48.88, Z:-12.64 [[ 9.78648092e-01 2.03024738e-01 3.20759554e-02 2.84744402e+02] [-2.02914078e-01 9.79173607e-01 -6.70253066e-03 -4.88824648e+01] [-3.27687085e-02 5.07559445e-05 9.99462960e-01 -1.26417020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54587156 meters 0.013286573562694304 Centerline is valid? [True, True] Translation: X:284.77, Y:-48.89, Z:-12.64 [[ 9.78522934e-01 2.03633635e-01 3.20345135e-02 2.84773664e+02] [-2.03523557e-01 9.79047160e-01 -6.69479690e-03 -4.88886381e+01] [-3.27265853e-02 3.12341967e-05 9.99464341e-01 -1.26445963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57587156 meters 0.013190820933201541 Centerline is valid? [True, True] Translation: X:284.80, Y:-48.90, Z:-12.65 [[ 9.78559414e-01 2.03372879e-01 3.25721548e-02 2.84801870e+02] [-2.03258906e-01 9.79101359e-01 -6.80783746e-03 -4.88960991e+01] [-3.32759705e-02 4.12928726e-05 9.99446201e-01 -1.26452341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60587156 meters 0.013245706844784683 Centerline is valid? [True, True] Translation: X:284.83, Y:-48.90, Z:-12.65 [[ 9.78735337e-01 2.02464188e-01 3.29452968e-02 2.84831696e+02] [-2.02347091e-01 9.79289665e-01 -6.88530336e-03 -4.89045193e+01] [-3.36570160e-02 7.25047158e-05 9.99433440e-01 -1.26455179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63587156 meters 0.01317153498756069 Centerline is valid? [True, True] Translation: X:284.86, Y:-48.91, Z:-12.65 [[ 9.78918469e-01 2.01474063e-01 3.35683380e-02 2.84862054e+02] [-2.01351920e-01 9.79493844e-01 -7.01526226e-03 -4.89130616e+01] [-3.42933738e-02 1.08320484e-04 9.99411803e-01 -1.26452125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66587156 meters 0.013613141369282237 Centerline is valid? [True, True] Translation: X:284.89, Y:-48.93, Z:-12.64 [[ 9.79376440e-01 1.98958556e-01 3.51750271e-02 2.84893293e+02] [-1.98822839e-01 9.80007883e-01 -7.35036212e-03 -4.89265186e+01] [-3.59342212e-02 2.05172749e-04 9.99354136e-01 -1.26419526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69587156 meters 0.014310210868923326 Centerline is valid? [True, True] Translation: X:284.93, Y:-48.94, Z:-12.64 [[ 9.79576185e-01 1.97879495e-01 3.56959935e-02 2.84925201e+02] [-1.97738745e-01 9.80226321e-01 -7.46650059e-03 -4.89374557e+01] [-3.64676198e-02 2.55525199e-04 9.99334802e-01 -1.26427906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72587156000003 meters 0.015190552137329585 Centerline is valid? [True, True] Translation: X:284.96, Y:-48.95, Z:-12.64 [[ 9.79775942e-01 1.96775729e-01 3.63100081e-02 2.84955013e+02] [-1.96629058e-01 9.80448477e-01 -7.60239568e-03 -4.89497431e+01] [-3.70960591e-02 3.09041689e-04 9.99311657e-01 -1.26425846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75587156 meters 0.015472045906042299 Centerline is valid? [True, True] Translation: X:284.99, Y:-48.96, Z:-12.64 [[ 9.79804612e-01 1.96645840e-01 3.62399905e-02 2.84986819e+02] [-1.96499400e-01 9.80474534e-01 -7.59435060e-03 -4.89585567e+01] [-3.70257852e-02 3.19843332e-04 9.99314259e-01 -1.26444407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78587156000003 meters 0.015561883964033019 Centerline is valid? [True, True] Translation: X:285.02, Y:-48.97, Z:-12.65 [[ 9.79773170e-01 1.96917932e-01 3.56070744e-02 2.85018373e+02] [-1.96776496e-01 9.80419926e-01 -7.46853876e-03 -4.89668936e+01] [-3.63805744e-02 3.10838550e-04 9.99337959e-01 -1.26467763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81587156 meters 0.01564272750055482 Centerline is valid? [True, True] Translation: X:285.05, Y:-48.98, Z:-12.65 [[ 9.79677227e-01 1.97631660e-01 3.42674431e-02 2.85048310e+02] [-1.97500847e-01 9.80276312e-01 -7.19495141e-03 -4.89757243e+01] [-3.50135129e-02 2.80881002e-04 9.99386800e-01 -1.26502642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84587156000003 meters 0.015362700561610649 Centerline is valid? [True, True] Translation: X:285.08, Y:-48.98, Z:-12.65 [[ 9.79538820e-01 1.98366247e-01 3.39784170e-02 2.85079100e+02] [-1.98237995e-01 9.80127934e-01 -7.13655109e-03 -4.89833020e+01] [-3.47188465e-02 2.54715583e-04 9.99397087e-01 -1.26521026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87587156 meters 0.015125723082134064 Centerline is valid? [True, True] Translation: X:285.11, Y:-48.99, Z:-12.65 [[ 9.79413011e-01 1.99005606e-01 3.38662516e-02 2.85110902e+02] [-1.98878373e-01 9.79998323e-01 -7.11900602e-03 -4.89909607e+01] [-3.46055919e-02 2.37182108e-04 9.99401019e-01 -1.26535318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90587156 meters 0.014322514812638553 Centerline is valid? [True, True] Translation: X:285.14, Y:-49.00, Z:-12.65 [[ 9.79115666e-01 2.00271062e-01 3.49859155e-02 2.85140374e+02] [-2.00135818e-01 9.79740506e-01 -7.36173734e-03 -4.90003396e+01] [-3.57514616e-02 2.06057530e-04 9.99360691e-01 -1.26539506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93587156 meters 0.013479441763355013 Centerline is valid? [True, True] Translation: X:285.17, Y:-49.01, Z:-12.65 [[ 9.78948051e-01 2.00844650e-01 3.63612456e-02 2.85171676e+02] [-2.00698706e-01 9.79623084e-01 -7.65785010e-03 -4.90110317e+01] [-3.71583538e-02 1.98982497e-04 9.99309370e-01 -1.26513838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96587156 meters 0.012904404646398356 Centerline is valid? [True, True] Translation: X:285.20, Y:-49.02, Z:-12.65 [[ 9.78748200e-01 2.01720712e-01 3.68878811e-02 2.85203114e+02] [-2.01571074e-01 9.79443069e-01 -7.77022935e-03 -4.90185695e+01] [-3.76969956e-02 1.69568197e-04 9.99289201e-01 -1.26518392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99587156 meters 0.01250854945925842 Centerline is valid? [True, True] Translation: X:285.24, Y:-49.03, Z:-12.65 [[ 9.78540880e-01 2.02694249e-01 3.70511460e-02 2.85235519e+02] [-2.02543753e-01 9.79242065e-01 -7.81065017e-03 -4.90256072e+01] [-3.78652146e-02 1.38562353e-04 9.99282846e-01 -1.26532024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02587156 meters 0.012091738662839309 Centerline is valid? [True, True] Translation: X:285.27, Y:-49.03, Z:-12.65 [[ 9.78323222e-01 2.03735540e-01 3.70877608e-02 2.85267395e+02] [-2.03585227e-01 9.79025954e-01 -7.82540230e-03 -4.90328404e+01] [-3.79041929e-02 1.05252609e-04 9.99281372e-01 -1.26545533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05587156 meters 0.011367975935450803 Centerline is valid? [True, True] Translation: X:285.30, Y:-49.04, Z:-12.66 [[ 9.77682388e-01 2.06751885e-01 3.72935056e-02 2.85298237e+02] [-2.06601811e-01 9.78393407e-01 -7.87615253e-03 -4.90382623e+01] [-3.81161294e-02 -4.53016673e-06 9.99273316e-01 -1.26554508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08587156 meters 0.011569973720956821 Centerline is valid? [True, True] Translation: X:285.33, Y:-49.04, Z:-12.66 [[ 9.77275234e-01 2.08649315e-01 3.73975973e-02 2.85330699e+02] [-2.08499579e-01 9.77990520e-01 -7.90362814e-03 -4.90432468e+01] [-3.82235823e-02 -7.33632715e-05 9.99269209e-01 -1.26567228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11587156 meters 0.012109813506540387 Centerline is valid? [True, True] Translation: X:285.36, Y:-49.05, Z:-12.66 [[ 9.76942873e-01 2.10265830e-01 3.70257240e-02 2.85363622e+02] [-2.10119958e-01 9.77644242e-01 -7.83194065e-03 -4.90486444e+01] [-3.78447754e-02 -1.28484960e-04 9.99283622e-01 -1.26589649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14587156 meters 0.014058298202251306 Centerline is valid? [True, True] Translation: X:285.39, Y:-49.05, Z:-12.66 [[ 9.76367499e-01 2.13152460e-01 3.56726280e-02 2.85394528e+02] [-2.13018734e-01 9.77018924e-01 -7.55251318e-03 -4.90531691e+01] [-3.64626694e-02 -2.24909671e-04 9.99334990e-01 -1.26630146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17587156 meters 0.015259876291045846 Centerline is valid? [True, True] Translation: X:285.43, Y:-49.06, Z:-12.67 [[ 9.76029328e-01 2.14750656e-01 3.53398612e-02 2.85426416e+02] [-2.14620270e-01 9.76668869e-01 -7.48735913e-03 -4.90586635e+01] [-3.61232576e-02 -2.76768462e-04 9.99347304e-01 -1.26656792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20587156 meters 0.01829888328384476 Centerline is valid? [True, True] Translation: X:285.46, Y:-49.06, Z:-12.67 [[ 9.75441958e-01 2.17535051e-01 3.45179480e-02 2.85457406e+02] [-2.17412170e-01 9.76052442e-01 -7.31980312e-03 -4.90597241e+01] [-3.52836412e-02 -3.64578890e-04 9.99377272e-01 -1.26693854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23587156 meters 0.01908021991565701 Centerline is valid? [True, True] Translation: X:285.49, Y:-49.06, Z:-12.67 [[ 9.75161837e-01 2.18833127e-01 3.42265235e-02 2.85487167e+02] [-2.18713039e-01 9.75762214e-01 -7.26008048e-03 -4.90648287e+01] [-3.49856945e-02 -4.06033581e-04 9.99387731e-01 -1.26708038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26587156 meters 0.0179911081589078 Centerline is valid? [True, True] Translation: X:285.52, Y:-49.07, Z:-12.67 [[ 9.74870873e-01 2.20102182e-01 3.43774684e-02 2.85518834e+02] [-2.19981882e-01 9.75476715e-01 -7.29037210e-03 -4.90727747e+01] [-3.51390468e-02 -4.55248771e-04 9.99382329e-01 -1.26694038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29587156 meters 0.022303623441633377 Centerline is valid? [True, True] Translation: X:285.55, Y:-49.07, Z:-12.67 [[ 9.74495496e-01 2.21731272e-01 3.45510053e-02 2.85550794e+02] [-2.21610531e-01 9.75107678e-01 -7.33414326e-03 -4.90725999e+01] [-3.53171594e-02 -5.09777045e-04 9.99376025e-01 -1.26727908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32587156 meters 0.025390989120500907 Centerline is valid? [True, True] Translation: X:285.58, Y:-49.08, Z:-12.67 [[ 9.73814598e-01 2.24804434e-01 3.38835511e-02 2.85581945e+02] [-2.24690033e-01 9.74403715e-01 -7.19644720e-03 -4.90756021e+01] [-3.46340514e-02 -6.05290890e-04 9.99399878e-01 -1.26720990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35587156 meters 0.028583030398767622 Centerline is valid? [True, True] Translation: X:285.61, Y:-49.07, Z:-12.68 [[ 9.73554274e-01 2.25938016e-01 3.38243761e-02 2.85611771e+02] [-2.25824647e-01 9.74141468e-01 -7.18535953e-03 -4.90723715e+01] [-3.45731732e-02 -6.43040292e-04 9.99401962e-01 -1.26781327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38587156 meters 0.0267064745886431 Centerline is valid? [True, True] Translation: X:285.64, Y:-49.08, Z:-12.68 [[ 9.73104857e-01 2.27921453e-01 3.34477101e-02 2.85640730e+02] [-2.27811812e-01 9.73679265e-01 -7.10397933e-03 -4.90788405e+01] [-3.41864911e-02 -7.06866661e-04 9.99415221e-01 -1.26773652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41587156 meters 0.027821714508994726 Centerline is valid? [True, True] Translation: X:285.67, Y:-49.08, Z:-12.68 [[ 9.72960376e-01 2.28550113e-01 3.33609573e-02 2.85668192e+02] [-2.28441423e-01 9.73531878e-01 -7.08518103e-03 -4.90814817e+01] [-3.40972743e-02 -7.27424138e-04 9.99418254e-01 -1.26792676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44587156 meters 0.03279744393951339 Centerline is valid? [True, True] Translation: X:285.70, Y:-49.08, Z:-12.68 [[ 9.72937972e-01 2.28613727e-01 3.35777808e-02 2.85697492e+02] [-2.28503735e-01 9.73516934e-01 -7.12894393e-03 -4.90789037e+01] [-3.43183126e-02 -7.36628078e-04 9.99410682e-01 -1.26831895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47587156000003 meters 0.025530988508868473 Centerline is valid? [True, True] Translation: X:285.73, Y:-49.09, Z:-12.68 [[ 9.73095971e-01 2.27879015e-01 3.39909715e-02 2.85725414e+02] [-2.27765936e-01 9.73689187e-01 -7.21423267e-03 -4.90895866e+01] [-3.47406136e-02 -7.21844684e-04 9.99396102e-01 -1.26784813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50587156 meters 0.024953398552145494 Centerline is valid? [True, True] Translation: X:285.75, Y:-49.09, Z:-12.68 [[ 9.73255164e-01 2.27159213e-01 3.42502344e-02 2.85754545e+02] [-2.27043967e-01 9.73857382e-01 -7.26893039e-03 -4.90936145e+01] [-3.50060481e-02 -7.01785065e-04 9.99386854e-01 -1.26797035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53587156000003 meters 0.03010892053891474 Centerline is valid? [True, True] Translation: X:285.78, Y:-49.09, Z:-12.69 [[ 9.73536737e-01 2.25934871e-01 3.43461082e-02 2.85783598e+02] [-2.25818321e-01 9.74142184e-01 -7.28634053e-03 -4.90903267e+01] [-3.51042313e-02 -6.62460296e-04 9.99383437e-01 -1.26854751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56587156 meters 0.021525111066765145 Centerline is valid? [True, True] Translation: X:285.81, Y:-49.10, Z:-12.68 [[ 9.74276509e-01 2.22687908e-01 3.45742766e-02 2.85811451e+02] [-2.22567848e-01 9.74889630e-01 -7.33220710e-03 -4.91041528e+01] [-3.53388976e-02 -5.51525220e-04 9.99375234e-01 -1.26826775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59587156000003 meters 0.019460244946517262 Centerline is valid? [True, True] Translation: X:285.84, Y:-49.11, Z:-12.68 [[ 9.74671629e-01 2.20947462e-01 3.46039781e-02 2.85840167e+02] [-2.20826129e-01 9.75285589e-01 -7.33765966e-03 -4.91114264e+01] [-3.53699984e-02 -4.89653849e-04 9.99374166e-01 -1.26834249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62587156 meters 0.016045648293131154 Centerline is valid? [True, True] Translation: X:285.87, Y:-49.12, Z:-12.68 [[ 9.75569520e-01 2.16910179e-01 3.48437290e-02 2.85869963e+02] [-2.16784626e-01 9.76191505e-01 -7.38727851e-03 -4.91197577e+01] [-3.56165282e-02 -3.46781017e-04 9.99365470e-01 -1.26838295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65587156 meters 0.015024634109706916 Centerline is valid? [True, True] Translation: X:285.90, Y:-49.13, Z:-12.69 [[ 9.75985223e-01 2.14948861e-01 3.53529563e-02 2.85898654e+02] [-2.14818299e-01 9.76625266e-01 -7.49590352e-03 -4.91257233e+01] [-3.61378263e-02 -2.78570876e-04 9.99346777e-01 -1.26851355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68587156 meters 0.013530032228912699 Centerline is valid? [True, True] Translation: X:285.93, Y:-49.13, Z:-12.69 [[ 9.76426171e-01 2.12955035e-01 3.52432245e-02 2.85927966e+02] [-2.12824004e-01 9.77061979e-01 -7.47209392e-03 -4.91331303e+01] [-3.60260347e-02 -2.04656096e-04 9.99350831e-01 -1.26862253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71587156 meters 0.011879258035353786 Centerline is valid? [True, True] Translation: X:285.96, Y:-49.14, Z:-12.69 [[ 9.77322418e-01 2.08818802e-01 3.51511005e-02 2.85959339e+02] [-2.08685836e-01 9.77954347e-01 -7.45095411e-03 -4.91418052e+01] [-3.59320708e-02 -5.35523015e-05 9.99354233e-01 -1.26867366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74587156 meters 0.011951782571689438 Centerline is valid? [True, True] Translation: X:285.99, Y:-49.15, Z:-12.69 [[ 9.77711820e-01 2.06984253e-01 3.51726466e-02 2.85990468e+02] [-2.06849692e-01 9.78344274e-01 -7.46233904e-03 -4.91490337e+01] [-3.59555441e-02 2.05659804e-05 9.99353390e-01 -1.26892150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77587156 meters 0.012449260922757392 Centerline is valid? [True, True] Translation: X:286.02, Y:-49.16, Z:-12.69 [[ 9.78201411e-01 2.04656825e-01 3.51793113e-02 2.86020503e+02] [-2.04520510e-01 9.78833781e-01 -7.46921638e-03 -4.91571806e+01] [-3.59633244e-02 1.11507304e-04 9.99353104e-01 -1.26911145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80587156 meters 0.0148259136881531 Centerline is valid? [True, True] Translation: X:286.05, Y:-49.17, Z:-12.69 [[ 9.79211443e-01 1.99911680e-01 3.43550576e-02 2.86051061e+02] [-1.99778781e-01 9.79813882e-01 -7.29354805e-03 -4.91684132e+01] [-3.51196278e-02 2.78514167e-04 9.99383077e-01 -1.26927410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83587156 meters 0.01732005515856571 Centerline is valid? [True, True] Translation: X:286.08, Y:-49.18, Z:-12.70 [[ 9.79720472e-01 1.97412467e-01 3.42945359e-02 2.86080440e+02] [-1.97278286e-01 9.80320447e-01 -7.28693550e-03 -4.91777350e+01] [-3.50581667e-02 3.73592631e-04 9.99385204e-01 -1.26955249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86587156 meters 0.02690103682222827 Centerline is valid? [True, True] Translation: X:286.11, Y:-49.19, Z:-12.70 [[ 9.80650091e-01 1.92904997e-01 3.33625646e-02 2.86111124e+02] [-1.92775183e-01 9.81217297e-01 -7.09537266e-03 -4.91880185e+01] [-3.41046583e-02 5.26603372e-04 9.99418128e-01 -1.26971783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89587156 meters 0.02329529876890472 Centerline is valid? [True, True] Translation: X:286.14, Y:-49.20, Z:-12.70 [[ 9.81013386e-01 1.91037896e-01 3.34254365e-02 2.86140835e+02] [-1.90906491e-01 9.81582483e-01 -7.10924012e-03 -4.91979093e+01] [-3.41679572e-02 5.93126944e-04 9.99415929e-01 -1.27000495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92587156 meters 0.025286599975568282 Centerline is valid? [True, True] Translation: X:286.17, Y:-49.21, Z:-12.70 [[ 9.81415757e-01 1.88841040e-01 3.40906777e-02 2.86171576e+02] [-1.88702830e-01 9.82007428e-01 -7.25633201e-03 -4.92082481e+01] [-3.48475920e-02 6.88471217e-04 9.99392401e-01 -1.26997726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95587156 meters 0.02569342753083876 Centerline is valid? [True, True] Translation: X:286.20, Y:-49.22, Z:-12.70 [[ 9.81460903e-01 1.88586421e-01 3.42002568e-02 2.86204131e+02] [-1.88446966e-01 9.82056345e-01 -7.28536218e-03 -4.92157819e+01] [-3.49604995e-02 7.05363513e-04 9.99388446e-01 -1.27008680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98587156 meters 0.030950481855190334 Centerline is valid? [True, True] Translation: X:286.24, Y:-49.22, Z:-12.70 [[ 9.81385296e-01 1.88952763e-01 3.43475520e-02 2.86236693e+02] [-1.88812090e-01 9.81985927e-01 -7.32352669e-03 -4.92208868e+01] [-3.51126133e-02 7.01968337e-04 9.99383116e-01 -1.26999442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01587156 meters 0.025459615090118275 Centerline is valid? [True, True] Translation: X:286.27, Y:-49.23, Z:-12.70 [[ 9.80987111e-01 1.90902620e-01 3.49353237e-02 2.86267359e+02] [-1.90758057e-01 9.81608765e-01 -7.45633732e-03 -4.92279557e+01] [-3.57162543e-02 6.50376327e-04 9.99361759e-01 -1.27030462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04587156 meters 0.0228856369487101 Centerline is valid? [True, True] Translation: X:286.30, Y:-49.23, Z:-12.70 [[ 9.80691447e-01 1.92423757e-01 3.48910140e-02 2.86299473e+02] [-1.92280301e-01 9.81311743e-01 -7.45309622e-03 -4.92312583e+01] [-3.56731145e-02 6.00333060e-04 9.99363332e-01 -1.27037639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07587156 meters 0.0228856369487101 Centerline is valid? [True, True] Translation: X:286.33, Y:-49.24, Z:-12.71 [[ 9.80655353e-01 1.92607834e-01 3.48898423e-02 2.86331198e+02] [-1.92464299e-01 9.81275631e-01 -7.45857652e-03 -4.92382335e+01] [-3.56731323e-02 5.99243952e-04 9.99363332e-01 -1.27052285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10587156 meters 0.02020569738162477 Centerline is valid? [True, True] Translation: X:286.36, Y:-49.24, Z:-12.71 [[ 9.79979529e-01 1.96095537e-01 3.44479751e-02 2.86362239e+02] [-1.95957501e-01 9.80584681e-01 -7.37171023e-03 -4.92405677e+01] [-3.52247161e-02 4.73786021e-04 9.99379305e-01 -1.27079285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13587156 meters 0.017154894090389436 Centerline is valid? [True, True] Translation: X:286.39, Y:-49.24, Z:-12.71 [[ 9.79561408e-01 1.98224731e-01 3.41526490e-02 2.86394579e+02] [-1.98090258e-01 9.80156518e-01 -7.31100966e-03 -4.92427295e+01] [-3.49241644e-02 3.96275872e-04 9.99389887e-01 -1.27079389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16587156 meters 0.016455721217405708 Centerline is valid? [True, True] Translation: X:286.43, Y:-49.25, Z:-12.71 [[ 9.79152778e-01 2.00179857e-01 3.44653795e-02 2.86425030e+02] [-2.00043894e-01 9.79759109e-01 -7.38433548e-03 -4.92476558e+01] [-3.52459647e-02 3.35803894e-04 9.99378612e-01 -1.27105304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19587156 meters 0.013601757646018255 Centerline is valid? [True, True] Translation: X:286.46, Y:-49.25, Z:-12.71 [[ 9.78394683e-01 2.03861415e-01 3.44146513e-02 2.86457890e+02] [-2.03727930e-01 9.78999735e-01 -7.37905044e-03 -4.92484142e+01] [-3.51962382e-02 2.08398042e-04 9.99380399e-01 -1.27110092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22587156000003 meters 0.013551424269069336 Centerline is valid? [True, True] Translation: X:286.49, Y:-49.25, Z:-12.71 [[ 9.77985190e-01 2.05832784e-01 3.43195650e-02 2.86488792e+02] [-2.05701029e-01 9.78587168e-01 -7.36490728e-03 -4.92535710e+01] [-3.51006253e-02 1.43200402e-04 9.99383773e-01 -1.27148236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25587156 meters 0.012229436347601402 Centerline is valid? [True, True] Translation: X:286.52, Y:-49.25, Z:-12.71 [[ 9.77094657e-01 2.09959274e-01 3.46862195e-02 2.86518549e+02] [-2.09827008e-01 9.77710133e-01 -7.45140372e-03 -4.92511507e+01] [-3.54775595e-02 2.62113178e-06 9.99370473e-01 -1.27145163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28587156000003 meters 0.012263718332126222 Centerline is valid? [True, True] Translation: X:286.55, Y:-49.25, Z:-12.71 [[ 9.76686655e-01 2.11848240e-01 3.46915238e-02 2.86548103e+02] [-2.11717191e-01 9.77302573e-01 -7.45067493e-03 -4.92535487e+01] [-3.54825279e-02 -6.78172060e-05 9.99370295e-01 -1.27147876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31587156 meters 0.012708046042564368 Centerline is valid? [True, True] Translation: X:286.58, Y:-49.26, Z:-12.72 [[ 9.76265991e-01 2.13800774e-01 3.45534772e-02 2.86577397e+02] [-2.13672019e-01 9.76877275e-01 -7.42017486e-03 -4.92560905e+01] [-3.53409458e-02 -1.39046858e-04 9.99375304e-01 -1.27159269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34587156000003 meters 0.01370934793912537 Centerline is valid? [True, True] Translation: X:286.61, Y:-49.26, Z:-12.72 [[ 9.75881305e-01 2.15540279e-01 3.46131074e-02 2.86605697e+02] [-2.15412190e-01 9.76494929e-01 -7.43245359e-03 -4.92578939e+01] [-3.54015170e-02 -2.02892761e-04 9.99373149e-01 -1.27173770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37587156 meters 0.01551421710279121 Centerline is valid? [True, True] Translation: X:286.64, Y:-49.26, Z:-12.72 [[ 9.75217654e-01 2.18532337e-01 3.45563952e-02 2.86635474e+02] [-2.18406626e-01 9.75829657e-01 -7.41796572e-03 -4.92565219e+01] [-3.53422206e-02 -3.13214523e-04 9.99375219e-01 -1.27187454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40587156 meters 0.016943102764143333 Centerline is valid? [True, True] Translation: X:286.66, Y:-49.26, Z:-12.72 [[ 9.75022327e-01 2.19472902e-01 3.41043541e-02 2.86662908e+02] [-2.19351085e-01 9.75618536e-01 -7.31947311e-03 -4.92585354e+01] [-3.48792660e-02 -3.44177363e-04 9.99391474e-01 -1.27217561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43587156 meters 0.017627551222047365 Centerline is valid? [True, True] Translation: X:286.69, Y:-49.26, Z:-12.72 [[ 9.74917472e-01 2.20036021e-01 3.34674676e-02 2.86691398e+02] [-2.19919138e-01 9.75491681e-01 -7.18002705e-03 -4.92624321e+01] [-3.42271008e-02 -3.60202813e-04 9.99414016e-01 -1.27242634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46587156 meters 0.017498701805716357 Centerline is valid? [True, True] Translation: X:286.72, Y:-49.27, Z:-12.73 [[ 9.74982594e-01 2.19815315e-01 3.30177148e-02 2.86719840e+02] [-2.19701481e-01 9.75541442e-01 -7.08194572e-03 -4.92665404e+01] [-3.37668692e-02 -3.49267028e-04 9.99429676e-01 -1.27261453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49587156 meters 0.0169701720215907 Centerline is valid? [True, True] Translation: X:286.75, Y:-49.27, Z:-12.73 [[ 9.75183873e-01 2.18898408e-01 3.31647625e-02 2.86747467e+02] [-2.18783077e-01 9.75747603e-01 -7.11201952e-03 -4.92720858e+01] [-3.39172472e-02 -3.20362037e-04 9.99424593e-01 -1.27275790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52587156 meters 0.015979422702728983 Centerline is valid? [True, True] Translation: X:286.78, Y:-49.28, Z:-12.73 [[ 9.75488659e-01 2.17526168e-01 3.32301596e-02 2.86775790e+02] [-2.17409666e-01 9.76054451e-01 -7.12367437e-03 -4.92789793e+01] [-3.39840307e-02 -2.75494332e-04 9.99422338e-01 -1.27291372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55587156 meters 0.013596367580868844 Centerline is valid? [True, True] Translation: X:286.80, Y:-49.29, Z:-12.73 [[ 9.76282587e-01 2.13898147e-01 3.34648040e-02 2.86803007e+02] [-2.13777917e-01 9.76855956e-01 -7.17234128e-03 -4.92888485e+01] [-3.42244436e-02 -1.51804195e-04 9.99414161e-01 -1.27296606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58587156 meters 0.012658893331685024 Centerline is valid? [True, True] Translation: X:286.83, Y:-49.30, Z:-12.73 [[ 9.76712474e-01 2.11901620e-01 3.36221110e-02 2.86831000e+02] [-2.11779130e-01 9.77290999e-01 -7.20441457e-03 -4.92972351e+01] [-3.43852136e-02 -8.38198582e-05 9.99408650e-01 -1.27304496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61587156 meters 0.012196205316201454 Centerline is valid? [True, True] Translation: X:286.86, Y:-49.31, Z:-12.73 [[ 9.77577058e-01 2.07725255e-01 3.45443879e-02 2.86857690e+02] [-2.07593400e-01 9.78187208e-01 -7.40039302e-03 -4.93071898e+01] [-3.53281269e-02 6.32674943e-05 9.99375765e-01 -1.27300191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64587156 meters 0.01278007801756509 Centerline is valid? [True, True] Translation: X:286.89, Y:-49.32, Z:-12.73 [[ 9.77988662e-01 2.05775130e-01 3.45654870e-02 2.86886571e+02] [-2.05641983e-01 9.78599294e-01 -7.40245811e-03 -4.93159472e+01] [-3.53490030e-02 1.31404826e-04 9.99375020e-01 -1.27312044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67587156 meters 0.013789148050388432 Centerline is valid? [True, True] Translation: X:286.91, Y:-49.33, Z:-12.73 [[ 9.78398753e-01 2.03838718e-01 3.44333800e-02 2.86914045e+02] [-2.03705412e-01 9.79004462e-01 -7.37344683e-03 -4.93251156e+01] [-3.52134266e-02 1.99905312e-04 9.99379795e-01 -1.27330538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70587156 meters 0.014632359717195334 Centerline is valid? [True, True] Translation: X:286.94, Y:-49.33, Z:-12.73 [[ 9.78761489e-01 2.02095112e-01 3.44022387e-02 2.86942180e+02] [-2.01961019e-01 9.79365865e-01 -7.36541389e-03 -4.93338117e+01] [-3.51808924e-02 2.61072302e-04 9.99380927e-01 -1.27339071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73587156 meters 0.02055537958770014 Centerline is valid? [True, True] Translation: X:286.97, Y:-49.35, Z:-12.73 [[ 9.79454406e-01 1.98764305e-01 3.40854532e-02 2.86971211e+02] [-1.98630699e-01 9.80047249e-01 -7.29627474e-03 -4.93461986e+01] [-3.48555936e-02 3.75951045e-04 9.99392288e-01 -1.27349361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76587156 meters 0.019353973360285635 Centerline is valid? [True, True] Translation: X:287.00, Y:-49.36, Z:-12.74 [[ 9.79811668e-01 1.97030692e-01 3.38821754e-02 2.87000257e+02] [-1.96897610e-01 9.80397224e-01 -7.25359764e-03 -4.93567318e+01] [-3.46471720e-02 4.35840243e-04 9.99399511e-01 -1.27383631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79587156 meters 0.022268009260631955 Centerline is valid? [True, True] Translation: X:287.03, Y:-49.37, Z:-12.74 [[ 9.80413631e-01 1.94086610e-01 3.34589335e-02 2.87030075e+02] [-1.93955138e-01 9.80984253e-01 -7.16241019e-03 -4.93684236e+01] [-3.42128148e-02 5.32592507e-04 9.99414428e-01 -1.27402713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82587156 meters 0.022742199142140918 Centerline is valid? [True, True] Translation: X:287.06, Y:-49.38, Z:-12.74 [[ 9.80612870e-01 1.93162931e-01 3.29618281e-02 2.87061100e+02] [-1.93034652e-01 9.81166534e-01 -7.06090334e-03 -4.93768779e+01] [-3.37049474e-02 5.61237682e-04 9.99431669e-01 -1.27419915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85587156 meters 0.02233014943383625 Centerline is valid? [True, True] Translation: X:287.09, Y:-49.39, Z:-12.74 [[ 9.80703624e-01 1.92665180e-01 3.31742520e-02 2.87092111e+02] [-1.92534764e-01 9.81264380e-01 -7.11207410e-03 -4.93851928e+01] [-3.39229609e-02 5.87640070e-04 9.99424278e-01 -1.27423180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88587156 meters 0.025744047223696418 Centerline is valid? [True, True] Translation: X:287.12, Y:-49.40, Z:-12.74 [[ 9.80708180e-01 1.92428995e-01 3.43881935e-02 2.87120682e+02] [-1.92288483e-01 9.81310701e-01 -7.37880243e-03 -4.94004895e+01] [-3.51653979e-02 6.23998321e-04 9.99381311e-01 -1.27436354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91587156 meters 0.025357050150237048 Centerline is valid? [True, True] Translation: X:287.15, Y:-49.41, Z:-12.75 [[ 9.80614166e-01 1.92904253e-01 3.44064930e-02 2.87151468e+02] [-1.92763686e-01 9.81217394e-01 -7.38836835e-03 -4.94081654e+01] [-3.51854971e-02 6.12816265e-04 9.99380611e-01 -1.27450734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94587156 meters 0.022556341965869184 Centerline is valid? [True, True] Translation: X:287.18, Y:-49.41, Z:-12.75 [[ 9.80368967e-01 1.94159601e-01 3.43327563e-02 2.87183917e+02] [-1.94020176e-01 9.80969786e-01 -7.37905895e-03 -4.94127310e+01] [-3.51121118e-02 5.72952983e-04 9.99383215e-01 -1.27453546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97587156000003 meters 0.018895528617475416 Centerline is valid? [True, True] Translation: X:287.22, Y:-49.42, Z:-12.75 [[ 9.79709732e-01 1.97498319e-01 3.41065094e-02 2.87216524e+02] [-1.97362714e-01 9.80303122e-01 -7.33135199e-03 -4.94156330e+01] [-3.48826473e-02 4.51243625e-04 9.99391313e-01 -1.27465401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00587156 meters 0.017285198519425577 Centerline is valid? [True, True] Translation: X:287.25, Y:-49.42, Z:-12.75 [[ 9.79344671e-01 1.99353802e-01 3.37946286e-02 2.87248423e+02] [-1.99221571e-01 9.79927503e-01 -7.27010089e-03 -4.94211091e+01] [-3.45656083e-02 3.87315571e-04 9.99402356e-01 -1.27481461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03587156000003 meters 0.016320388103081677 Centerline is valid? [True, True] Translation: X:287.28, Y:-49.43, Z:-12.75 [[ 9.78587967e-01 2.03089969e-01 3.34672444e-02 2.87278778e+02] [-2.02962265e-01 9.79160047e-01 -7.20563309e-03 -4.94275221e+01] [-3.42331804e-02 2.58758085e-04 9.99413839e-01 -1.27534010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06587156 meters 0.015070797646175083 Centerline is valid? [True, True] Translation: X:287.31, Y:-49.43, Z:-12.76 [[ 9.78211413e-01 2.04948640e-01 3.31434244e-02 2.87307914e+02] [-2.04824214e-01 9.78772709e-01 -7.14325415e-03 -4.94316488e+01] [-3.39038795e-02 1.99036894e-04 9.99425078e-01 -1.27556247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09587156000003 meters 0.01401127463223141 Centerline is valid? [True, True] Translation: X:287.34, Y:-49.43, Z:-12.76 [[ 9.77826580e-01 2.06808753e-01 3.29441990e-02 2.87335512e+02] [-2.06686883e-01 9.78381379e-01 -7.10002443e-03 -4.94346488e+01] [-3.37003381e-02 1.33458800e-04 9.99431973e-01 -1.27573989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12587156 meters 0.01268425050486259 Centerline is valid? [True, True] Translation: X:287.37, Y:-49.44, Z:-12.76 [[ 9.77365822e-01 2.09022731e-01 3.26427246e-02 2.87365703e+02] [-2.08904399e-01 9.77910781e-01 -7.03256169e-03 -4.94375067e+01] [-3.33916375e-02 5.41766881e-05 9.99442342e-01 -1.27571608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15587156 meters 0.013694230701404247 Centerline is valid? [True, True] Translation: X:287.39, Y:-49.44, Z:-12.76 [[ 9.76474926e-01 2.13155000e-01 3.25831964e-02 2.87393926e+02] [-2.13039408e-01 9.77018392e-01 -7.01941887e-03 -4.94367969e+01] [-3.33306064e-02 -8.72183421e-05 9.99444377e-01 -1.27610027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18587156 meters 0.013300172702506663 Centerline is valid? [True, True] Translation: X:287.42, Y:-49.44, Z:-12.76 [[ 9.76039079e-01 2.15126106e-01 3.26875462e-02 2.87423141e+02] [-2.15010964e-01 9.76586265e-01 -7.03930197e-03 -4.94409370e+01] [-3.34365462e-02 -1.57546995e-04 9.99440830e-01 -1.27578290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21587156 meters 0.015560173592352533 Centerline is valid? [True, True] Translation: X:287.45, Y:-49.44, Z:-12.76 [[ 9.75275417e-01 2.18455429e-01 3.33929087e-02 2.87451779e+02] [-2.18337226e-01 9.75846888e-01 -7.19080505e-03 -4.94417486e+01] [-3.41572364e-02 -2.77899656e-04 9.99416433e-01 -1.27591211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24587156 meters 0.016238092865878198 Centerline is valid? [True, True] Translation: X:287.48, Y:-49.45, Z:-12.76 [[ 9.74987909e-01 2.19602060e-01 3.42565563e-02 2.87480279e+02] [-2.19478463e-01 9.75589477e-01 -7.37408378e-03 -4.94464387e+01] [-3.50396998e-02 -3.28933802e-04 9.99385867e-01 -1.27589348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27587156 meters 0.018434975244463525 Centerline is valid? [True, True] Translation: X:287.51, Y:-49.45, Z:-12.76 [[ 9.74449618e-01 2.21898878e-01 3.47682346e-02 2.87508396e+02] [-2.21773079e-01 9.75069594e-01 -7.48258548e-03 -4.94492416e+01] [-3.55618257e-02 -4.19255874e-04 9.99367390e-01 -1.27593219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30587156 meters 0.028437070235238508 Centerline is valid? [True, True] Translation: X:287.54, Y:-49.45, Z:-12.76 [[ 9.74153046e-01 2.23212545e-01 3.46699247e-02 2.87536591e+02] [-2.23088367e-01 9.74769686e-01 -7.45920324e-03 -4.94547223e+01] [-3.54601793e-02 -4.68051314e-04 9.99370980e-01 -1.27579791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33587156 meters 0.020718945374864038 Centerline is valid? [True, True] Translation: X:287.56, Y:-49.46, Z:-12.76 [[ 9.73879588e-01 2.24328392e-01 3.51471317e-02 2.87564909e+02] [-2.24201559e-01 9.74513471e-01 -7.56015175e-03 -4.94564584e+01] [-3.59473100e-02 -5.17364259e-04 9.99353553e-01 -1.27612206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36587156 meters 0.023461452055790716 Centerline is valid? [True, True] Translation: X:287.59, Y:-49.46, Z:-12.76 [[ 9.73605786e-01 2.25494609e-01 3.52697436e-02 2.87592618e+02] [-2.25367737e-01 9.74244252e-01 -7.58423638e-03 -4.94578200e+01] [-3.60715494e-02 -5.64605891e-04 9.99349050e-01 -1.27631916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39587156 meters 0.02390717576177473 Centerline is valid? [True, True] Translation: X:287.62, Y:-49.46, Z:-12.76 [[ 9.73073084e-01 2.27808127e-01 3.51031394e-02 2.87620881e+02] [-2.27684033e-01 9.73705826e-01 -7.54620243e-03 -4.94621479e+01] [-3.58992176e-02 -6.49417896e-04 9.99355204e-01 -1.27631857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42587156 meters 0.02669249404822097 Centerline is valid? [True, True] Translation: X:287.65, Y:-49.46, Z:-12.77 [[ 9.72608458e-01 2.29784808e-01 3.50960036e-02 2.87648499e+02] [-2.29662107e-01 9.73241192e-01 -7.54310840e-03 -4.94636186e+01] [-3.58901681e-02 -7.23731078e-04 9.99355478e-01 -1.27650462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45587156 meters 0.027508738923442768 Centerline is valid? [True, True] Translation: X:287.68, Y:-49.47, Z:-12.77 [[ 9.72380693e-01 2.30764108e-01 3.49816181e-02 2.87677178e+02] [-2.30642930e-01 9.73009429e-01 -7.51596033e-03 -4.94678986e+01] [-3.57718581e-02 -7.59888166e-04 9.99359693e-01 -1.27662334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48587156 meters 0.03271845165210128 Centerline is valid? [True, True] Translation: X:287.71, Y:-49.47, Z:-12.77 [[ 9.72099905e-01 2.31956074e-01 3.49020592e-02 2.87705376e+02] [-2.31836272e-01 9.72725930e-01 -7.49727573e-03 -4.94676130e+01] [-3.56891766e-02 -8.03462242e-04 9.99362615e-01 -1.27688499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51587156 meters 0.030293098108811166 Centerline is valid? [True, True] Translation: X:287.73, Y:-49.47, Z:-12.77 [[ 9.71880881e-01 2.32881877e-01 3.48365302e-02 2.87733262e+02] [-2.32763197e-01 9.72504668e-01 -7.48098914e-03 -4.94741985e+01] [-3.56208750e-02 -8.38031819e-04 9.99365024e-01 -1.27694448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54587156 meters 0.03177521996635556 Centerline is valid? [True, True] Translation: X:287.76, Y:-49.47, Z:-12.77 [[ 9.71464837e-01 2.34637800e-01 3.46579498e-02 2.87762408e+02] [-2.34521508e-01 9.72082452e-01 -7.44097516e-03 -4.94748506e+01] [-3.54363189e-02 -8.99388939e-04 9.99371532e-01 -1.27707976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57587156 meters 0.030812507913876252 Centerline is valid? [True, True] Translation: X:287.79, Y:-49.48, Z:-12.77 [[ 9.71342439e-01 2.35118741e-01 3.48287697e-02 2.87791222e+02] [-2.35001670e-01 9.71966216e-01 -7.47595439e-03 -4.94800633e+01] [-3.56101245e-02 -9.23107262e-04 9.99365332e-01 -1.27716222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60587156 meters 0.03207113599593756 Centerline is valid? [True, True] Translation: X:287.82, Y:-49.48, Z:-12.77 [[ 9.71325075e-01 2.35258881e-01 3.43636098e-02 2.87819320e+02] [-2.35145059e-01 9.71932311e-01 -7.37452596e-03 -4.94807811e+01] [-3.51340254e-02 -9.17371070e-04 9.99382189e-01 -1.27739443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63587156 meters 0.031986966492754544 Centerline is valid? [True, True] Translation: X:287.85, Y:-49.48, Z:-12.78 [[ 9.71441533e-01 2.34784905e-01 3.43131996e-02 2.87846625e+02] [-2.34671198e-01 9.72046931e-01 -7.36154342e-03 -4.94844811e+01] [-3.50824196e-02 -9.01010628e-04 9.99384016e-01 -1.27753822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66587156 meters 0.03153775674293982 Centerline is valid? [True, True] Translation: X:287.88, Y:-49.49, Z:-12.78 [[ 9.71577639e-01 2.34227871e-01 3.42665394e-02 2.87875486e+02] [-2.34114205e-01 9.72181324e-01 -7.34929726e-03 -4.94891219e+01] [-3.50346999e-02 -8.81870760e-04 9.99385707e-01 -1.27766842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69587156 meters 0.029253175175869964 Centerline is valid? [True, True] Translation: X:287.90, Y:-49.49, Z:-12.78 [[ 9.72052146e-01 2.32252546e-01 3.42546439e-02 2.87904049e+02] [-2.32137791e-01 9.72655178e-01 -7.34507453e-03 -4.94938250e+01] [-3.50238691e-02 -8.12001936e-04 9.99386146e-01 -1.27776968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72587156000003 meters 0.02803383833010531 Centerline is valid? [True, True] Translation: X:287.93, Y:-49.50, Z:-12.78 [[ 9.72334673e-01 2.31096019e-01 3.40574983e-02 2.87931858e+02] [-2.30981932e-01 9.72930645e-01 -7.30113461e-03 -4.94997317e+01] [-3.48228469e-02 -7.67520401e-04 9.99393206e-01 -1.27795525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75587156 meters 0.026043476156397145 Centerline is valid? [True, True] Translation: X:287.96, Y:-49.50, Z:-12.78 [[ 9.72893634e-01 2.28670123e-01 3.44666714e-02 2.87959082e+02] [-2.28551812e-01 9.73503723e-01 -7.38723160e-03 -4.95042022e+01] [-3.52426721e-02 -6.90429582e-04 9.99378546e-01 -1.27804551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78587156000003 meters 0.02438491302118968 Centerline is valid? [True, True] Translation: X:287.99, Y:-49.51, Z:-12.78 [[ 9.73212121e-01 2.27277864e-01 3.46834132e-02 2.87987378e+02] [-2.27157256e-01 9.73829736e-01 -7.43141831e-03 -4.95103132e+01] [-3.54647360e-02 -6.46242610e-04 9.99370719e-01 -1.27811443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81587156 meters 0.023208210968726977 Centerline is valid? [True, True] Translation: X:288.02, Y:-49.52, Z:-12.78 [[ 9.73594760e-01 2.25638360e-01 3.46492891e-02 2.88015167e+02] [-2.25517012e-01 9.74210955e-01 -7.42240186e-03 -4.95155357e+01] [-3.54304956e-02 -5.87592583e-04 9.99371970e-01 -1.27826095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84587156000003 meters 0.01951296835960484 Centerline is valid? [True, True] Translation: X:288.04, Y:-49.52, Z:-12.79 [[ 9.74458526e-01 2.22003995e-01 3.38350061e-02 2.88043546e+02] [-2.21886158e-01 9.75045654e-01 -7.24610847e-03 -4.95222238e+01] [-3.45993407e-02 -4.46487329e-04 9.99401164e-01 -1.27853937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87587156 meters 0.017010407485635 Centerline is valid? [True, True] Translation: X:288.07, Y:-49.53, Z:-12.79 [[ 9.74912091e-01 2.20101661e-01 3.31914582e-02 2.88071128e+02] [-2.19987179e-01 9.75476868e-01 -7.10778727e-03 -4.95297738e+01] [-3.39419355e-02 -3.72227522e-04 9.99423737e-01 -1.27865996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90587156 meters 0.016124419977407482 Centerline is valid? [True, True] Translation: X:288.10, Y:-49.54, Z:-12.79 [[ 9.75363221e-01 2.18127638e-01 3.29684637e-02 2.88097977e+02] [-2.18013615e-01 9.75920202e-01 -7.05848437e-03 -4.95350379e+01] [-3.37142403e-02 -3.02987886e-04 9.99431467e-01 -1.27897903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93587156 meters 0.013519914956685662 Centerline is valid? [True, True] Translation: X:288.13, Y:-49.54, Z:-12.79 [[ 9.76310298e-01 2.13811595e-01 3.32084833e-02 2.88125088e+02] [-2.13693478e-01 9.76874903e-01 -7.10775740e-03 -4.95426674e+01] [-3.39602548e-02 -1.57059558e-04 9.99423172e-01 -1.27908181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96587156 meters 0.012765000515334947 Centerline is valid? [True, True] Translation: X:288.15, Y:-49.55, Z:-12.79 [[ 9.76767814e-01 2.11667281e-01 3.34902945e-02 2.88152381e+02] [-2.11545968e-01 9.77341780e-01 -7.16578124e-03 -4.95490932e+01] [-3.42482255e-02 -8.54322959e-05 9.99413354e-01 -1.27919701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99587156 meters 0.012345491031417744 Centerline is valid? [True, True] Translation: X:288.18, Y:-49.56, Z:-12.79 [[ 9.77147469e-01 2.09909440e-01 3.34791235e-02 2.88181070e+02] [-2.09787264e-01 9.77720832e-01 -7.16083723e-03 -4.95550411e+01] [-3.42363639e-02 -2.62997618e-05 9.99413764e-01 -1.27927018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02587156 meters 0.012345491031417744 Centerline is valid? [True, True] Translation: X:288.21, Y:-49.56, Z:-12.79 [[ 9.77162175e-01 2.09840921e-01 3.34794070e-02 2.88207957e+02] [-2.09718750e-01 9.77735541e-01 -7.15951161e-03 -4.95606524e+01] [-3.42363646e-02 -2.52554580e-05 9.99413764e-01 -1.27939400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05587156 meters 0.012690917236985134 Centerline is valid? [True, True] Translation: X:288.24, Y:-49.57, Z:-12.80 [[ 9.77808208e-01 2.06897683e-01 3.29311084e-02 2.88236245e+02] [-2.06777901e-01 9.78362583e-01 -7.03962559e-03 -4.95657551e+01] [-3.36750465e-02 7.39782261e-05 9.99432832e-01 -1.27961493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08587156 meters 0.01297501588955005 Centerline is valid? [True, True] Translation: X:288.26, Y:-49.57, Z:-12.80 [[ 9.78093842e-01 2.05578530e-01 3.27093886e-02 2.88264286e+02] [-2.05459671e-01 9.78640616e-01 -6.99064862e-03 -4.95721572e+01] [-3.34478634e-02 1.17050153e-04 9.99440457e-01 -1.27978351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11587156 meters 0.013664043184814683 Centerline is valid? [True, True] Translation: X:288.29, Y:-49.58, Z:-12.80 [[ 9.78350941e-01 2.04330708e-01 3.28389744e-02 2.88291656e+02] [-2.04210253e-01 9.78901903e-01 -7.01684763e-03 -4.95788342e+01] [-3.35798920e-02 1.58884225e-04 9.99436024e-01 -1.27994287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14587156 meters 0.014515734062428157 Centerline is valid? [True, True] Translation: X:288.32, Y:-49.58, Z:-12.80 [[ 9.78911129e-01 2.01584260e-01 3.31177898e-02 2.88320125e+02] [-2.01460251e-01 9.79471144e-01 -7.07426488e-03 -4.95835820e+01] [-3.38639799e-02 2.53158382e-04 9.99426419e-01 -1.27985769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17587156 meters 0.015540239502366191 Centerline is valid? [True, True] Translation: X:288.35, Y:-49.59, Z:-12.80 [[ 9.79216332e-01 2.00165529e-01 3.26976630e-02 2.88348623e+02] [-2.00043911e-01 9.79762049e-01 -6.98288860e-03 -4.95890371e+01] [-3.34336629e-02 2.96790171e-04 9.99440895e-01 -1.28006598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20587156 meters 0.017672383867046663 Centerline is valid? [True, True] Translation: X:288.38, Y:-49.60, Z:-12.80 [[ 9.79434334e-01 1.99108936e-01 3.26192638e-02 2.88375358e+02] [-1.98987365e-01 9.79977307e-01 -6.96464808e-03 -4.95967745e+01] [-3.33528620e-02 3.30594089e-04 9.99443584e-01 -1.28049459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23587156 meters 0.017739333099738124 Centerline is valid? [True, True] Translation: X:288.40, Y:-49.60, Z:-12.80 [[ 9.79826484e-01 1.97110878e-01 3.29751842e-02 2.88404036e+02] [-1.96985583e-01 9.80381120e-01 -7.03840200e-03 -4.96013430e+01] [-3.37155936e-02 4.00776804e-04 9.99431387e-01 -1.28036632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26587156 meters 0.018877298568512106 Centerline is valid? [True, True] Translation: X:288.43, Y:-49.61, Z:-12.81 [[ 9.79981823e-01 1.96348403e-01 3.29079285e-02 2.88430846e+02] [-1.96223239e-01 9.80534102e-01 -7.02254962e-03 -4.96078607e+01] [-3.36462126e-02 4.24670653e-04 9.99433716e-01 -1.28054548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29587156 meters 0.0195407258738463 Centerline is valid? [True, True] Translation: X:288.46, Y:-49.61, Z:-12.81 [[ 9.80278976e-01 1.94775800e-01 3.33993550e-02 2.88458504e+02] [-1.94646028e-01 9.80847671e-01 -7.12531715e-03 -4.96142144e+01] [-3.41475189e-02 4.83746825e-04 9.99416686e-01 -1.28054966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32587156 meters 0.019393965222446803 Centerline is valid? [True, True] Translation: X:288.49, Y:-49.62, Z:-12.81 [[ 9.80301397e-01 1.94599526e-01 3.37667739e-02 2.88486684e+02] [-1.94466854e-01 9.80882654e-01 -7.20145968e-03 -4.96200463e+01] [-3.45226434e-02 4.93082679e-04 9.99403794e-01 -1.28059535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35587156 meters 0.021713008217271946 Centerline is valid? [True, True] Translation: X:288.51, Y:-49.63, Z:-12.81 [[ 9.80361500e-01 1.94276033e-01 3.38843852e-02 2.88513211e+02] [-1.94142297e-01 9.80946771e-01 -7.22497479e-03 -4.96280668e+01] [-3.46424177e-02 5.04694770e-04 9.99399644e-01 -1.28089737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38587156 meters 0.019495284075262968 Centerline is valid? [True, True] Translation: X:288.54, Y:-49.63, Z:-12.81 [[ 9.80296691e-01 1.94584283e-01 3.39905168e-02 2.88542324e+02] [-1.94449971e-01 9.80885678e-01 -7.24536708e-03 -4.96295117e+01] [-3.47506457e-02 4.93154356e-04 9.99395892e-01 -1.28080190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41587156 meters 0.019590326866658434 Centerline is valid? [True, True] Translation: X:288.57, Y:-49.63, Z:-12.81 [[ 9.80186352e-01 1.95113330e-01 3.41394832e-02 2.88569783e+02] [-1.94978213e-01 9.80780589e-01 -7.27554544e-03 -4.96346527e+01] [-3.49028983e-02 4.74934933e-04 9.99390595e-01 -1.28096112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44587156 meters 0.017621251970295636 Centerline is valid? [True, True] Translation: X:288.60, Y:-49.64, Z:-12.81 [[ 9.80061903e-01 1.95714900e-01 3.42687023e-02 2.88599034e+02] [-1.95579203e-01 9.80660733e-01 -7.30085949e-03 -4.96369849e+01] [-3.50348577e-02 4.53048765e-04 9.99385988e-01 -1.28092964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47587156000003 meters 0.016679062824505788 Centerline is valid? [True, True] Translation: X:288.63, Y:-49.64, Z:-12.81 [[ 9.79539398e-01 1.98299802e-01 3.43475838e-02 2.88626735e+02] [-1.98165125e-01 9.80141346e-01 -7.31603061e-03 -4.96397841e+01] [-3.51162544e-02 3.59846982e-04 9.99383169e-01 -1.28116854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50587156 meters 0.016387639542400977 Centerline is valid? [True, True] Translation: X:288.65, Y:-49.64, Z:-12.81 [[ 9.79265050e-01 1.99623075e-01 3.45049256e-02 2.88654563e+02] [-1.99488060e-01 9.79872712e-01 -7.34732148e-03 -4.96441506e+01] [-3.52771299e-02 3.11654476e-04 9.99377520e-01 -1.28136152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53587156000003 meters 0.014572993615020326 Centerline is valid? [True, True] Translation: X:288.68, Y:-49.65, Z:-12.81 [[ 9.78980574e-01 2.01002228e-01 3.45707879e-02 2.88683893e+02] [-2.00867640e-01 9.79590750e-01 -7.35898067e-03 -4.96460897e+01] [-3.53443955e-02 2.60146537e-04 9.99375158e-01 -1.28135826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56587156 meters 0.013306737575773619 Centerline is valid? [True, True] Translation: X:288.71, Y:-49.65, Z:-12.82 [[ 9.78438599e-01 2.03851823e-01 3.32015392e-02 2.88712998e+02] [-2.03729379e-01 9.79001743e-01 -7.06598500e-03 -4.96460948e+01] [-3.39447787e-02 1.49503497e-04 9.99423699e-01 -1.28173146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59587156000003 meters 0.013146461183183107 Centerline is valid? [True, True] Translation: X:288.74, Y:-49.65, Z:-12.82 [[ 9.78301639e-01 2.04585582e-01 3.27206864e-02 2.88741598e+02] [-2.04467122e-01 9.78848673e-01 -6.96209844e-03 -4.96494693e+01] [-3.34529455e-02 1.20727727e-04 9.99440286e-01 -1.28198904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62587156 meters 0.017113605166339838 Centerline is valid? [True, True] Translation: X:288.77, Y:-49.65, Z:-12.82 [[ 9.78184731e-01 2.05190341e-01 3.24277116e-02 2.88769124e+02] [-2.05074367e-01 9.78722082e-01 -6.89850671e-03 -4.96528784e+01] [-3.31532243e-02 9.79214909e-05 9.99450276e-01 -1.28205640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65587156 meters 0.012364416076517228 Centerline is valid? [True, True] Translation: X:288.80, Y:-49.66, Z:-12.82 [[ 9.78041610e-01 2.05787038e-01 3.29591350e-02 2.88798019e+02] [-2.05667663e-01 9.78596796e-01 -7.00879381e-03 -4.96550160e+01] [-3.36960228e-02 7.62637292e-05 9.99432125e-01 -1.28204473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68587156 meters 0.01253178033431048 Centerline is valid? [True, True] Translation: X:288.83, Y:-49.66, Z:-12.82 [[ 9.78097257e-01 2.05446985e-01 3.34259352e-02 2.88825218e+02] [-2.05324060e-01 9.78668242e-01 -7.10646405e-03 -4.96604920e+01] [-3.41729028e-02 8.76642777e-05 9.99415932e-01 -1.28220793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71587156 meters 0.01267553122397306 Centerline is valid? [True, True] Translation: X:288.85, Y:-49.67, Z:-12.82 [[ 9.78285722e-01 2.04437540e-01 3.40930759e-02 2.88852113e+02] [-2.04309121e-01 9.78879603e-01 -7.24608506e-03 -4.96672061e+01] [-3.48543884e-02 1.23215175e-04 9.99392394e-01 -1.28220063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74587156 meters 0.02081916448174644 Centerline is valid? [True, True] Translation: X:288.88, Y:-49.67, Z:-12.82 [[ 9.78451852e-01 2.03603659e-01 3.43150558e-02 2.88879067e+02] [-2.03473120e-01 9.79053383e-01 -7.29126742e-03 -4.96736650e+01] [-3.50808002e-02 1.51962662e-04 9.99384468e-01 -1.28219225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77587156 meters 0.013322629719147674 Centerline is valid? [True, True] Translation: X:288.91, Y:-49.68, Z:-12.82 [[ 9.78669551e-01 2.02558382e-01 3.42930189e-02 2.88907365e+02] [-2.02427465e-01 9.79270171e-01 -7.28384865e-03 -4.96797413e+01] [-3.50575350e-02 1.86632006e-04 9.99385278e-01 -1.28243365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80587156 meters 0.019682834594362777 Centerline is valid? [True, True] Translation: X:288.94, Y:-49.69, Z:-12.82 [[ 9.78853440e-01 2.01678253e-01 3.42319469e-02 2.88935850e+02] [-2.01547322e-01 9.79451804e-01 -7.26922643e-03 -4.96863452e+01] [-3.49945870e-02 2.16150088e-04 9.99387478e-01 -1.28245664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83587156 meters 0.015563622331863062 Centerline is valid? [True, True] Translation: X:288.96, Y:-49.69, Z:-12.83 [[ 9.79369231e-01 1.99095558e-01 3.45957734e-02 2.88962677e+02] [-1.98960269e-01 9.79980032e-01 -7.34499928e-03 -4.96945055e+01] [-3.53655239e-02 3.10281919e-04 9.99374396e-01 -1.28266957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86587156 meters 0.016418625020828834 Centerline is valid? [True, True] Translation: X:288.99, Y:-49.70, Z:-12.83 [[ 9.79653692e-01 1.97676052e-01 3.46817354e-02 2.88990083e+02] [-1.97539288e-01 9.80267335e-01 -7.36077634e-03 -4.97018413e+01] [-3.54524215e-02 3.60006409e-04 9.99371300e-01 -1.28273700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89587156 meters 0.018788841108552685 Centerline is valid? [True, True] Translation: X:289.02, Y:-49.71, Z:-12.83 [[ 9.80305885e-01 1.94434683e-01 3.45763825e-02 2.89017250e+02] [-1.94296827e-01 9.80915353e-01 -7.33574023e-03 -4.97122174e+01] [-3.53428268e-02 4.73187908e-04 9.99375135e-01 -1.28284118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92587156 meters 0.020618139233441406 Centerline is valid? [True, True] Translation: X:289.04, Y:-49.72, Z:-12.83 [[ 9.80657309e-01 1.92611095e-01 3.48167677e-02 2.89044965e+02] [-1.92470227e-01 9.81275024e-01 -7.38501909e-03 -4.97219514e+01] [-3.55872612e-02 5.40981766e-04 9.99366426e-01 -1.28298541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95587156 meters 0.022718725146138898 Centerline is valid? [True, True] Translation: X:289.07, Y:-49.73, Z:-12.83 [[ 9.81277426e-01 1.89490747e-01 3.44654810e-02 2.89073150e+02] [-1.89350849e-01 9.81882294e-01 -7.30862372e-03 -4.97324098e+01] [-3.52259621e-02 6.45719380e-04 9.99379165e-01 -1.28303983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98587156 meters 0.02574905867622577 Centerline is valid? [True, True] Translation: X:289.10, Y:-49.74, Z:-12.83 [[ 9.81515572e-01 1.88286405e-01 3.42842845e-02 2.89099372e+02] [-1.88147258e-01 9.82113925e-01 -7.26970848e-03 -4.97425140e+01] [-3.50398604e-02 6.84837967e-04 9.99385681e-01 -1.28332903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01587156 meters 0.025094897364508643 Centerline is valid? [True, True] Translation: X:289.13, Y:-49.75, Z:-12.83 [[ 9.81710424e-01 1.87309246e-01 3.40571486e-02 2.89127552e+02] [-1.87171426e-01 9.82300737e-01 -7.21934325e-03 -4.97483582e+01] [-3.48066119e-02 7.12779466e-04 9.99393812e-01 -1.28332622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04587156 meters 0.026263991495560683 Centerline is valid? [True, True] Translation: X:289.15, Y:-49.76, Z:-12.84 [[ 9.81855078e-01 1.86533117e-01 3.41467635e-02 2.89153863e+02] [-1.86394156e-01 9.82448394e-01 -7.23677575e-03 -4.97563458e+01] [-3.48973314e-02 7.40707858e-04 9.99390628e-01 -1.28351195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07587156 meters 0.02486452677649398 Centerline is valid? [True, True] Translation: X:289.18, Y:-49.76, Z:-12.83 [[ 9.81902221e-01 1.86188110e-01 3.46701065e-02 2.89182982e+02] [-1.86044729e-01 9.82513820e-01 -7.34519253e-03 -4.97623877e+01] [-3.54314463e-02 7.62070304e-04 9.99371819e-01 -1.28344300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10587156 meters 0.02487524572009897 Centerline is valid? [True, True] Translation: X:289.21, Y:-49.77, Z:-12.84 [[ 9.81857883e-01 1.86412642e-01 3.47192302e-02 2.89210822e+02] [-1.86269026e-01 9.82471251e-01 -7.35471154e-03 -4.97687419e+01] [-3.54816567e-02 7.54164311e-04 9.99370043e-01 -1.28358179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13587156 meters 0.025417372897185184 Centerline is valid? [True, True] Translation: X:289.24, Y:-49.78, Z:-12.84 [[ 9.81694206e-01 1.87302911e-01 3.45558279e-02 2.89238430e+02] [-1.87161220e-01 9.82301941e-01 -7.31939582e-03 -4.97769539e+01] [-3.53152010e-02 7.17897539e-04 9.99375966e-01 -1.28382587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16587156 meters 0.0286048867284361 Centerline is valid? [True, True] Translation: X:289.27, Y:-49.78, Z:-12.84 [[ 9.81569081e-01 1.87998073e-01 3.43345946e-02 2.89266649e+02] [-1.87858657e-01 9.82169157e-01 -7.27138187e-03 -4.97832389e+01] [-3.50893856e-02 6.87312794e-04 9.99383942e-01 -1.28393102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19587156 meters 0.029670702513093252 Centerline is valid? [True, True] Translation: X:289.29, Y:-49.79, Z:-12.84 [[ 9.81444362e-01 1.88713647e-01 3.39723958e-02 2.89294210e+02] [-1.88577643e-01 9.82031941e-01 -7.19303661e-03 -4.97894931e+01] [-3.47194019e-02 6.53130899e-04 9.99396886e-01 -1.28419590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22587156000003 meters 0.02295351092040302 Centerline is valid? [True, True] Translation: X:289.32, Y:-49.79, Z:-12.84 [[ 9.81181981e-01 1.90139935e-01 3.35964951e-02 2.89322911e+02] [-1.90007816e-01 9.81756819e-01 -7.11183530e-03 -4.97940241e+01] [-3.43358321e-02 5.94408002e-04 9.99410175e-01 -1.28446082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25587156 meters 0.021079847455966843 Centerline is valid? [True, True] Translation: X:289.35, Y:-49.80, Z:-12.85 [[ 9.81031850e-01 1.90937764e-01 3.34556446e-02 2.89351689e+02] [-1.90807269e-01 9.81601983e-01 -7.08043037e-03 -4.97986810e+01] [-3.41920486e-02 5.62547541e-04 9.99415123e-01 -1.28454365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28587156000003 meters 0.02226127456514203 Centerline is valid? [True, True] Translation: X:289.38, Y:-49.81, Z:-12.85 [[ 9.80804930e-01 1.92135381e-01 3.32518314e-02 2.89378421e+02] [-1.92007209e-01 9.81368294e-01 -7.03580661e-03 -4.98067983e+01] [-3.39841204e-02 5.16162458e-04 9.99422240e-01 -1.28491622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31587156 meters 0.017758584083637684 Centerline is valid? [True, True] Translation: X:289.41, Y:-49.81, Z:-12.85 [[ 9.80223376e-01 1.95078444e-01 3.32646119e-02 2.89408363e+02] [-1.94951945e-01 9.80787556e-01 -7.03621952e-03 -4.98063684e+01] [-3.39981322e-02 4.12066063e-04 9.99421811e-01 -1.28486441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34587156000003 meters 0.016399937566892467 Centerline is valid? [True, True] Translation: X:289.44, Y:-49.81, Z:-12.85 [[ 9.79886611e-01 1.96796937e-01 3.30634936e-02 2.89437464e+02] [-1.96672995e-01 9.80444208e-01 -6.99205129e-03 -4.98095711e+01] [-3.37929250e-02 3.48721134e-04 9.99428795e-01 -1.28499025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37587156 meters 0.015084535403687961 Centerline is valid? [True, True] Translation: X:289.47, Y:-49.81, Z:-12.85 [[ 9.79533412e-01 1.98510613e-01 3.32841090e-02 2.89465913e+02] [-1.98386057e-01 9.80098695e-01 -7.03702589e-03 -4.98133551e+01] [-3.40186361e-02 2.89898838e-04 9.99421157e-01 -1.28508817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40587156 meters 0.013825013900920302 Centerline is valid? [True, True] Translation: X:289.49, Y:-49.82, Z:-12.85 [[ 9.79139391e-01 2.00386335e-01 3.36358366e-02 2.89494280e+02] [-2.00260297e-01 9.79716932e-01 -7.10967777e-03 -4.98173618e+01] [-3.43782809e-02 2.25442954e-04 9.99408867e-01 -1.28519680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43587156 meters 0.012647635060410996 Centerline is valid? [True, True] Translation: X:289.52, Y:-49.82, Z:-12.85 [[ 9.78492528e-01 2.03528184e-01 3.35953909e-02 2.89522530e+02] [-2.03404357e-01 9.79069081e-01 -7.09944588e-03 -4.98202337e+01] [-3.43371458e-02 1.13305871e-04 9.99410300e-01 -1.28539211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46587156 meters 0.012293094187787472 Centerline is valid? [True, True] Translation: X:289.55, Y:-49.82, Z:-12.85 [[ 9.78241875e-01 2.04728865e-01 3.35994996e-02 2.89549944e+02] [-2.04605769e-01 9.78818720e-01 -7.09875688e-03 -4.98241044e+01] [-3.43411397e-02 6.96497772e-05 9.99410167e-01 -1.28549858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49587156 meters 0.011940981334834424 Centerline is valid? [True, True] Translation: X:289.58, Y:-49.83, Z:-12.86 [[ 9.77872185e-01 2.06381894e-01 3.42418419e-02 2.89577650e+02] [-2.06255133e-01 9.78471519e-01 -7.23231264e-03 -4.98267665e+01] [-3.49972855e-02 9.72169572e-06 9.99387407e-01 -1.28559757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52587156 meters 0.024374337695664616 Centerline is valid? [True, True] Translation: X:289.61, Y:-49.83, Z:-12.85 [[ 9.77872260e-01 2.06396894e-01 3.41491539e-02 2.89605213e+02] [-2.06270894e-01 9.78468355e-01 -7.21083203e-03 -4.98331433e+01] [-3.49021598e-02 7.29611638e-06 9.99390734e-01 -1.28543036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55587156 meters 0.01224381487843293 Centerline is valid? [True, True] Translation: X:289.63, Y:-49.84, Z:-12.86 [[ 9.78059085e-01 2.05554803e-01 3.38769679e-02 2.89632224e+02] [-2.05430389e-01 9.78645606e-01 -7.15075904e-03 -4.98403869e+01] [-3.46234187e-02 3.45061290e-05 9.99400429e-01 -1.28598919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58587156 meters 0.012202153960650716 Centerline is valid? [True, True] Translation: X:289.66, Y:-49.85, Z:-12.86 [[ 9.78227898e-01 2.04811315e-01 3.35038165e-02 2.89660101e+02] [-2.04689287e-01 9.78801472e-01 -7.06921253e-03 -4.98469803e+01] [-3.42414396e-02 5.74286021e-05 9.99413588e-01 -1.28607403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61587156 meters 0.012595542042838012 Centerline is valid? [True, True] Translation: X:289.69, Y:-49.85, Z:-12.86 [[ 9.78378854e-01 2.04080766e-01 3.35538204e-02 2.89686187e+02] [-2.03957988e-01 9.78954051e-01 -7.07848420e-03 -4.98537037e+01] [-3.42922309e-02 8.18695739e-05 9.99411845e-01 -1.28631270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64587156 meters 0.012685059812127036 Centerline is valid? [True, True] Translation: X:289.71, Y:-49.86, Z:-12.86 [[ 9.78530660e-01 2.03333199e-01 3.36653668e-02 2.89713071e+02] [-2.03209265e-01 9.79109595e-01 -7.09896696e-03 -4.98609543e+01] [-3.44055393e-02 1.05442381e-04 9.99407949e-01 -1.28635359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67587156 meters 0.01341643941503677 Centerline is valid? [True, True] Translation: X:289.74, Y:-49.87, Z:-12.86 [[ 9.78865054e-01 2.01710033e-01 3.37085776e-02 2.89739540e+02] [-2.01584907e-01 9.79445270e-01 -7.10551800e-03 -4.98703585e+01] [-3.44489611e-02 1.60202806e-04 9.99406446e-01 -1.28647069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70587156 meters 0.013694801581573131 Centerline is valid? [True, True] Translation: X:289.77, Y:-49.88, Z:-12.87 [[ 9.79060160e-01 2.00788156e-01 3.35457827e-02 2.89767342e+02] [-2.00663767e-01 9.79634667e-01 -7.06909492e-03 -4.98769924e+01] [-3.42820022e-02 1.89646072e-04 9.99412181e-01 -1.28650520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73587156 meters 0.01372944179220621 Centerline is valid? [True, True] Translation: X:289.80, Y:-49.88, Z:-12.87 [[ 9.79217244e-01 1.99966941e-01 3.38646138e-02 2.89795574e+02] [-1.99839742e-01 9.79802620e-01 -7.13462436e-03 -4.98834677e+01] [-3.46073263e-02 2.18851501e-04 9.99400963e-01 -1.28654142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76587156 meters 0.014595789537794328 Centerline is valid? [True, True] Translation: X:289.82, Y:-49.89, Z:-12.87 [[ 9.79443468e-01 1.98823127e-01 3.40566677e-02 2.89822475e+02] [-1.98693843e-01 9.80035355e-01 -7.17354217e-03 -4.98914906e+01] [-3.48030045e-02 2.59228826e-04 9.99394158e-01 -1.28668303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79587156 meters 0.014949893958551366 Centerline is valid? [True, True] Translation: X:289.85, Y:-49.90, Z:-12.87 [[ 9.79560375e-01 1.98233719e-01 3.41301078e-02 2.89850762e+02] [-1.98103608e-01 9.80154740e-01 -7.18648260e-03 -4.98985797e+01] [-3.48773901e-02 2.78296095e-04 9.99391560e-01 -1.28681736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82587156 meters 0.015565137158193887 Centerline is valid? [True, True] Translation: X:289.88, Y:-49.91, Z:-12.87 [[ 9.79843128e-01 1.97000579e-01 3.31393423e-02 2.89878200e+02] [-1.96877262e-01 9.80403323e-01 -6.97631726e-03 -4.99059515e+01] [-3.38642598e-02 3.11313555e-04 9.99426393e-01 -1.28697886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85587156 meters 0.016247732883458772 Centerline is valid? [True, True] Translation: X:289.90, Y:-49.91, Z:-12.87 [[ 9.79986340e-01 1.96286693e-01 3.31407169e-02 2.89904703e+02] [-1.96163007e-01 9.80546492e-01 -6.97513128e-03 -4.99131600e+01] [-3.38651391e-02 3.34550696e-04 9.99426356e-01 -1.28716009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88587156 meters 0.016247732883458772 Centerline is valid? [True, True] Translation: X:289.93, Y:-49.92, Z:-12.87 [[ 9.79995635e-01 1.96240198e-01 3.31412132e-02 2.89932417e+02] [-1.96116565e-01 9.80555798e-01 -6.97277233e-03 -4.99189021e+01] [-3.38651470e-02 3.33745550e-04 9.99426356e-01 -1.28728769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91587156 meters 0.020462546463008862 Centerline is valid? [True, True] Translation: X:289.96, Y:-49.93, Z:-12.87 [[ 9.80199269e-01 1.95259137e-01 3.29129637e-02 2.89960273e+02] [-1.95136703e-01 9.80751618e-01 -6.92313670e-03 -4.99265104e+01] [-3.36312481e-02 3.63526299e-04 9.99434243e-01 -1.28736212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94587156 meters 0.01914937530188374 Centerline is valid? [True, True] Translation: X:289.99, Y:-49.94, Z:-12.88 [[ 9.80533024e-01 1.93594340e-01 3.28057915e-02 2.89986725e+02] [-1.93471820e-01 9.81081575e-01 -6.89911170e-03 -4.99368719e+01] [-3.35207866e-02 4.17810663e-04 9.99437933e-01 -1.28769980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97587156000003 meters 0.025566960108970315 Centerline is valid? [True, True] Translation: X:290.01, Y:-49.94, Z:-12.88 [[ 9.80733768e-01 1.92558302e-01 3.29025186e-02 2.90014512e+02] [-1.92434549e-01 9.81285430e-01 -6.91727102e-03 -4.99444820e+01] [-3.36187401e-02 4.52419928e-04 9.99434628e-01 -1.28764589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00587156 meters 0.020272646223032043 Centerline is valid? [True, True] Translation: X:290.04, Y:-49.95, Z:-12.88 [[ 9.81082018e-01 1.90681404e-01 3.34466190e-02 2.90043469e+02] [-1.90552498e-01 9.81651837e-01 -7.02976163e-03 -4.99529681e+01] [-3.41733798e-02 5.23435933e-04 9.99415782e-01 -1.28769995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03587156000003 meters 0.020610276494276845 Centerline is valid? [True, True] Translation: X:290.07, Y:-49.96, Z:-12.88 [[ 9.81248286e-01 1.89822308e-01 3.34558429e-02 2.90072679e+02] [-1.89692860e-01 9.81818306e-01 -7.03086368e-03 -4.99601188e+01] [-3.41821738e-02 5.52688414e-04 9.99415466e-01 -1.28779482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06587156 meters 0.02123604266130535 Centerline is valid? [True, True] Translation: X:290.10, Y:-49.97, Z:-12.88 [[ 9.81425893e-01 1.88921211e-01 3.33465431e-02 2.90101246e+02] [-1.88792116e-01 9.81992076e-01 -7.00705432e-03 -4.99673500e+01] [-3.40698223e-02 5.81340120e-04 9.99419286e-01 -1.28788923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09587156000003 meters 0.02365803397767004 Centerline is valid? [True, True] Translation: X:290.13, Y:-49.98, Z:-12.88 [[ 9.81757740e-01 1.87150748e-01 3.35609549e-02 2.90129281e+02] [-1.87018987e-01 9.82330993e-01 -7.05111696e-03 -4.99789521e+01] [-3.42875879e-02 6.45952868e-04 9.99411799e-01 -1.28811521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12587156 meters 0.02400850497785585 Centerline is valid? [True, True] Translation: X:290.16, Y:-49.99, Z:-12.88 [[ 9.81913060e-01 1.86339307e-01 3.35321576e-02 2.90158760e+02] [-1.86207318e-01 9.82485221e-01 -7.04451135e-03 -4.99871082e+01] [-3.42575187e-02 6.73164541e-04 9.99412812e-01 -1.28818119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15587156 meters 0.030076808321840235 Centerline is valid? [True, True] Translation: X:290.19, Y:-50.00, Z:-12.88 [[ 9.81990101e-01 1.85887946e-01 3.37803802e-02 2.90186148e+02] [-1.85753732e-01 9.82570705e-01 -7.09654516e-03 -4.99981803e+01] [-3.45107742e-02 6.93905412e-04 9.99404085e-01 -1.28833464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18587156 meters 0.026660340147005857 Centerline is valid? [True, True] Translation: X:290.22, Y:-50.01, Z:-12.89 [[ 9.82119785e-01 1.85235638e-01 3.35929478e-02 2.90215470e+02] [-1.85102512e-01 9.82693874e-01 -7.05765235e-03 -5.00071062e+01] [-3.43189127e-02 7.13320998e-04 9.99410678e-01 -1.28850964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21587156 meters 0.02578523745452944 Centerline is valid? [True, True] Translation: X:290.25, Y:-50.01, Z:-12.89 [[ 9.82099955e-01 1.85380764e-01 3.33714169e-02 2.90245577e+02] [-1.85249472e-01 9.82666514e-01 -7.01111021e-03 -5.00131848e+01] [-3.40926989e-02 7.03573660e-04 9.99418427e-01 -1.28854588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24587156 meters 0.02572497863406321 Centerline is valid? [True, True] Translation: X:290.27, Y:-50.02, Z:-12.89 [[ 9.81983274e-01 1.86000791e-01 3.33549834e-02 2.90273559e+02] [-1.85869992e-01 9.82549358e-01 -7.00749451e-03 -5.00214276e+01] [-3.40763170e-02 6.81551905e-04 9.99419001e-01 -1.28872772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27587156 meters 0.026039941995810615 Centerline is valid? [True, True] Translation: X:290.30, Y:-50.03, Z:-12.89 [[ 9.81945717e-01 1.86219408e-01 3.32406640e-02 2.90301705e+02] [-1.86089601e-01 9.82507954e-01 -6.98427912e-03 -5.00286465e+01] [-3.39598251e-02 6.72441054e-04 9.99422973e-01 -1.28888200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30587156 meters 0.026055606288326816 Centerline is valid? [True, True] Translation: X:290.33, Y:-50.04, Z:-12.89 [[ 9.81905888e-01 1.86424271e-01 3.32688880e-02 2.90331016e+02] [-1.86294380e-01 9.82469108e-01 -6.98966704e-03 -5.00362912e+01] [-3.39886983e-02 6.65388370e-04 9.99421996e-01 -1.28905971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33587156 meters 0.025433050059084483 Centerline is valid? [True, True] Translation: X:290.36, Y:-50.05, Z:-12.89 [[ 9.81786304e-01 1.86974354e-01 3.37082230e-02 2.90360274e+02] [-1.86841332e-01 9.82364577e-01 -7.08196966e-03 -5.00466043e+01] [-3.44379109e-02 6.54891521e-04 9.99406625e-01 -1.28914517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36587156 meters 0.02525459076429329 Centerline is valid? [True, True] Translation: X:290.39, Y:-50.05, Z:-12.89 [[ 9.81654024e-01 1.87549776e-01 3.43577952e-02 2.90390052e+02] [-1.87411933e-01 9.82254887e-01 -7.21832565e-03 -5.00543749e+01] [-3.51019076e-02 6.46837592e-04 9.99383529e-01 -1.28919164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39587156 meters 0.02991350679476256 Centerline is valid? [True, True] Translation: X:290.42, Y:-50.06, Z:-12.89 [[ 9.81578883e-01 1.87897989e-01 3.46011936e-02 2.90421020e+02] [-1.87758391e-01 9.82188341e-01 -7.26975802e-03 -5.00590825e+01] [-3.53508618e-02 6.39176513e-04 9.99374759e-01 -1.28903484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42587156 meters 0.02108300290353823 Centerline is valid? [True, True] Translation: X:290.45, Y:-50.06, Z:-12.89 [[ 9.81064975e-01 1.90547872e-01 3.46846311e-02 2.90451701e+02] [-1.90409223e-01 9.81677753e-01 -7.28815898e-03 -5.00643754e+01] [-3.54378739e-02 5.45883861e-04 9.99371732e-01 -1.28926639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45587156 meters 0.027814612115202277 Centerline is valid? [True, True] Translation: X:290.48, Y:-50.07, Z:-12.89 [[ 9.80866537e-01 1.91627327e-01 3.43482908e-02 2.90481068e+02] [-1.91491982e-01 9.81467633e-01 -7.21845753e-03 -5.00717814e+01] [-3.50949894e-02 5.02921170e-04 9.99383855e-01 -1.28947642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48587156 meters 0.017463801578665093 Centerline is valid? [True, True] Translation: X:290.51, Y:-50.08, Z:-12.90 [[ 9.80019668e-01 1.95992765e-01 3.38863873e-02 2.90511055e+02] [-1.95863624e-01 9.80605282e-01 -7.12192860e-03 -5.00755727e+01] [-3.46250169e-02 3.42519473e-04 9.99400316e-01 -1.28975994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51587156 meters 0.01601720876534054 Centerline is valid? [True, True] Translation: X:290.54, Y:-50.08, Z:-12.90 [[ 9.79558307e-01 1.98352850e-01 3.34913523e-02 2.90539656e+02] [-1.98228074e-01 9.80130645e-01 -7.03913297e-03 -5.00789905e+01] [-3.42221329e-02 2.56314913e-04 9.99414218e-01 -1.28992345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54587156 meters 0.014782980156443921 Centerline is valid? [True, True] Translation: X:290.57, Y:-50.08, Z:-12.90 [[ 9.79115733e-01 2.00509549e-01 3.35902024e-02 2.90567397e+02] [-2.00385314e-01 9.79691731e-01 -7.05959348e-03 -5.00817869e+01] [-3.43235594e-02 1.81175782e-04 9.99410757e-01 -1.29006586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57587156 meters 0.014043238654974944 Centerline is valid? [True, True] Translation: X:290.60, Y:-50.09, Z:-12.90 [[ 9.78708647e-01 2.02453145e-01 3.37950960e-02 2.90596243e+02] [-2.02328624e-01 9.79291944e-01 -7.10044084e-03 -5.00853116e+01] [-3.45327718e-02 1.11547569e-04 9.99403560e-01 -1.29019418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60587156 meters 0.015840961595124332 Centerline is valid? [True, True] Translation: X:290.63, Y:-50.09, Z:-12.90 [[ 9.78369412e-01 2.04048985e-01 3.40192012e-02 2.90625243e+02] [-2.03923829e-01 9.78960678e-01 -7.14585314e-03 -5.00891508e+01] [-3.47615644e-02 5.39583599e-05 9.99395633e-01 -1.29023091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63587156 meters 0.013712368169919642 Centerline is valid? [True, True] Translation: X:290.65, Y:-50.09, Z:-12.90 [[ 9.77753294e-01 2.06937008e-01 3.42865979e-02 2.90653110e+02] [-2.06811705e-01 9.78354267e-01 -7.20043359e-03 -5.00909786e+01] [-3.50344755e-02 -5.06221104e-05 9.99386103e-01 -1.29049327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66587156 meters 0.013591586860014448 Centerline is valid? [True, True] Translation: X:290.68, Y:-50.10, Z:-12.90 [[ 9.77549914e-01 2.07892712e-01 3.43042999e-02 2.90681632e+02] [-2.07767946e-01 9.78151631e-01 -7.20195192e-03 -5.00961101e+01] [-3.50520402e-02 -8.70664259e-05 9.99385485e-01 -1.29044746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69587156 meters 0.016246042877385725 Centerline is valid? [True, True] Translation: X:290.71, Y:-50.10, Z:-12.91 [[ 9.77305490e-01 2.09104937e-01 3.38984528e-02 2.90708974e+02] [-2.08983889e-01 9.77893199e-01 -7.11518410e-03 -5.01010180e+01] [-3.46368866e-02 -1.30522025e-04 9.99399955e-01 -1.29060933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72587156000003 meters 0.014480149709770329 Centerline is valid? [True, True] Translation: X:290.74, Y:-50.11, Z:-12.91 [[ 9.77138633e-01 2.09928914e-01 3.36146119e-02 2.90736096e+02] [-2.09810445e-01 9.77716638e-01 -7.05350499e-03 -5.01057800e+01] [-3.43463000e-02 -1.60444464e-04 9.99409979e-01 -1.29084199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75587156 meters 0.0246096699237843 Centerline is valid? [True, True] Translation: X:290.76, Y:-50.11, Z:-12.91 [[ 9.77056237e-01 2.10370682e-01 3.32458342e-02 2.90764767e+02] [-2.10255128e-01 9.77621678e-01 -6.97395560e-03 -5.01105511e+01] [-3.39689640e-02 -1.76160322e-04 9.99422873e-01 -1.29080489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78587156000003 meters 0.015464743344085322 Centerline is valid? [True, True] Translation: X:290.79, Y:-50.11, Z:-12.91 [[ 9.76773076e-01 2.11703217e-01 3.31074866e-02 2.90793567e+02] [-2.11589445e-01 9.77333975e-01 -6.94324410e-03 -5.01144260e+01] [-3.38269786e-02 -2.23220829e-04 9.99427679e-01 -1.29116488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81587156 meters 0.01617591298156952 Centerline is valid? [True, True] Translation: X:290.82, Y:-50.12, Z:-12.91 [[ 9.76664236e-01 2.12215498e-01 3.30386506e-02 2.90820778e+02] [-2.12102544e-01 9.77222863e-01 -6.92725578e-03 -5.01189497e+01] [-3.37561958e-02 -2.41978893e-04 9.99430068e-01 -1.29133908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84587156000003 meters 0.017250160365205665 Centerline is valid? [True, True] Translation: X:290.85, Y:-50.12, Z:-12.92 [[ 9.76534760e-01 2.12728918e-01 3.35599549e-02 2.90848525e+02] [-2.12612749e-01 9.77111220e-01 -7.03437358e-03 -5.01221691e+01] [-3.42882231e-02 -2.65963931e-04 9.99411951e-01 -1.29162122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87587156 meters 0.01615763362926019 Centerline is valid? [True, True] Translation: X:290.88, Y:-50.13, Z:-12.92 [[ 9.76540897e-01 2.12735708e-01 3.33375806e-02 2.90876870e+02] [-2.12621152e-01 9.77109742e-01 -6.98558803e-03 -5.01298192e+01] [-3.40605588e-02 -2.66562401e-04 9.99419735e-01 -1.29159526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90587156 meters 0.016468527341571247 Centerline is valid? [True, True] Translation: X:290.90, Y:-50.14, Z:-12.92 [[ 9.76617772e-01 2.12407116e-01 3.31804905e-02 2.90904094e+02] [-2.12293499e-01 9.77181228e-01 -6.95113746e-03 -5.01359395e+01] [-3.38998235e-02 -2.55398049e-04 9.99425203e-01 -1.29182904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93587156 meters 0.021215660967997672 Centerline is valid? [True, True] Translation: X:290.93, Y:-50.14, Z:-12.92 [[ 9.76780388e-01 2.11637835e-01 3.33091638e-02 2.90932331e+02] [-2.11522965e-01 9.77348133e-01 -6.97582669e-03 -5.01430211e+01] [-3.40309979e-02 -2.31802381e-04 9.99420751e-01 -1.29185290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96587156 meters 0.01551296908487873 Centerline is valid? [True, True] Translation: X:290.96, Y:-50.15, Z:-12.92 [[ 9.76993941e-01 2.10593177e-01 3.36653053e-02 2.90959709e+02] [-2.10475274e-01 9.77573769e-01 -7.04873379e-03 -5.01519686e+01] [-3.43947347e-02 -1.99144157e-04 9.99408306e-01 -1.29199410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99587156 meters 0.015302319938517009 Centerline is valid? [True, True] Translation: X:290.99, Y:-50.16, Z:-12.92 [[ 9.77124424e-01 2.09988256e-01 3.36569843e-02 2.90986891e+02] [-2.09870106e-01 9.77703892e-01 -7.04544260e-03 -5.01581055e+01] [-3.43860248e-02 -1.79320828e-04 9.99408610e-01 -1.29210250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02587156 meters 0.014512770172971146 Centerline is valid? [True, True] Translation: X:291.01, Y:-50.17, Z:-12.92 [[ 9.77318688e-01 2.09020972e-01 3.40355049e-02 2.91014434e+02] [-2.08899641e-01 9.77911147e-01 -7.12242600e-03 -5.01653970e+01] [-3.47724361e-02 -1.49124750e-04 9.99395245e-01 -1.29208853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05587156 meters 0.014456743642021016 Centerline is valid? [True, True] Translation: X:291.04, Y:-50.17, Z:-12.92 [[ 9.77362369e-01 2.08743339e-01 3.44821457e-02 2.91042017e+02] [-2.08618687e-01 9.77970448e-01 -7.21424829e-03 -5.01712991e+01] [-3.52284458e-02 -1.42685177e-04 9.99379275e-01 -1.29220972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08587156 meters 0.014146956541291271 Centerline is valid? [True, True] Translation: X:291.07, Y:-50.18, Z:-12.92 [[ 9.77435394e-01 2.08365432e-01 3.46972389e-02 2.91069849e+02] [-2.08239062e-01 9.78051036e-01 -7.25696718e-03 -5.01784220e+01] [-3.54477716e-02 -1.32103922e-04 9.99371522e-01 -1.29219459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11587156 meters 0.014435132929998307 Centerline is valid? [True, True] Translation: X:291.10, Y:-50.19, Z:-12.92 [[ 9.77529702e-01 2.07950292e-01 3.45305382e-02 2.91096743e+02] [-2.07824932e-01 9.78139388e-01 -7.22047331e-03 -5.01853132e+01] [-3.52771790e-02 -1.18079650e-04 9.99377560e-01 -1.29249335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14587156 meters 0.014405121309745507 Centerline is valid? [True, True] Translation: X:291.12, Y:-50.19, Z:-12.93 [[ 9.77566735e-01 2.07798223e-01 3.43973296e-02 2.91124495e+02] [-2.07673817e-01 9.78171705e-01 -7.19029873e-03 -5.01917599e+01] [-3.51406259e-02 -1.14427883e-04 9.99382371e-01 -1.29264088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17587156 meters 0.014396521630783216 Centerline is valid? [True, True] Translation: X:291.15, Y:-50.20, Z:-12.93 [[ 9.77559476e-01 2.07824563e-01 3.44444664e-02 2.91152808e+02] [-2.07699891e-01 9.78166109e-01 -7.19846840e-03 -5.01978611e+01] [-3.51884282e-02 -1.17180908e-04 9.99380689e-01 -1.29278212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20587156 meters 0.014640716391259181 Centerline is valid? [True, True] Translation: X:291.18, Y:-50.20, Z:-12.93 [[ 9.77535874e-01 2.08015274e-01 3.39596967e-02 2.91180240e+02] [-2.07894253e-01 9.78125570e-01 -7.09570659e-03 -5.02026565e+01] [-3.46928630e-02 -1.23718030e-04 9.99398014e-01 -1.29303305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23587156 meters 0.014762379327991463 Centerline is valid? [True, True] Translation: X:291.21, Y:-50.21, Z:-12.93 [[ 9.77544743e-01 2.08076580e-01 3.33228418e-02 2.91208663e+02] [-2.07960172e-01 9.78112530e-01 -6.96028303e-03 -5.02087123e+01] [-3.40417609e-02 -1.25835829e-04 9.99420403e-01 -1.29326174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26587156 meters 0.015103956551105491 Centerline is valid? [True, True] Translation: X:291.24, Y:-50.21, Z:-12.94 [[ 9.77542746e-01 2.08139526e-01 3.29866278e-02 2.91236049e+02] [-2.08025542e-01 9.78099137e-01 -6.88859794e-03 -5.02143191e+01] [-3.36979817e-02 -1.28162167e-04 9.99432054e-01 -1.29358746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29587156 meters 0.014753933452799878 Centerline is valid? [True, True] Translation: X:291.26, Y:-50.22, Z:-12.94 [[ 9.77532678e-01 2.08235825e-01 3.26757353e-02 2.91263631e+02] [-2.08124103e-01 9.78078639e-01 -6.82159066e-03 -5.02212397e+01] [-3.33799382e-02 -1.32280305e-04 9.99442726e-01 -1.29355141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32587156 meters 0.015378375275385712 Centerline is valid? [True, True] Translation: X:291.29, Y:-50.23, Z:-12.94 [[ 9.77377872e-01 2.08867529e-01 3.32693666e-02 2.91290820e+02] [-2.08752130e-01 9.77943930e-01 -6.94391016e-03 -5.02255186e+01] [-3.39859325e-02 -1.58226992e-04 9.99422299e-01 -1.29381940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35587156 meters 0.015260368905721503 Centerline is valid? [True, True] Translation: X:291.32, Y:-50.23, Z:-12.94 [[ 9.77215265e-01 2.09577222e-01 3.35814402e-02 2.91319163e+02] [-2.09460145e-01 9.77792081e-01 -7.00674092e-03 -5.02304928e+01] [-3.43041196e-02 -1.86879149e-04 9.99411423e-01 -1.29374205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38587156 meters 0.015766108809202 Centerline is valid? [True, True] Translation: X:291.35, Y:-50.23, Z:-12.94 [[ 9.76923535e-01 2.10887060e-01 3.38682023e-02 2.91347472e+02] [-2.10768825e-01 9.77510405e-01 -7.06473951e-03 -5.02341394e+01] [-3.45963823e-02 -2.36650916e-04 9.99401338e-01 -1.29375343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41587156 meters 0.016430230304653362 Centerline is valid? [True, True] Translation: X:291.37, Y:-50.24, Z:-12.94 [[ 9.76788111e-01 2.11513267e-01 3.38692165e-02 2.91374632e+02] [-2.11395437e-01 9.77375092e-01 -7.06392090e-03 -5.02379406e+01] [-3.45970416e-02 -2.59843867e-04 9.99401309e-01 -1.29394344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44587156 meters 0.01742659617311825 Centerline is valid? [True, True] Translation: X:291.40, Y:-50.24, Z:-12.94 [[ 9.76637363e-01 2.12200832e-01 3.39156061e-02 2.91401964e+02] [-2.12083167e-01 9.77226036e-01 -7.07147789e-03 -5.02412878e+01] [-3.46437868e-02 -2.86659625e-04 9.99399683e-01 -1.29420084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47587156000003 meters 0.018284398890998574 Centerline is valid? [True, True] Translation: X:291.43, Y:-50.24, Z:-12.94 [[ 9.76351154e-01 2.13557185e-01 3.36415308e-02 2.91430223e+02] [-2.13442298e-01 9.76930508e-01 -7.01202750e-03 -5.02442986e+01] [-3.43629066e-02 -3.34324512e-04 9.99409365e-01 -1.29430829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50587156 meters 0.01949677446201753 Centerline is valid? [True, True] Translation: X:291.46, Y:-50.25, Z:-12.95 [[ 9.76272573e-01 2.14014222e-01 3.30117663e-02 2.91458240e+02] [-2.13903925e-01 9.76830483e-01 -6.87879158e-03 -5.02470512e+01] [-3.37190589e-02 -3.45770817e-04 9.99431291e-01 -1.29463521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53587156000003 meters 0.019301554262763074 Centerline is valid? [True, True] Translation: X:291.49, Y:-50.25, Z:-12.95 [[ 9.76156478e-01 2.14603357e-01 3.26179186e-02 2.91487158e+02] [-2.14496075e-01 9.76701217e-01 -6.79464081e-03 -5.02512115e+01] [-3.33161135e-02 -3.63782865e-04 9.99444798e-01 -1.29471217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56587156 meters 0.01934147043393122 Centerline is valid? [True, True] Translation: X:291.52, Y:-50.26, Z:-12.95 [[ 9.76159427e-01 2.14594167e-01 3.25901349e-02 2.91515122e+02] [-2.14487106e-01 9.76703236e-01 -6.78753625e-03 -5.02558645e+01] [-3.32874559e-02 -3.64446243e-04 9.99445753e-01 -1.29483589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59587156000003 meters 0.019429037680916257 Centerline is valid? [True, True] Translation: X:291.54, Y:-50.26, Z:-12.95 [[ 9.76202209e-01 2.14420970e-01 3.24483319e-02 2.91542555e+02] [-2.14314827e-01 9.76741275e-01 -6.75547006e-03 -5.02607744e+01] [-3.31421395e-02 -3.59453851e-04 9.99450584e-01 -1.29501402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62587156 meters 0.01907622872489823 Centerline is valid? [True, True] Translation: X:291.57, Y:-50.27, Z:-12.95 [[ 9.76316044e-01 2.13906558e-01 3.24186250e-02 2.91571115e+02] [-2.13800396e-01 9.76854066e-01 -6.74715238e-03 -5.02664764e+01] [-3.31115257e-02 -3.43761742e-04 9.99451604e-01 -1.29513703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65587156000004 meters 0.01759243948544741 Centerline is valid? [True, True] Translation: X:291.60, Y:-50.27, Z:-12.95 [[ 9.76547715e-01 2.12794746e-01 3.27560012e-02 2.91599784e+02] [-2.12685791e-01 9.77096873e-01 -6.81577445e-03 -5.02725889e+01] [-3.34561473e-02 -3.10807065e-04 9.99440138e-01 -1.29505102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68587156 meters 0.016979487026622518 Centerline is valid? [True, True] Translation: X:291.63, Y:-50.28, Z:-12.95 [[ 9.76701841e-01 2.12074359e-01 3.28326191e-02 2.91627978e+02] [-2.11964542e-01 9.77253490e-01 -6.83005918e-03 -5.02781736e+01] [-3.35342720e-02 -2.88419714e-04 9.99437527e-01 -1.29518560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71587156 meters 0.01611421857083657 Centerline is valid? [True, True] Translation: X:291.66, Y:-50.28, Z:-12.95 [[ 9.77109421e-01 2.10224207e-01 3.26031036e-02 2.91655496e+02] [-2.10114945e-01 9.77653176e-01 -6.78068506e-03 -5.02845788e+01] [-3.32999919e-02 -2.24928066e-04 9.99445376e-01 -1.29536443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74587156 meters 0.030204904486664776 Centerline is valid? [True, True] Translation: X:291.68, Y:-50.29, Z:-12.95 [[ 9.77403671e-01 2.08829930e-01 3.27433023e-02 2.91684063e+02] [-2.08718999e-01 9.77951956e-01 -6.80819103e-03 -5.02909935e+01] [-3.34431306e-02 -1.79798391e-04 9.99440606e-01 -1.29538977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77587156 meters 0.014945652013389314 Centerline is valid? [True, True] Translation: X:291.71, Y:-50.30, Z:-12.96 [[ 9.77656470e-01 2.07656496e-01 3.26589332e-02 2.91711547e+02] [-2.07545535e-01 9.78201799e-01 -6.78903279e-03 -5.02986673e+01] [-3.33568140e-02 -1.40873941e-04 9.99443497e-01 -1.29565382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80587156 meters 0.01461023680025954 Centerline is valid? [True, True] Translation: X:291.74, Y:-50.31, Z:-12.96 [[ 9.77929158e-01 2.06425463e-01 3.22969218e-02 2.91738466e+02] [-2.06316325e-01 9.78462324e-01 -6.71234740e-03 -5.03051557e+01] [-3.29869205e-02 -9.91819563e-05 9.99455779e-01 -1.29584532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83587156 meters 0.01461023680025954 Centerline is valid? [True, True] Translation: X:291.77, Y:-50.31, Z:-12.96 [[ 9.77938916e-01 2.06379162e-01 3.22973457e-02 2.91766195e+02] [-2.06270067e-01 9.78472090e-01 -6.71030693e-03 -5.03108246e+01] [-3.29869189e-02 -9.97053709e-05 9.99455779e-01 -1.29597291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86587156 meters 0.023177240056792375 Centerline is valid? [True, True] Translation: X:291.79, Y:-50.32, Z:-12.96 [[ 9.78421574e-01 2.04081278e-01 3.22808951e-02 2.91794665e+02] [-2.03971094e-01 9.78953948e-01 -6.70532208e-03 -5.03178671e+01] [-3.29699404e-02 -2.37377073e-05 9.99456343e-01 -1.29585375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89587156 meters 0.014154640369322225 Centerline is valid? [True, True] Translation: X:291.82, Y:-50.32, Z:-12.96 [[ 9.78578905e-01 2.03309077e-01 3.23843605e-02 2.91821671e+02] [-2.03197813e-01 9.79114610e-01 -6.72528334e-03 -5.03242099e+01] [-3.30753116e-02 7.89168979e-07 9.99452862e-01 -1.29620741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92587156 meters 0.014008768063828805 Centerline is valid? [True, True] Translation: X:291.85, Y:-50.33, Z:-12.96 [[ 9.78723966e-01 2.02625902e-01 3.22822123e-02 2.91849918e+02] [-2.02515041e-01 9.79256219e-01 -6.70186097e-03 -5.03308799e+01] [-3.29705278e-02 2.16383951e-05 9.99456324e-01 -1.29628820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95587156 meters 0.014350114675205923 Centerline is valid? [True, True] Translation: X:291.88, Y:-50.34, Z:-12.96 [[ 9.79158462e-01 2.00527030e-01 3.22120654e-02 2.91876839e+02] [-2.00415561e-01 9.79688166e-01 -6.68585739e-03 -5.03386994e+01] [-3.28984744e-02 9.07146792e-05 9.99458695e-01 -1.29649207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98587156 meters 0.014570406870363945 Centerline is valid? [True, True] Translation: X:291.90, Y:-50.35, Z:-12.97 [[ 9.79361282e-01 1.99530884e-01 3.22320708e-02 2.91904714e+02] [-1.99418807e-01 9.79891531e-01 -6.68788562e-03 -5.03455334e+01] [-3.29183729e-02 1.22175128e-04 9.99458036e-01 -1.29658594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01587156 meters 0.015376712550902998 Centerline is valid? [True, True] Translation: X:291.93, Y:-50.35, Z:-12.97 [[ 9.79543495e-01 1.98666450e-01 3.20340897e-02 2.91931496e+02] [-1.98555329e-01 9.80067150e-01 -6.64544128e-03 -5.03529106e+01] [-3.27157852e-02 1.48959545e-04 9.99464684e-01 -1.29689353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04587156 meters 0.015534927051660593 Centerline is valid? [True, True] Translation: X:291.96, Y:-50.36, Z:-12.97 [[ 9.79702269e-01 1.97960155e-01 3.15474271e-02 2.91959097e+02] [-1.97852095e-01 9.80210053e-01 -6.54215618e-03 -5.03607720e+01] [-3.22181915e-02 1.67640713e-04 9.99480845e-01 -1.29708087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07587156 meters 0.015421277120060367 Centerline is valid? [True, True] Translation: X:291.99, Y:-50.37, Z:-12.97 [[ 9.79724885e-01 1.97828919e-01 3.16680940e-02 2.91987305e+02] [-1.97720012e-01 9.80236548e-01 -6.56563068e-03 -5.03666642e+01] [-3.23410947e-02 1.71095848e-04 9.99476875e-01 -1.29712754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10587156 meters 0.01574584924396179 Centerline is valid? [True, True] Translation: X:292.01, Y:-50.37, Z:-12.97 [[ 9.79685800e-01 1.97940376e-01 3.21767210e-02 2.92014823e+02] [-1.97828049e-01 9.80214048e-01 -6.66961667e-03 -5.03723175e+01] [-3.28602604e-02 1.68670782e-04 9.99459942e-01 -1.29732098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13587156 meters 0.014998496471228204 Centerline is valid? [True, True] Translation: X:292.04, Y:-50.38, Z:-12.97 [[ 9.79508813e-01 1.98849678e-01 3.19576324e-02 2.92043959e+02] [-1.98739432e-01 9.80029993e-01 -6.62198474e-03 -5.03763426e+01] [-3.26362178e-02 1.35050687e-04 9.99467288e-01 -1.29735047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16587156 meters 0.018618737886017662 Centerline is valid? [True, True] Translation: X:292.07, Y:-50.38, Z:-12.97 [[ 9.79384907e-01 1.99455866e-01 3.19775027e-02 2.92072327e+02] [-1.99345840e-01 9.79906804e-01 -6.62508147e-03 -5.03815343e+01] [-3.26563838e-02 1.13922684e-04 9.99466632e-01 -1.29739909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19587156 meters 0.014608669752670259 Centerline is valid? [True, True] Translation: X:292.10, Y:-50.39, Z:-12.98 [[ 9.79315518e-01 1.99772868e-01 3.21234632e-02 2.92100583e+02] [-1.99662056e-01 9.79842228e-01 -6.65375465e-03 -5.03880585e+01] [-3.28051653e-02 1.02288473e-04 9.99461760e-01 -1.29753472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22587156000003 meters 0.014662825738327256 Centerline is valid? [True, True] Translation: X:292.13, Y:-50.39, Z:-12.98 [[ 9.79251987e-01 2.00143970e-01 3.17480164e-02 2.92128746e+02] [-2.00035979e-01 9.79766494e-01 -6.57445315e-03 -5.03939663e+01] [-3.24214799e-02 8.73007594e-05 9.99474282e-01 -1.29771074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25587156 meters 0.02711890590886109 Centerline is valid? [True, True] Translation: X:292.16, Y:-50.40, Z:-12.98 [[ 9.79240555e-01 2.00200255e-01 3.17457559e-02 2.92157214e+02] [-2.00092359e-01 9.79754995e-01 -6.57242967e-03 -5.03993177e+01] [-3.24188650e-02 8.39064969e-05 9.99474367e-01 -1.29784471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28587156000003 meters 0.01469623939442827 Centerline is valid? [True, True] Translation: X:292.19, Y:-50.41, Z:-12.98 [[ 9.79246273e-01 2.00219970e-01 3.14435957e-02 2.92185247e+02] [-2.00114178e-01 9.79750967e-01 -6.50835856e-03 -5.04058019e+01] [-3.21099966e-02 8.09765589e-05 9.99484338e-01 -1.29808600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31587156 meters 0.014916182051961768 Centerline is valid? [True, True] Translation: X:292.21, Y:-50.41, Z:-12.98 [[ 9.79301539e-01 2.00032888e-01 3.09085746e-02 2.92212876e+02] [-1.99930620e-01 9.79789180e-01 -6.39615172e-03 -5.04123233e+01] [-3.15633277e-02 8.41907519e-05 9.99501751e-01 -1.29828054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34587156000003 meters 0.015289236241299157 Centerline is valid? [True, True] Translation: X:292.24, Y:-50.42, Z:-12.99 [[ 9.79340944e-01 1.99847105e-01 3.08618058e-02 2.92239034e+02] [-1.99745096e-01 9.79827090e-01 -6.38511815e-03 -5.04207473e+01] [-3.15152807e-02 8.87132882e-05 9.99503266e-01 -1.29854408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37587156 meters 0.015324931912173791 Centerline is valid? [True, True] Translation: X:292.27, Y:-50.43, Z:-12.99 [[ 9.79357010e-01 1.99765689e-01 3.08790717e-02 2.92266524e+02] [-1.99663591e-01 9.79843692e-01 -6.38662546e-03 -5.04278666e+01] [-3.15324923e-02 8.93600625e-05 9.99502723e-01 -1.29859607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40587156000004 meters 0.015265583622134572 Centerline is valid? [True, True] Translation: X:292.29, Y:-50.44, Z:-12.99 [[ 9.79325086e-01 1.99919512e-01 3.08960181e-02 2.92294522e+02] [-1.99817426e-01 9.79812320e-01 -6.38862963e-03 -5.04351040e+01] [-3.15495109e-02 8.29824531e-05 9.99502187e-01 -1.29870963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43587156 meters 0.015364590808995838 Centerline is valid? [True, True] Translation: X:292.32, Y:-50.44, Z:-12.99 [[ 9.79258865e-01 2.00165685e-01 3.13970513e-02 2.92321360e+02] [-2.00060430e-01 9.79762059e-01 -6.49087131e-03 -5.04408149e+01] [-3.20608893e-02 7.49356964e-05 9.99485915e-01 -1.29889568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46587156 meters 0.014804711097218457 Centerline is valid? [True, True] Translation: X:292.35, Y:-50.45, Z:-12.99 [[ 9.79151876e-01 2.00647993e-01 3.16541766e-02 2.92349470e+02] [-2.00541331e-01 9.79663401e-01 -6.54178435e-03 -5.04458861e+01] [-3.23230342e-02 5.74297333e-05 9.99477473e-01 -1.29879660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49587156 meters 0.014815404585405572 Centerline is valid? [True, True] Translation: X:292.38, Y:-50.45, Z:-12.99 [[ 9.78750831e-01 2.02565645e-01 3.18428869e-02 2.92376786e+02] [-2.02458767e-01 9.79268686e-01 -6.57937397e-03 -5.04489173e+01] [-3.25154972e-02 -7.30388702e-06 9.99471231e-01 -1.29894380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52587156 meters 0.014779034260990212 Centerline is valid? [True, True] Translation: X:292.41, Y:-50.45, Z:-12.99 [[ 9.78568402e-01 2.03563999e-01 3.10737898e-02 2.92405578e+02] [-2.03462787e-01 9.79061641e-01 -6.41853107e-03 -5.04533791e+01] [-3.17297375e-02 -4.13881907e-05 9.99496484e-01 -1.29906107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55587156 meters 0.015020408879103709 Centerline is valid? [True, True] Translation: X:292.43, Y:-50.46, Z:-12.99 [[ 9.78397683e-01 2.04420055e-01 3.08288155e-02 2.92434120e+02] [-2.04320906e-01 9.78883260e-01 -6.36639606e-03 -5.04580708e+01] [-3.14792304e-02 -7.01043774e-05 9.99504404e-01 -1.29926908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58587156 meters 0.01587677956281756 Centerline is valid? [True, True] Translation: X:292.46, Y:-50.46, Z:-13.00 [[ 9.77994249e-01 2.06368585e-01 3.06472898e-02 2.92461912e+02] [-2.06271599e-01 9.78474317e-01 -6.32754205e-03 -5.04607150e+01] [-3.12933919e-02 -1.33365753e-04 9.99510233e-01 -1.29954996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61587156 meters 0.021110848055073544 Centerline is valid? [True, True] Translation: X:292.49, Y:-50.46, Z:-13.00 [[ 9.77820003e-01 2.07210278e-01 3.05277201e-02 2.92490898e+02] [-2.07114522e-01 9.78296414e-01 -6.30080261e-03 -5.04648940e+01] [-3.11707502e-02 -1.61683332e-04 9.99514061e-01 -1.29963257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64587156 meters 0.01625440724319639 Centerline is valid? [True, True] Translation: X:292.52, Y:-50.47, Z:-13.00 [[ 9.77685868e-01 2.07925862e-01 2.99529626e-02 2.92519335e+02] [-2.07834059e-01 9.78144571e-01 -6.18072193e-03 -5.04705848e+01] [-3.05834597e-02 -1.82441309e-04 9.99532200e-01 -1.29984836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67587156 meters 0.03066039574012098 Centerline is valid? [True, True] Translation: X:292.55, Y:-50.48, Z:-13.00 [[ 9.77537894e-01 2.08683338e-01 2.95115335e-02 2.92546492e+02] [-2.08594606e-01 9.77983243e-01 -6.08834020e-03 -5.04753390e+01] [-3.01323204e-02 -2.04363437e-04 9.99545898e-01 -1.30011880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70587156 meters 0.0177385246967317 Centerline is valid? [True, True] Translation: X:292.57, Y:-50.48, Z:-13.00 [[ 9.77502298e-01 2.08858410e-01 2.94520242e-02 2.92573300e+02] [-2.08770169e-01 9.77945868e-01 -6.07424560e-03 -5.04807758e+01] [-3.00711426e-02 -2.11115042e-04 9.99547739e-01 -1.30037932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73587156 meters 0.01774104706251495 Centerline is valid? [True, True] Translation: X:292.60, Y:-50.49, Z:-13.01 [[ 9.77516617e-01 2.08796491e-01 2.94157945e-02 2.92600205e+02] [-2.08708495e-01 9.77959090e-01 -6.06491878e-03 -5.04866379e+01] [-3.00337774e-02 -2.10767301e-04 9.99548862e-01 -1.30053425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76587156 meters 0.017126683258176827 Centerline is valid? [True, True] Translation: X:292.63, Y:-50.49, Z:-13.01 [[ 9.77633184e-01 2.08116543e-01 3.03457136e-02 2.92627118e+02] [-2.08022644e-01 9.78104016e-01 -6.25415485e-03 -5.04942078e+01] [-3.09828574e-02 -1.98326233e-04 9.99519896e-01 -1.30051647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79587156 meters 0.016307462073969922 Centerline is valid? [True, True] Translation: X:292.65, Y:-50.50, Z:-13.00 [[ 9.77789209e-01 2.07312539e-01 3.08184026e-02 2.92654664e+02] [-2.07215357e-01 9.78274746e-01 -6.34951356e-03 -5.05022426e+01] [-3.14651988e-02 -1.77560465e-04 9.99504832e-01 -1.30048064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82587156 meters 0.015151762488401083 Centerline is valid? [True, True] Translation: X:292.68, Y:-50.51, Z:-13.00 [[ 9.78142320e-01 2.05510398e-01 3.16713980e-02 2.92681929e+02] [-2.05406867e-01 9.78654924e-01 -6.52363958e-03 -5.05121104e+01] [-3.23360454e-02 -1.24474691e-04 9.99477046e-01 -1.30033629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85587156 meters 0.015244198727251081 Centerline is valid? [True, True] Translation: X:292.71, Y:-50.52, Z:-13.01 [[ 9.78255557e-01 2.04940985e-01 3.18631238e-02 2.92708421e+02] [-2.04835948e-01 9.78774326e-01 -6.56150359e-03 -5.05189876e+01] [-3.25315285e-02 -1.07885822e-04 9.99470704e-01 -1.30051792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88587156 meters 0.015036201716303436 Centerline is valid? [True, True] Translation: X:292.74, Y:-50.53, Z:-13.01 [[ 9.78386060e-01 2.04300079e-01 3.19717821e-02 2.92736545e+02] [-2.04194035e-01 9.78908305e-01 -6.58226328e-03 -5.05267518e+01] [-3.26421999e-02 -8.84525510e-05 9.99467097e-01 -1.30059386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91587156 meters 0.015359708397154944 Centerline is valid? [True, True] Translation: X:292.76, Y:-50.53, Z:-13.01 [[ 9.78516691e-01 2.03716786e-01 3.16947311e-02 2.92762848e+02] [-2.03612312e-01 9.79029860e-01 -6.52383109e-03 -5.05344654e+01] [-3.23591020e-02 -6.97598511e-05 9.99476305e-01 -1.30090328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94587156 meters 0.015052234177133134 Centerline is valid? [True, True] Translation: X:292.79, Y:-50.54, Z:-13.01 [[ 9.78480020e-01 2.03926075e-01 3.14802442e-02 2.92791245e+02] [-2.03823184e-01 9.78986287e-01 -6.47762801e-03 -5.05407501e+01] [-3.21396847e-02 -7.81740317e-05 9.99483384e-01 -1.30093446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97587156000003 meters 0.015481383586572502 Centerline is valid? [True, True] Translation: X:292.82, Y:-50.55, Z:-13.01 [[ 9.78386740e-01 2.04419478e-01 3.11779523e-02 2.92819283e+02] [-2.04318853e-01 9.78883378e-01 -6.41393350e-03 -5.05465196e+01] [-3.18307122e-02 -9.49359564e-05 9.99493270e-01 -1.30111675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00587156 meters 0.016035750529449097 Centerline is valid? [True, True] Translation: X:292.85, Y:-50.55, Z:-13.01 [[ 9.78165877e-01 2.05511379e-01 3.09287929e-02 2.92847233e+02] [-2.05412948e-01 9.78654717e-01 -6.36119460e-03 -5.05530153e+01] [-3.15759070e-02 -1.30871039e-04 9.99501348e-01 -1.30122503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03587156000003 meters 0.01571357969804456 Centerline is valid? [True, True] Translation: X:292.88, Y:-50.56, Z:-13.01 [[ 9.77972603e-01 2.06389491e-01 3.11923901e-02 2.92875153e+02] [-2.06289869e-01 9.78469903e-01 -6.41391522e-03 -5.05584035e+01] [-3.18445796e-02 -1.62040699e-04 9.99492820e-01 -1.30114897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06587156 meters 0.017421606602006152 Centerline is valid? [True, True] Translation: X:292.90, Y:-50.56, Z:-13.02 [[ 9.77612846e-01 2.08171144e-01 3.06251221e-02 2.92902409e+02] [-2.08076029e-01 9.78092392e-01 -6.29592256e-03 -5.05616451e+01] [-3.12648284e-02 -2.17379034e-04 9.99511112e-01 -1.30152316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09587156000003 meters 0.017275309990572738 Centerline is valid? [True, True] Translation: X:292.93, Y:-50.57, Z:-13.02 [[ 9.77456540e-01 2.08990322e-01 3.00292680e-02 2.92930449e+02] [-2.08899321e-01 9.77917679e-01 -6.17141658e-03 -5.05680123e+01] [-3.06559184e-02 -2.40802186e-04 9.99529968e-01 -1.30150327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12587156 meters 0.017647119612218116 Centerline is valid? [True, True] Translation: X:292.96, Y:-50.57, Z:-13.02 [[ 9.77270360e-01 2.09871076e-01 2.99462013e-02 2.92958595e+02] [-2.09781038e-01 9.77729031e-01 -6.15282313e-03 -5.05733296e+01] [-3.05705700e-02 -2.69173516e-04 9.99532575e-01 -1.30158663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15587156000004 meters 0.019181029708591556 Centerline is valid? [True, True] Translation: X:292.99, Y:-50.58, Z:-13.02 [[ 9.77115352e-01 2.10607521e-01 2.98338955e-02 2.92986320e+02] [-2.10518542e-01 9.77570655e-01 -6.12838700e-03 -5.05769976e+01] [-3.04554252e-02 -2.92447163e-04 9.99536083e-01 -1.30192495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18587156 meters 0.01936604240367506 Centerline is valid? [True, True] Translation: X:293.01, Y:-50.58, Z:-13.02 [[ 9.76821386e-01 2.12017710e-01 2.94698347e-02 2.93014272e+02] [-2.11931593e-01 9.77265767e-01 -6.05154927e-03 -5.05826542e+01] [-3.00828963e-02 -3.34306271e-04 9.99547351e-01 -1.30185243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21587156 meters 0.021129832027155616 Centerline is valid? [True, True] Translation: X:293.04, Y:-50.59, Z:-13.02 [[ 9.76625904e-01 2.12896120e-01 2.96156409e-02 2.93041877e+02] [-2.12809593e-01 9.77074771e-01 -6.08014090e-03 -5.05852366e+01] [-3.02311340e-02 -3.64469384e-04 9.99542868e-01 -1.30211603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24587156 meters 0.021617683304381026 Centerline is valid? [True, True] Translation: X:293.07, Y:-50.59, Z:-13.02 [[ 9.76499729e-01 2.13502404e-01 2.94109263e-02 2.93070538e+02] [-2.13417406e-01 9.76942464e-01 -6.03603090e-03 -5.05900665e+01] [-3.00214900e-02 -3.82621067e-04 9.99549180e-01 -1.30221316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27587156 meters 0.02094583836017083 Centerline is valid? [True, True] Translation: X:293.10, Y:-50.60, Z:-13.02 [[ 9.76266581e-01 2.14605099e-01 2.91241178e-02 2.93098496e+02] [-2.14522282e-01 9.76700814e-01 -5.97580665e-03 -5.05964123e+01] [-2.97279882e-02 -4.13791884e-04 9.99557940e-01 -1.30211016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30587156 meters 0.021875376500403845 Centerline is valid? [True, True] Translation: X:293.13, Y:-50.60, Z:-13.02 [[ 9.76195189e-01 2.14938863e-01 2.90557908e-02 2.93125746e+02] [-2.14856621e-01 9.76627414e-01 -5.96046978e-03 -5.06004505e+01] [-2.96578184e-02 -4.24247111e-04 9.99560020e-01 -1.30233373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33587156 meters 0.022277856504296353 Centerline is valid? [True, True] Translation: X:293.15, Y:-50.61, Z:-13.03 [[ 9.76166307e-01 2.15153119e-01 2.84337118e-02 2.93154457e+02] [-2.15074511e-01 9.76580235e-01 -5.83085496e-03 -5.06055673e+01] [-2.90223275e-02 -4.23482492e-04 9.99578674e-01 -1.30255045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36587156 meters 0.02185127858392052 Centerline is valid? [True, True] Translation: X:293.18, Y:-50.61, Z:-13.03 [[ 9.76188548e-01 2.15037254e-01 2.85464187e-02 2.93182351e+02] [-2.14958014e-01 9.76605755e-01 -5.85252609e-03 -5.06114519e+01] [-2.91371079e-02 -4.23112526e-04 9.99575335e-01 -1.30260848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39587156 meters 0.02607312144372108 Centerline is valid? [True, True] Translation: X:293.21, Y:-50.62, Z:-13.03 [[ 9.76133905e-01 2.15271265e-01 2.86510480e-02 2.93210395e+02] [-2.15191586e-01 9.76554195e-01 -5.87250086e-03 -5.06161310e+01] [-2.92434818e-02 -4.33117268e-04 9.99572224e-01 -1.30253866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42587156 meters 0.022932045383140687 Centerline is valid? [True, True] Translation: X:293.24, Y:-50.62, Z:-13.03 [[ 9.76139690e-01 2.15139708e-01 2.94314623e-02 2.93238103e+02] [-2.15055611e-01 9.76583181e-01 -6.03108450e-03 -5.06201548e+01] [-3.00397969e-02 -4.42220153e-04 9.99548606e-01 -1.30277744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45587156 meters 0.022799492822733258 Centerline is valid? [True, True] Translation: X:293.27, Y:-50.63, Z:-13.03 [[ 9.76191191e-01 2.14926939e-01 2.92774677e-02 2.93265985e+02] [-2.14843674e-01 9.76630033e-01 -5.99785434e-03 -5.06253599e+01] [-2.98823547e-02 -4.35026160e-04 9.99553328e-01 -1.30291846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48587156 meters 0.021378258452117358 Centerline is valid? [True, True] Translation: X:293.29, Y:-50.63, Z:-13.03 [[ 9.76216825e-01 2.14777650e-01 2.95173047e-02 2.93294080e+02] [-2.14693023e-01 9.76662875e-01 -6.04445296e-03 -5.06320588e+01] [-3.01266690e-02 -4.36462679e-04 9.99545994e-01 -1.30280645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51587156 meters 0.021538333525758888 Centerline is valid? [True, True] Translation: X:293.32, Y:-50.64, Z:-13.03 [[ 9.76288408e-01 2.14387816e-01 2.99801509e-02 2.93322103e+02] [-2.14300373e-01 9.76748523e-01 -6.13782901e-03 -5.06355844e+01] [-3.05989439e-02 -4.32466206e-04 9.99531649e-01 -1.30294199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54587156 meters 0.02140710514067848 Centerline is valid? [True, True] Translation: X:293.35, Y:-50.64, Z:-13.03 [[ 9.76335297e-01 2.14186685e-01 2.98906734e-02 2.93350362e+02] [-2.14099732e-01 9.76792650e-01 -6.11741960e-03 -5.06406861e+01] [-3.05072599e-02 -4.26932492e-04 9.99534454e-01 -1.30305575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57587156 meters 0.02188694321558851 Centerline is valid? [True, True] Translation: X:293.38, Y:-50.64, Z:-13.03 [[ 9.76356144e-01 2.14132168e-01 2.95988917e-02 2.93377600e+02] [-2.14046919e-01 9.76804605e-01 -6.05640591e-03 -5.06448924e+01] [-3.02092051e-02 -4.22342464e-04 9.99543509e-01 -1.30326207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60587156 meters 0.0223673753711338 Centerline is valid? [True, True] Translation: X:293.41, Y:-50.65, Z:-13.04 [[ 9.76390336e-01 2.14014891e-01 2.93178889e-02 2.93405142e+02] [-2.13931256e-01 9.76830309e-01 -5.99707258e-03 -5.06490498e+01] [-2.99220653e-02 -4.16529086e-04 9.99552148e-01 -1.30354108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63587156 meters 0.03256164454795856 Centerline is valid? [True, True] Translation: X:293.43, Y:-50.65, Z:-13.03 [[ 9.76565178e-01 2.13243428e-01 2.91151672e-02 2.93433473e+02] [-2.13160661e-01 9.76999021e-01 -5.95365364e-03 -5.06548555e+01] [-2.97150674e-02 -3.92077462e-04 9.99558333e-01 -1.30346709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66587156 meters 0.021872810220384044 Centerline is valid? [True, True] Translation: X:293.46, Y:-50.66, Z:-13.04 [[ 9.76747901e-01 2.12291294e-01 2.99323419e-02 2.93461214e+02] [-2.12203411e-01 9.77206358e-01 -6.11934772e-03 -5.06584928e+01] [-3.05491591e-02 -3.74685018e-04 9.99533195e-01 -1.30383146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69587156 meters 0.021872810220384044 Centerline is valid? [True, True] Translation: X:293.49, Y:-50.66, Z:-13.04 [[ 9.76762299e-01 2.12224987e-01 2.99326918e-02 2.93488155e+02] [-2.12137125e-01 9.77220761e-01 -6.11763600e-03 -5.06638571e+01] [-3.05491630e-02 -3.74358965e-04 9.99533195e-01 -1.30395530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72587156000003 meters 0.019126339876488003 Centerline is valid? [True, True] Translation: X:293.52, Y:-50.67, Z:-13.04 [[ 9.76957863e-01 2.11231368e-01 3.05719425e-02 2.93516269e+02] [-2.11139304e-01 9.77436026e-01 -6.24579019e-03 -5.06720516e+01] [-3.12014247e-02 -3.53064810e-04 9.99513055e-01 -1.30371371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75587156 meters 0.018359043244943803 Centerline is valid? [True, True] Translation: X:293.54, Y:-50.68, Z:-13.04 [[ 9.77351051e-01 2.09458378e-01 3.02011675e-02 2.93543554e+02] [-2.09367728e-01 9.77817519e-01 -6.16870681e-03 -5.06772442e+01] [-3.08233180e-02 -2.94157749e-04 9.99524805e-01 -1.30392709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78587156000003 meters 0.017904662515940712 Centerline is valid? [True, True] Translation: X:293.57, Y:-50.68, Z:-13.04 [[ 9.77561315e-01 2.08460382e-01 3.03009025e-02 2.93571192e+02] [-2.08368714e-01 9.78030776e-01 -6.18712551e-03 -5.06829061e+01] [-3.09249857e-02 -2.65465524e-04 9.99521673e-01 -1.30406933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81587156 meters 0.017728208018569717 Centerline is valid? [True, True] Translation: X:293.60, Y:-50.69, Z:-13.04 [[ 9.77779565e-01 2.07459591e-01 3.01270798e-02 2.93598821e+02] [-2.07368554e-01 9.78243560e-01 -6.14976120e-03 -5.06877597e+01] [-3.07474487e-02 -2.34298152e-04 9.99527158e-01 -1.30425845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84587156000003 meters 0.017155886777167104 Centerline is valid? [True, True] Translation: X:293.63, Y:-50.69, Z:-13.04 [[ 9.77913020e-01 2.06831928e-01 3.01111185e-02 2.93627121e+02] [-2.06740753e-01 9.78376465e-01 -6.14445370e-03 -5.06934318e+01] [-3.07308788e-02 -2.16454054e-04 9.99527672e-01 -1.30432993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87587156 meters 0.01712559094352499 Centerline is valid? [True, True] Translation: X:293.65, Y:-50.70, Z:-13.04 [[ 9.78040220e-01 2.06272893e-01 2.98131120e-02 2.93654067e+02] [-2.06183293e-01 9.78494484e-01 -6.08236591e-03 -5.06986251e+01] [-3.04265929e-02 -1.98167135e-04 9.99536984e-01 -1.30448764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90587156000004 meters 0.01665216463186632 Centerline is valid? [True, True] Translation: X:293.68, Y:-50.70, Z:-13.05 [[ 9.78278063e-01 2.05180642e-01 2.95454891e-02 2.93682487e+02] [-2.05092205e-01 9.78724107e-01 -6.02580175e-03 -5.07049523e+01] [-3.01532603e-02 -1.64639852e-04 9.99545274e-01 -1.30460159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93587156 meters 0.015623722746750692 Centerline is valid? [True, True] Translation: X:293.71, Y:-50.71, Z:-13.05 [[ 9.78721755e-01 2.02965612e-01 3.01444168e-02 2.93710759e+02] [-2.02872549e-01 9.79185861e-01 -6.14642517e-03 -5.07128172e+01] [-3.07644996e-02 -9.98346332e-05 9.99526656e-01 -1.30462952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96587156 meters 0.015393352467348343 Centerline is valid? [True, True] Translation: X:293.74, Y:-50.72, Z:-13.05 [[ 9.78947539e-01 2.01853795e-01 3.02780776e-02 2.93739132e+02] [-2.01759420e-01 9.79415663e-01 -6.17217117e-03 -5.07200360e+01] [-3.09006996e-02 -6.66555978e-05 9.99522457e-01 -1.30466990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99587156 meters 0.014801548025692463 Centerline is valid? [True, True] Translation: X:293.77, Y:-50.73, Z:-13.05 [[ 9.79317475e-01 2.00013088e-01 3.05294745e-02 2.93767001e+02] [-1.99916290e-01 9.79793225e-01 -6.22192389e-03 -5.07279467e+01] [-3.11570385e-02 -1.01004828e-05 9.99514502e-01 -1.30461792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02587156 meters 0.015001129625915469 Centerline is valid? [True, True] Translation: X:293.80, Y:-50.74, Z:-13.05 [[ 9.79875318e-01 1.97267431e-01 3.04946279e-02 2.93795819e+02] [-1.97169584e-01 9.80349711e-01 -6.21291036e-03 -5.07373247e+01] [-3.11210045e-02 7.52644312e-05 9.99515621e-01 -1.30468751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05587156 meters 0.015296368026681224 Centerline is valid? [True, True] Translation: X:293.82, Y:-50.75, Z:-13.05 [[ 9.80128175e-01 1.96071386e-01 3.00794199e-02 2.93824447e+02] [-1.95975646e-01 9.80589618e-01 -6.12757058e-03 -5.07454678e+01] [-3.06970082e-02 1.10970832e-04 9.99528730e-01 -1.30483449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08587156 meters 0.016168659800154587 Centerline is valid? [True, True] Translation: X:293.85, Y:-50.75, Z:-13.05 [[ 9.80485279e-01 1.94302322e-01 2.99203262e-02 2.93851457e+02] [-1.94206786e-01 9.80941680e-01 -6.09457851e-03 -5.07547631e+01] [-3.05342859e-02 1.64914122e-04 9.99533706e-01 -1.30494722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11587156 meters 0.016770662130710257 Centerline is valid? [True, True] Translation: X:293.88, Y:-50.76, Z:-13.05 [[ 9.80588691e-01 1.93782298e-01 2.99038390e-02 2.93878863e+02] [-1.93686660e-01 9.81044540e-01 -6.09005669e-03 -5.07617111e+01] [-3.05171431e-02 1.79866017e-04 9.99534227e-01 -1.30518747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14587156 meters 0.0351368297092307 Centerline is valid? [True, True] Translation: X:293.91, Y:-50.77, Z:-13.05 [[ 9.80579568e-01 1.93830180e-01 2.98926802e-02 2.93906474e+02] [-1.93734676e-01 9.81035081e-01 -6.08647021e-03 -5.07680168e+01] [-3.05055096e-02 1.77019596e-04 9.99534583e-01 -1.30544906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17587156 meters 0.026150394180916338 Centerline is valid? [True, True] Translation: X:293.94, Y:-50.77, Z:-13.05 [[ 9.80508466e-01 1.94149588e-01 3.01510478e-02 2.93935554e+02] [-1.94052599e-01 9.80971921e-01 -6.13834468e-03 -5.07728217e+01] [-3.07690884e-02 1.67809727e-04 9.99526505e-01 -1.30528125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20587156 meters 0.02416396869856423 Centerline is valid? [True, True] Translation: X:293.96, Y:-50.78, Z:-13.05 [[ 9.80426132e-01 1.94485226e-01 3.06609824e-02 2.93964528e+02] [-1.94385117e-01 9.80905435e-01 -6.24138997e-03 -5.07779639e+01] [-3.12893824e-02 1.59183199e-04 9.99510355e-01 -1.30522942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23587156 meters 0.01613784347760961 Centerline is valid? [True, True] Translation: X:293.99, Y:-50.78, Z:-13.06 [[ 9.80343023e-01 1.94958866e-01 3.03083678e-02 2.93992119e+02] [-1.94861291e-01 9.80811409e-01 -6.16903117e-03 -5.07838783e+01] [-3.09295003e-02 1.41839003e-04 9.99521558e-01 -1.30552209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26587156 meters 0.015607546914776666 Centerline is valid? [True, True] Translation: X:294.02, Y:-50.79, Z:-13.06 [[ 9.79960252e-01 1.96915034e-01 3.00395447e-02 2.94020408e+02] [-1.96820130e-01 9.80420554e-01 -6.11337197e-03 -5.07872896e+01] [-3.06552019e-02 7.84744578e-05 9.99530016e-01 -1.30561394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29587156 meters 0.015473412855171455 Centerline is valid? [True, True] Translation: X:294.05, Y:-50.79, Z:-13.06 [[ 9.79844714e-01 1.97541368e-01 2.96941802e-02 2.94048798e+02] [-1.97448965e-01 9.80294550e-01 -6.04164535e-03 -5.07924019e+01] [-3.03025179e-02 5.67891069e-05 9.99540772e-01 -1.30576140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32587156 meters 0.015451057097320118 Centerline is valid? [True, True] Translation: X:294.08, Y:-50.80, Z:-13.06 [[ 9.79816460e-01 1.97820939e-01 2.87503122e-02 2.94078066e+02] [-1.97734489e-01 9.80238172e-01 -5.84787583e-03 -5.07990753e+01] [-2.93389857e-02 4.49167033e-05 9.99569518e-01 -1.30584562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35587156 meters 0.01643494399689779 Centerline is valid? [True, True] Translation: X:294.11, Y:-50.81, Z:-13.06 [[ 9.79837466e-01 1.97719809e-01 2.87300652e-02 2.94105333e+02] [-1.97633454e-01 9.80258575e-01 -5.84321564e-03 -5.08052819e+01] [-2.93182123e-02 4.73795805e-05 9.99570128e-01 -1.30640475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38587156 meters 0.01641486102195892 Centerline is valid? [True, True] Translation: X:294.13, Y:-50.81, Z:-13.07 [[ 9.79867504e-01 1.97557294e-01 2.88234196e-02 2.94133849e+02] [-1.97470335e-01 9.80291341e-01 -5.86122334e-03 -5.08119766e+01] [-2.94132760e-02 5.14519801e-05 9.99567335e-01 -1.30651503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41587156 meters 0.01580713298934277 Centerline is valid? [True, True] Translation: X:294.16, Y:-50.82, Z:-13.06 [[ 9.79869672e-01 1.97477684e-01 2.92914621e-02 2.94162195e+02] [-1.97387882e-01 9.80307381e-01 -5.95503689e-03 -5.08190025e+01] [-2.98906234e-02 5.33803901e-05 9.99553174e-01 -1.30632923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44587156 meters 0.01574469230943227 Centerline is valid? [True, True] Translation: X:294.19, Y:-50.83, Z:-13.06 [[ 9.79949968e-01 1.97021388e-01 2.96754541e-02 2.94190074e+02] [-1.96929052e-01 9.80399188e-01 -6.03161853e-03 -5.08273759e+01] [-3.02821490e-02 6.67253417e-05 9.99541388e-01 -1.30629834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47587156000003 meters 0.01579510572639165 Centerline is valid? [True, True] Translation: X:294.22, Y:-50.84, Z:-13.06 [[ 9.80052234e-01 1.96431858e-01 3.02017042e-02 2.94217890e+02] [-1.96335989e-01 9.80517475e-01 -6.13688912e-03 -5.08351852e+01] [-3.08187793e-02 8.47904289e-05 9.99524985e-01 -1.30630803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50587156 meters 0.015404119235533253 Centerline is valid? [True, True] Translation: X:294.25, Y:-50.84, Z:-13.06 [[ 9.80062225e-01 1.96290272e-01 3.07922645e-02 2.94246894e+02] [-1.96190587e-01 9.80545828e-01 -6.25557688e-03 -5.08419157e+01] [-3.14211353e-02 8.97021521e-05 9.99506230e-01 -1.30619560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53587156000003 meters 0.02388962226323878 Centerline is valid? [True, True] Translation: X:294.28, Y:-50.85, Z:-13.06 [[ 9.79935408e-01 1.96843477e-01 3.12928343e-02 2.94275739e+02] [-1.96740832e-01 9.80434924e-01 -6.35646835e-03 -5.08479156e+01] [-3.19318169e-02 7.23501413e-05 9.99490047e-01 -1.30624309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56587156 meters 0.015053500499667557 Centerline is valid? [True, True] Translation: X:294.30, Y:-50.85, Z:-13.06 [[ 9.79880241e-01 1.97089338e-01 3.14723203e-02 2.94304689e+02] [-1.96985664e-01 9.80385531e-01 -6.39213828e-03 -5.08548884e+01] [-3.21148298e-02 6.39340970e-05 9.99484184e-01 -1.30631971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59587156000003 meters 0.014723427087985784 Centerline is valid? [True, True] Translation: X:294.33, Y:-50.86, Z:-13.06 [[ 9.79480176e-01 1.98963110e-01 3.21288878e-02 2.94333888e+02] [-1.98856104e-01 9.80006980e-01 -6.52451538e-03 -5.08598308e+01] [-3.27846722e-02 1.60803193e-06 9.99462438e-01 -1.30619531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62587156 meters 0.014975169199862916 Centerline is valid? [True, True] Translation: X:294.36, Y:-50.86, Z:-13.06 [[ 9.79214934e-01 2.00285237e-01 3.19990252e-02 2.94362567e+02] [-2.00179802e-01 9.79737629e-01 -6.49804749e-03 -5.08640603e+01] [-3.26521120e-02 -4.25733847e-05 9.99466777e-01 -1.30645451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65587156000004 meters 0.016223893551893128 Centerline is valid? [True, True] Translation: X:294.39, Y:-50.87, Z:-13.07 [[ 9.78671990e-01 2.03073844e-01 3.10185428e-02 2.94390820e+02] [-2.02976199e-01 9.79163417e-01 -6.29810668e-03 -5.08661530e+01] [-3.16512031e-02 -1.32245318e-04 9.99498966e-01 -1.30674777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68587156 meters 0.016855967827113433 Centerline is valid? [True, True] Translation: X:294.42, Y:-50.87, Z:-13.07 [[ 9.78329544e-01 2.04698107e-01 3.11446285e-02 2.94419059e+02] [-2.04600555e-01 9.78825138e-01 -6.32162244e-03 -5.08695091e+01] [-3.17791694e-02 -1.87578274e-04 9.99494897e-01 -1.30686746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71587156 meters 0.018884914797539128 Centerline is valid? [True, True] Translation: X:294.45, Y:-50.87, Z:-13.07 [[ 9.77964943e-01 2.06477112e-01 3.08508036e-02 2.94446655e+02] [-2.06382317e-01 9.78451400e-01 -6.26073849e-03 -5.08714960e+01] [-3.14787112e-02 -2.44277556e-04 9.99504393e-01 -1.30723550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74587156 meters 0.022365973430385155 Centerline is valid? [True, True] Translation: X:294.48, Y:-50.87, Z:-13.07 [[ 9.77086733e-01 2.10505937e-01 3.14446775e-02 2.94475064e+02] [-2.10409614e-01 9.77592504e-01 -6.37893598e-03 -5.08702583e+01] [-3.20828849e-02 -3.83488728e-04 9.99485138e-01 -1.30725120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77587156 meters 0.022279707857829182 Centerline is valid? [True, True] Translation: X:294.50, Y:-50.88, Z:-13.07 [[ 9.76602808e-01 2.12701303e-01 3.17034824e-02 2.94503821e+02] [-2.12604607e-01 9.77117159e-01 -6.42947934e-03 -5.08751984e+01] [-3.23455753e-02 -4.61258837e-04 9.99476639e-01 -1.30701804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80587156 meters 0.036944712768188254 Centerline is valid? [True, True] Translation: X:294.53, Y:-50.88, Z:-13.07 [[ 9.76051371e-01 2.15165143e-01 3.20574870e-02 2.94532542e+02] [-2.15067655e-01 9.76577523e-01 -6.49965669e-03 -5.08765909e+01] [-3.27051208e-02 -5.50529742e-04 9.99464893e-01 -1.30715486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83587156 meters 0.02660351757592193 Centerline is valid? [True, True] Translation: X:294.56, Y:-50.88, Z:-13.07 [[ 9.75283972e-01 2.18560090e-01 3.24447336e-02 2.94562841e+02] [-2.18462171e-01 9.75823259e-01 -6.57626378e-03 -5.08773675e+01] [-3.30976344e-02 -6.74222265e-04 9.99451896e-01 -1.30708455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86587156 meters 0.028231384957907307 Centerline is valid? [True, True] Translation: X:294.59, Y:-50.88, Z:-13.07 [[ 9.74915602e-01 2.20191953e-01 3.24818800e-02 2.94591258e+02] [-2.20094722e-01 9.75456288e-01 -6.58358712e-03 -5.08792055e+01] [-3.31343070e-02 -7.30648536e-04 9.99450641e-01 -1.30721621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89587156 meters 0.029845151785581853 Centerline is valid? [True, True] Translation: X:294.62, Y:-50.88, Z:-13.07 [[ 9.74653788e-01 2.21341195e-01 3.25279703e-02 2.94619445e+02] [-2.21244416e-01 9.75196122e-01 -6.59021699e-03 -5.08814399e+01] [-3.31798370e-02 -7.73451856e-04 9.99449098e-01 -1.30738013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92587156 meters 0.030444763749645366 Centerline is valid? [True, True] Translation: X:294.65, Y:-50.88, Z:-13.07 [[ 9.74382068e-01 2.22431281e-01 3.32251509e-02 2.94648186e+02] [-2.22331019e-01 9.74948017e-01 -6.72920006e-03 -5.08843026e+01] [-3.38895796e-02 -8.30169779e-04 9.99425238e-01 -1.30739376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95587156 meters 0.031868426132180494 Centerline is valid? [True, True] Translation: X:294.68, Y:-50.89, Z:-13.08 [[ 9.74318675e-01 2.22704504e-01 3.32539113e-02 2.94675986e+02] [-2.22604279e-01 9.74885632e-01 -6.73348949e-03 -5.08868501e+01] [-3.39183388e-02 -8.41898387e-04 9.99424253e-01 -1.30757774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98587156 meters 0.03294791574884087 Centerline is valid? [True, True] Translation: X:294.70, Y:-50.89, Z:-13.08 [[ 9.74248488e-01 2.22982646e-01 3.34458384e-02 2.94704077e+02] [-2.22881487e-01 9.74822037e-01 -6.77052178e-03 -5.08900976e+01] [-3.41134492e-02 -8.58287597e-04 9.99417598e-01 -1.30773667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01587156 meters 0.032713166284098635 Centerline is valid? [True, True] Translation: X:294.73, Y:-50.89, Z:-13.08 [[ 9.74223754e-01 2.23048951e-01 3.37230155e-02 2.94731677e+02] [-2.22946253e-01 9.74806856e-01 -6.82355435e-03 -5.08940811e+01] [-3.43954133e-02 -8.70751205e-04 9.99407923e-01 -1.30779253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04587156 meters 0.03275038696218658 Centerline is valid? [True, True] Translation: X:294.76, Y:-50.90, Z:-13.08 [[ 9.74052896e-01 2.23684312e-01 3.44424901e-02 2.94760722e+02] [-2.23577680e-01 9.74661219e-01 -6.96632403e-03 -5.08950188e+01] [-3.51280168e-02 -9.15003956e-04 9.99382402e-01 -1.30780286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07587156 meters 0.03429243939119522 Centerline is valid? [True, True] Translation: X:294.79, Y:-50.90, Z:-13.08 [[ 9.74024374e-01 2.23824547e-01 3.43378938e-02 2.94788412e+02] [-2.23718704e-01 9.74629021e-01 -6.94360416e-03 -5.08958231e+01] [-3.50208569e-02 -9.18789416e-04 9.99386159e-01 -1.30803619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10587156 meters 0.03517043840495156 Centerline is valid? [True, True] Translation: X:294.82, Y:-50.90, Z:-13.08 [[ 9.73985577e-01 2.24022371e-01 3.41478037e-02 2.94816055e+02] [-2.23917891e-01 9.74583565e-01 -6.90308094e-03 -5.08983861e+01] [-3.48263329e-02 -9.22802913e-04 9.99392953e-01 -1.30826763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13587156 meters 0.029674782131635078 Centerline is valid? [True, True] Translation: X:294.84, Y:-50.91, Z:-13.08 [[ 9.74153932e-01 2.23218705e-01 3.46052848e-02 2.94844139e+02] [-2.23110981e-01 9.74767965e-01 -6.99323219e-03 -5.09077252e+01] [-3.52931432e-02 -9.08334405e-04 9.99376590e-01 -1.30807477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16587156 meters 0.03137559687478491 Centerline is valid? [True, True] Translation: X:294.87, Y:-50.91, Z:-13.08 [[ 9.74309507e-01 2.22557232e-01 3.44856879e-02 2.94872443e+02] [-2.22449876e-01 9.74919227e-01 -6.96796438e-03 -5.09081371e+01] [-3.51715310e-02 -8.82383056e-04 9.99380901e-01 -1.30832108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19587156 meters 0.03177663432860995 Centerline is valid? [True, True] Translation: X:294.90, Y:-50.91, Z:-13.08 [[ 9.74429981e-01 2.21961053e-01 3.49213814e-02 2.94900405e+02] [-2.21850665e-01 9.75055141e-01 -7.05373072e-03 -5.09104262e+01] [-3.56159260e-02 -8.73965016e-04 9.99365169e-01 -1.30847079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22587156000003 meters 0.03227524439519722 Centerline is valid? [True, True] Translation: X:294.93, Y:-50.91, Z:-13.09 [[ 9.74901923e-01 2.19750008e-01 3.57235729e-02 2.94929053e+02] [-2.19633092e-01 9.75555878e-01 -7.21340793e-03 -5.09121368e+01] [-3.64354880e-02 -8.13713498e-04 9.99335676e-01 -1.30859475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25587156 meters 0.03133846805937491 Centerline is valid? [True, True] Translation: X:294.96, Y:-50.92, Z:-13.09 [[ 9.75199684e-01 2.18404774e-01 3.58459438e-02 2.94957498e+02] [-2.18286210e-01 9.75857964e-01 -7.23638203e-03 -5.09177276e+01] [-3.65610101e-02 -7.67757741e-04 9.99331128e-01 -1.30872697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28587156000003 meters 0.03966296893017832 Centerline is valid? [True, True] Translation: X:294.99, Y:-50.92, Z:-13.09 [[ 9.75582913e-01 2.16850160e-01 3.48423415e-02 2.94986369e+02] [-2.16737212e-01 9.76204656e-01 -7.03211088e-03 -5.09221169e+01] [-3.55381704e-02 -6.91224739e-04 9.99368081e-01 -1.30901666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31587156 meters 0.026154607988891795 Centerline is valid? [True, True] Translation: X:295.01, Y:-50.93, Z:-13.09 [[ 9.76292605e-01 2.13317603e-01 3.67198791e-02 2.95014285e+02] [-2.13189690e-01 9.76982726e-01 -7.41003349e-03 -5.09325541e+01] [-3.74553782e-02 -5.93938743e-04 9.99298125e-01 -1.30878515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34587156000003 meters 0.026091846827465796 Centerline is valid? [True, True] Translation: X:295.04, Y:-50.94, Z:-13.09 [[ 9.76793399e-01 2.11063100e-01 3.64283354e-02 2.95040966e+02] [-2.10935756e-01 9.77472307e-01 -7.34816147e-03 -5.09392351e+01] [-3.71586148e-02 -5.06402853e-04 9.99309252e-01 -1.30902110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37587156 meters 0.02649687073715721 Centerline is valid? [True, True] Translation: X:295.07, Y:-50.95, Z:-13.09 [[ 9.77843302e-01 2.06159770e-01 3.63404107e-02 2.95068172e+02] [-2.06029740e-01 9.78518291e-01 -7.32806176e-03 -5.09471453e+01] [-3.70705081e-02 -3.21509261e-04 9.99312601e-01 -1.30933471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40587156000004 meters 0.026847332461790784 Centerline is valid? [True, True] Translation: X:295.10, Y:-50.95, Z:-13.09 [[ 9.78364803e-01 2.03646987e-01 3.64721493e-02 2.95095427e+02] [-2.03514331e-01 9.79044357e-01 -7.35288734e-03 -5.09539582e+01] [-3.72052453e-02 -2.28798893e-04 9.99307619e-01 -1.30939835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43587156 meters 0.027762269163322535 Centerline is valid? [True, True] Translation: X:295.12, Y:-50.96, Z:-13.09 [[ 9.78833586e-01 2.01259477e-01 3.71407386e-02 2.95122790e+02] [-2.01120279e-01 9.79537954e-01 -7.48536559e-03 -5.09619276e+01] [-3.78872638e-02 -1.42828475e-04 9.99282010e-01 -1.30939386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46587156 meters 0.03371288013306465 Centerline is valid? [True, True] Translation: X:295.15, Y:-50.97, Z:-13.10 [[ 9.79290635e-01 1.99119942e-01 3.66210347e-02 2.95149990e+02] [-1.98983180e-01 9.79975125e-01 -7.37895173e-03 -5.09688439e+01] [-3.73569995e-02 -6.08316231e-05 9.99301982e-01 -1.30955401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49587156 meters 0.03262044559739485 Centerline is valid? [True, True] Translation: X:295.18, Y:-50.98, Z:-13.09 [[ 9.79912601e-01 1.95719179e-01 3.82792073e-02 2.95177205e+02] [-1.95567247e-01 9.80659981e-01 -7.71062789e-03 -5.09769488e+01] [-3.90480045e-02 6.95822605e-05 9.99237333e-01 -1.30947945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52587156 meters 0.03472290234665905 Centerline is valid? [True, True] Translation: X:295.21, Y:-50.98, Z:-13.09 [[ 9.80127292e-01 1.94552124e-01 3.87293518e-02 2.95205437e+02] [-1.94395787e-01 9.80892174e-01 -7.79872062e-03 -5.09827539e+01] [-3.95065758e-02 1.14916089e-04 9.99219304e-01 -1.30948509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55587156 meters 0.036171080280235184 Centerline is valid? [True, True] Translation: X:295.23, Y:-50.99, Z:-13.10 [[ 9.80291612e-01 1.93727550e-01 3.87038904e-02 2.95233695e+02] [-1.93570850e-01 9.81055358e-01 -7.79174177e-03 -5.09883784e+01] [-3.94801341e-02 1.46234138e-04 9.99220345e-01 -1.30967292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58587156 meters 0.04001687116464183 Centerline is valid? [True, True] Translation: X:295.26, Y:-50.99, Z:-13.10 [[ 9.80373745e-01 1.93188395e-01 3.93136788e-02 2.95261268e+02] [-1.93026356e-01 9.81161666e-01 -7.91264645e-03 -5.09930851e+01] [-4.01017060e-02 1.68774662e-04 9.99195589e-01 -1.30970183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61587156 meters 0.041940964119176714 Centerline is valid? [True, True] Translation: X:295.29, Y:-51.00, Z:-13.10 [[ 9.80371656e-01 1.93223099e-01 3.91950380e-02 2.95289260e+02] [-1.93062162e-01 9.81154833e-01 -7.88637178e-03 -5.09973382e+01] [-3.99802302e-02 1.64496596e-04 9.99200457e-01 -1.30985348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64587156 meters 0.041940964119176714 Centerline is valid? [True, True] Translation: X:295.32, Y:-51.00, Z:-13.10 [[ 9.80380419e-01 1.93178556e-01 3.91953993e-02 2.95317021e+02] [-1.93017654e-01 9.81163604e-01 -7.88457596e-03 -5.10028322e+01] [-3.99802302e-02 1.64479860e-04 9.99200457e-01 -1.30998106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67587156 meters 0.047664269644861076 Centerline is valid? [True, True] Translation: X:295.34, Y:-51.03, Z:-13.12 [[ 9.81049739e-01 1.87990163e-01 4.69159625e-02 2.95339924e+02] [-1.89649178e-01 9.81269613e-01 3.38103005e-02 -5.10293073e+01] [-3.96812045e-02 -4.20671602e-02 9.98326478e-01 -1.31242125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70587156 meters 0.04972059502226752 Centerline is valid? [True, True] Translation: X:295.37, Y:-51.01, Z:-13.12 [[ 9.80854098e-01 1.91016730e-01 3.79189484e-02 2.95373516e+02] [-1.90792306e-01 9.81584601e-01 -9.48509344e-03 -5.10066618e+01] [-3.90324674e-02 2.06884916e-03 9.99235801e-01 -1.31241535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73587156 meters 0.05166796245148774 Centerline is valid? [True, True] Translation: X:295.40, Y:-51.01, Z:-13.13 [[ 9.80574419e-01 1.92107899e-01 3.96025861e-02 2.95399810e+02] [-1.92015186e-01 9.81372575e-01 -6.16738217e-03 -5.10113271e+01] [-4.00496948e-02 -1.55672075e-03 9.99196476e-01 -1.31272721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76587156 meters 0.05701298513525527 Centerline is valid? [True, True] Translation: X:295.43, Y:-51.00, Z:-13.12 [[ 9.80322887e-01 1.94982648e-01 3.08026631e-02 2.95430298e+02] [-1.94608660e-01 9.80770290e-01 -1.47345994e-02 -5.10040023e+01] [-3.30833280e-02 8.45020004e-03 9.99416874e-01 -1.31171626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79587156 meters 0.064777267870532 Centerline is valid? [True, True] Translation: X:295.46, Y:-51.02, Z:-13.12 [[ 9.80426616e-01 1.93039708e-01 3.87210855e-02 2.95460293e+02] [-1.93182890e-01 9.81162764e-01 -4.45828933e-05 -5.10150951e+01] [-3.80002936e-02 -7.43654094e-03 9.99250057e-01 -1.31229684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82587156 meters 0.06494157033412787 Centerline is valid? [True, True] Translation: X:295.49, Y:-51.01, Z:-13.12 [[ 9.80222046e-01 1.94101437e-01 3.85923949e-02 2.95489316e+02] [-1.94040946e-01 9.80978881e-01 -5.34296646e-03 -5.10142968e+01] [-3.88954018e-02 -2.25121128e-03 9.99240752e-01 -1.31242186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85587156 meters 0.07024479255418586 Centerline is valid? [True, True] Translation: X:295.52, Y:-51.01, Z:-13.12 [[ 9.80005536e-01 1.96628771e-01 3.04347730e-02 2.95519170e+02] [-1.96125688e-01 9.80399579e-01 -1.87451629e-02 -5.10062274e+01] [-3.35240770e-02 1.24013227e-02 9.99360968e-01 -1.31204820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88587156 meters 0.07093027866569711 Centerline is valid? [True, True] Translation: X:295.54, Y:-51.03, Z:-13.13 [[ 9.79592353e-01 1.96371116e-01 4.28626565e-02 2.95540699e+02] [-1.96994532e-01 9.80345111e-01 1.07990011e-02 -5.10279244e+01] [-3.98995838e-02 -1.90223279e-02 9.99022609e-01 -1.31292123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91587156 meters 0.08441600094550528 Centerline is valid? [True, True] Translation: X:295.58, Y:-51.00, Z:-13.11 [[ 9.79400573e-01 2.01372337e-01 1.49565966e-02 2.95575769e+02] [-2.00437652e-01 9.78485830e-01 -4.88899548e-02 -5.09968817e+01] [-2.44799023e-02 4.48849847e-02 9.98692181e-01 -1.31134560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94587156 meters 0.08151680637313846 Centerline is valid? [True, True] Translation: X:295.60, Y:-51.04, Z:-13.12 [[ 9.80416837e-01 1.94458676e-01 3.11231297e-02 2.95599700e+02] [-1.94913322e-01 9.80743590e-01 1.22803561e-02 -5.10373286e+01] [-2.81357882e-02 -1.81061805e-02 9.99440115e-01 -1.31222703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97587156000003 meters 0.08810439151396571 Centerline is valid? [True, True] Translation: X:295.63, Y:-51.02, Z:-13.11 [[ 9.80326692e-01 1.97133215e-01 9.90318684e-03 2.95631531e+02] [-1.96755584e-01 9.79979169e-01 -3.04642133e-02 -5.10191749e+01] [-1.57104251e-02 2.79163741e-02 9.99486798e-01 -1.31095469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00587156 meters 0.09017354329862341 Centerline is valid? [True, True] Translation: X:295.65, Y:-51.06, Z:-13.12 [[ 9.80824840e-01 1.92542719e-01 3.01651209e-02 2.95651187e+02] [-1.93110102e-01 9.81027063e-01 1.71577811e-02 -5.10572618e+01] [-2.62891941e-02 -2.26539675e-02 9.99397657e-01 -1.31223165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03587156000003 meters 0.09121346555535821 Centerline is valid? [True, True] Translation: X:295.68, Y:-51.06, Z:-13.13 [[ 9.80750675e-01 1.91686961e-01 3.72051442e-02 2.95678137e+02] [-1.92254160e-01 9.81268270e-01 1.22849588e-02 -5.10636123e+01] [-3.41533610e-02 -1.92013254e-02 9.99232134e-01 -1.31318479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06587156 meters 0.09753865069143937 Centerline is valid? [True, True] Translation: X:295.72, Y:-51.03, Z:-13.11 [[ 9.81522227e-01 1.91335629e-01 2.18963347e-03 2.95718632e+02] [-1.91019388e-01 9.80442161e-01 -4.73789194e-02 -5.10341842e+01] [-1.12120843e-02 4.60852001e-02 9.98874588e-01 -1.31112484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09587156000003 meters 0.1093079952428269 Centerline is valid? [True, False] Translation: X:295.72, Y:-51.05, Z:-13.11 [[ 9.83235300e-01 1.82237477e-01 6.15197563e-03 2.95718873e+02] [-1.82070595e-01 9.83054429e-01 -2.13140192e-02 -5.10456485e+01] [-9.93193999e-03 1.98366022e-02 9.99753903e-01 -1.31133751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12587156 meters 0.10268762633402707 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.05, Z:-13.11 [[ 9.85003157e-01 1.72288672e-01 9.24087287e-03 2.95715107e+02] [-1.72183195e-01 9.85001199e-01 -1.12064497e-02 -5.10460809e+01] [-1.10330152e-02 9.44726528e-03 9.99894505e-01 -1.31139727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15587156000004 meters 0.09985887952067221 Centerline is valid? [False, True] Translation: X:295.72, Y:-51.05, Z:-13.11 [[ 9.87065698e-01 1.60061604e-01 9.03276036e-03 2.95716634e+02] [-1.60029003e-01 9.87103258e-01 -4.22809317e-03 -5.10462083e+01] [-9.59302255e-03 2.72790210e-03 9.99950265e-01 -1.31143739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18587156 meters 0.605879336901501 Centerline is valid? [True, False] Translation: X:295.72, Y:-51.04, Z:-13.11 [[ 9.89195441e-01 1.46250200e-01 1.01616124e-02 2.95716119e+02] [-1.46261307e-01 9.89245927e-01 3.54568399e-04 -5.10439521e+01] [-1.00004780e-02 -1.83698815e-03 9.99948307e-01 -1.31140616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21587156 meters 0.6335336535455648 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.04, Z:-13.11 [[ 9.91319484e-01 1.30995549e-01 1.12181368e-02 2.95716564e+02] [-1.31039484e-01 9.91371750e-01 3.27210519e-03 -5.10409805e+01] [-1.06927127e-02 -4.71372049e-03 9.99931721e-01 -1.31144392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24587156 meters 0.642156054631643 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.04, Z:-13.12 [[ 9.93076429e-01 1.16796713e-01 1.25591973e-02 2.95717384e+02] [-1.16893848e-01 9.93117602e-01 7.29773071e-03 -5.10391318e+01] [-1.16204090e-02 -8.71529726e-03 9.99894499e-01 -1.31154794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27587156 meters 0.6392963784825533 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.04, Z:-13.12 [[ 9.94692504e-01 1.01951041e-01 1.38855393e-02 2.95718774e+02] [-1.02099871e-01 9.94719093e-01 1.04662143e-02 -5.10364856e+01] [-1.27451696e-02 -1.18283766e-02 9.99848814e-01 -1.31171536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30587156 meters 0.6382477445138236 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.03, Z:-13.12 [[ 9.96127488e-01 8.64853382e-02 1.58213178e-02 2.95720034e+02] [-8.66895798e-02 9.96154254e-01 1.27129682e-02 -5.10321368e+01] [-1.46609877e-02 -1.40352804e-02 9.99794012e-01 -1.31190574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33587156 meters 0.6448603835840904 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.02, Z:-13.12 [[ 9.96888244e-01 7.74615284e-02 1.46130442e-02 2.95721867e+02] [-7.75022416e-02 9.96989662e-01 2.23981405e-03 -5.10233059e+01] [-1.43955546e-02 -3.36538798e-03 9.99890715e-01 -1.31195540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36587156 meters 0.648050687382006 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.02, Z:-13.12 [[ 9.97244239e-01 7.28010083e-02 1.42807729e-02 2.95722126e+02] [-7.27648192e-02 9.97344499e-01 -3.03824382e-03 -5.10189538e+01] [-1.44640375e-02 1.99073329e-03 9.99893409e-01 -1.31198911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39587156 meters 0.6456661970422964 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.02, Z:-13.12 [[ 9.97820619e-01 6.40573045e-02 1.58326653e-02 2.95721799e+02] [-6.41774239e-02 9.97912542e-01 7.19835969e-03 -5.10216048e+01] [-1.53385078e-02 -8.19877140e-03 9.99848744e-01 -1.31208010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42587156 meters 0.6488881803030755 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.02, Z:-13.12 [[ 9.98411981e-01 5.36415759e-02 1.72075093e-02 2.95722613e+02] [-5.39042103e-02 9.98430719e-01 1.51801236e-02 -5.10219258e+01] [-1.63662201e-02 -1.60835744e-02 9.99736698e-01 -1.31222425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45587156 meters 0.6466431542536095 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.01, Z:-13.12 [[ 9.98862042e-01 4.47395308e-02 1.65225954e-02 2.95723703e+02] [-4.48220918e-02 9.98984113e-01 4.66062552e-03 -5.10123653e+01] [-1.62972961e-02 -5.39589921e-03 9.99852630e-01 -1.31228157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48587156 meters 0.7119940438190242 Centerline is valid? [False, False] Translation: X:295.72, Y:-51.00, Z:-13.12 [[ 9.99069338e-01 4.00103474e-02 1.61130341e-02 2.95724835e+02] [-3.99947460e-02 9.99199058e-01 -1.28945212e-03 -5.10042391e+01] [-1.61517200e-02 6.43815365e-04 9.99869345e-01 -1.31237606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51587156 meters 0.7055969035642284 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.01, Z:-13.13 [[ 9.99315895e-01 3.26720463e-02 1.73285955e-02 2.95726236e+02] [-3.28630529e-02 9.99400917e-01 1.08547781e-02 -5.10070782e+01] [-1.69635664e-02 -1.14168228e-02 9.99790925e-01 -1.31258035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54587156 meters 0.6976035294238988 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.00, Z:-13.13 [[ 9.99574989e-01 2.37748296e-02 1.68700285e-02 2.95727180e+02] [-2.37831726e-02 9.99717097e-01 2.94062007e-04 -5.09968639e+01] [-1.68582646e-02 -6.95159827e-04 9.99857648e-01 -1.31263763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57587156 meters 0.6822283312310765 Centerline is valid? [False, False] Translation: X:295.73, Y:-50.99, Z:-13.13 [[ 9.99678141e-01 1.89726683e-02 1.68420085e-02 2.95727176e+02] [-1.88861702e-02 9.99807698e-01 -5.28014974e-03 -5.09908918e+01] [-1.69389483e-02 4.96036923e-03 9.99844221e-01 -1.31267339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60587156 meters 0.677467786917254 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.00, Z:-13.13 [[ 9.99845107e-01 1.24898276e-02 1.24002667e-02 2.95729909e+02] [-1.25826989e-02 9.99893156e-01 7.43990474e-03 -5.09955993e+01] [-1.23060187e-02 -7.59478117e-03 9.99895435e-01 -1.31259597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63587156 meters 0.67631034470772 Centerline is valid? [False, False] Translation: X:295.73, Y:-50.99, Z:-13.13 [[ 9.99893589e-01 7.69039463e-03 1.23962776e-02 2.95729970e+02] [-7.71587737e-03 9.99968214e-01 2.00916293e-03 -5.09903477e+01] [-1.23804323e-02 -2.10459729e-03 9.99921145e-01 -1.31263657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66587156 meters 0.6609042737299294 Centerline is valid? [False, False] Translation: X:295.71, Y:-50.99, Z:-13.12 [[ 9.99966738e-01 2.62259210e-03 7.72295733e-03 2.95709966e+02] [-2.67898975e-03 9.99969756e-01 7.30132959e-03 -5.09926339e+01] [-7.70357535e-03 -7.32177646e-03 9.99943522e-01 -1.31241189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69587156 meters 0.6571862690277596 Centerline is valid? [False, False] Translation: X:295.72, Y:-50.99, Z:-13.13 [[ 9.99975103e-01 3.13084319e-04 7.04949029e-03 2.95716736e+02] [-3.46537599e-04 9.99988683e-01 4.74476794e-03 -5.09905390e+01] [-7.04792500e-03 -4.74709273e-03 9.99963895e-01 -1.31299212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72587156000003 meters 0.654801855532526 Centerline is valid? [False, False] Translation: X:295.72, Y:-50.99, Z:-13.14 [[ 9.99977592e-01 -1.90443309e-03 6.41789384e-03 2.95723365e+02] [ 1.88916613e-03 9.99995374e-01 2.38403470e-03 -5.09882388e+01] [-6.42240439e-03 -2.37185681e-03 9.99976563e-01 -1.31356120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75587156 meters 0.6604621932836143 Centerline is valid? [False, False] Translation: X:295.72, Y:-50.99, Z:-13.14 [[ 9.99977569e-01 -1.66778008e-03 6.48684840e-03 2.95723465e+02] [ 1.64955569e-03 9.99994681e-01 2.81377305e-03 -5.09903602e+01] [-6.49150665e-03 -2.80300952e-03 9.99975001e-01 -1.31361705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78587156000003 meters 1.0661099005947408 Centerline is valid? [False, False] Translation: X:295.72, Y:-50.99, Z:-13.14 [[ 9.99977353e-01 -1.62055726e-03 6.53196991e-03 2.95723402e+02] [ 1.60163139e-03 9.99994508e-01 2.90161227e-03 -5.09908135e+01] [-6.53663627e-03 -2.89108475e-03 9.99974457e-01 -1.31363561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81587156 meters 0.6165462601935888 Centerline is valid? [False, False] Translation: X:295.72, Y:-50.99, Z:-13.14 [[ 9.99977262e-01 -1.57747874e-03 6.55647742e-03 2.95723408e+02] [ 1.55795378e-03 9.99994340e-01 2.98200581e-03 -5.09912293e+01] [-6.56114436e-03 -2.97172332e-03 9.99974060e-01 -1.31365330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84587156000003 meters 0.6568517956356328 Centerline is valid? [False, False] Translation: X:295.73, Y:-50.99, Z:-13.14 [[ 9.99977413e-01 -3.38752409e-03 5.80493922e-03 2.95729902e+02] [ 3.37893577e-03 9.99993183e-01 1.48865521e-03 -5.09911458e+01] [-5.80994250e-03 -1.46900707e-03 9.99982043e-01 -1.31416235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87587156 meters 0.6736606081425432 Centerline is valid? [False, False] Translation: X:295.73, Y:-50.99, Z:-13.14 [[ 9.99977757e-01 -3.23995770e-03 5.82995427e-03 2.95729857e+02] [ 3.22973230e-03 9.99993231e-01 1.76250217e-03 -5.09925874e+01] [-5.83562524e-03 -1.74363378e-03 9.99981452e-01 -1.31416981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90587156000004 meters 0.6840283627304794 Centerline is valid? [False, False] Translation: X:295.73, Y:-50.99, Z:-13.14 [[ 9.99978067e-01 -3.08799383e-03 5.85921949e-03 2.95729835e+02] [ 3.07608822e-03 9.99993188e-01 2.03986956e-03 -5.09940575e+01] [-5.86547869e-03 -2.02180134e-03 9.99980754e-01 -1.31418432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93587156 meters 0.7167415377066454 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.00, Z:-13.14 [[ 9.99978801e-01 -2.77802728e-03 5.88900513e-03 2.95730156e+02] [ 2.76288185e-03 9.99992859e-01 2.57839272e-03 -5.09968135e+01] [-5.89612592e-03 -2.56206743e-03 9.99979336e-01 -1.31425285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96587156 meters 0.7289877753492051 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.00, Z:-13.14 [[ 9.99979348e-01 -2.62130530e-03 5.86792178e-03 2.95730430e+02] [ 2.60457200e-03 9.99992525e-01 2.85748477e-03 -5.09983068e+01] [-5.87536826e-03 -2.84214233e-03 9.99978701e-01 -1.31428483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99587156 meters 0.7535805762561268 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.00, Z:-13.14 [[ 9.99980580e-01 -2.19575518e-03 5.83250381e-03 2.95731174e+02] [ 2.17481467e-03 9.99991176e-01 3.59423223e-03 -5.10021594e+01] [-5.84034439e-03 -3.58147782e-03 9.99976531e-01 -1.31438326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02587156 meters 0.7678743321322138 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.00, Z:-13.14 [[ 9.99981003e-01 -2.01739578e-03 5.82444481e-03 2.95731427e+02] [ 1.99464499e-03 9.99990370e-01 3.90925753e-03 -5.10038653e+01] [-5.83227524e-03 -3.89756556e-03 9.99975396e-01 -1.31442027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05587156 meters 0.7716740045066881 Centerline is valid? [False, False] Translation: X:295.73, Y:-51.01, Z:-13.14 [[ 9.99981097e-01 -1.89594820e-03 5.84895565e-03 2.95731480e+02] [ 1.87185138e-03 9.99989750e-01 4.12257665e-03 -5.10050275e+01] [-5.85671189e-03 -4.11155034e-03 9.99974397e-01 -1.31444609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08587156 meters 0.7843877546183257 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99977971e-01 -4.25373196e-03 5.09535409e-03 2.95738371e+02] [ 4.24714135e-03 9.99990131e-01 1.30357716e-03 -5.10060188e+01] [-5.10084887e-03 -1.28190775e-03 9.99986169e-01 -1.31498057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11587156 meters 0.7876344860523004 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99978618e-01 -4.09591428e-03 5.09780569e-03 2.95738477e+02] [ 4.08791623e-03 9.99990399e-01 1.57835193e-03 -5.10075302e+01] [-5.10422154e-03 -1.55747878e-03 9.99985760e-01 -1.31500004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14587156 meters 0.7935498023872474 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99978787e-01 -4.03768654e-03 5.11112754e-03 2.95738537e+02] [ 4.02913920e-03 9.99990469e-01 1.68149406e-03 -5.10080887e+01] [-5.11786818e-03 -1.66086494e-03 9.99985524e-01 -1.31502011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17587156 meters 0.8093198192145683 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979112e-01 -3.98785864e-03 5.08647201e-03 2.95738765e+02] [ 3.97890975e-03 9.99990521e-01 1.76825957e-03 -5.10085592e+01] [-5.09347536e-03 -1.74798402e-03 9.99985500e-01 -1.31504231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20587156 meters 0.7925411610877465 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979820e-01 -3.91366808e-03 5.00419914e-03 2.95739555e+02] [ 3.90428749e-03 9.99990605e-01 1.88294181e-03 -5.10091511e+01] [-5.01152134e-03 -1.86336598e-03 9.99985706e-01 -1.31511305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23587156 meters 0.8174371974027618 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979926e-01 -3.92852251e-03 4.97142009e-03 2.95739930e+02] [ 3.91933259e-03 9.99990595e-01 1.85694474e-03 -5.10089790e+01] [-4.97866838e-03 -1.83742281e-03 9.99985918e-01 -1.31515762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26587156 meters 0.8128542814908435 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99980051e-01 -3.97152987e-03 4.91177181e-03 2.95740328e+02] [ 3.96282501e-03 9.99990563e-01 1.78070955e-03 -5.10085320e+01] [-4.91879759e-03 -1.76120953e-03 9.99986352e-01 -1.31518655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29587156 meters 0.8282763136808332 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979983e-01 -4.04525621e-03 4.86520512e-03 2.95740669e+02] [ 4.03725725e-03 9.99990484e-01 1.65281438e-03 -5.10078001e+01] [-4.87184488e-03 -1.63313921e-03 9.99986799e-01 -1.31521402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32587156 meters 0.880257223677931 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979863e-01 -4.15152045e-03 4.79984038e-03 2.95741284e+02] [ 4.14470014e-03 9.99990388e-01 1.43001988e-03 -5.10065682e+01] [-4.80573100e-03 -1.41009719e-03 9.99987458e-01 -1.31527405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35587156 meters 0.8662807198621221 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979775e-01 -4.19726904e-03 4.77841260e-03 2.95741493e+02] [ 4.19085537e-03 9.99990305e-01 1.35143857e-03 -5.10061055e+01] [-4.78403862e-03 -1.33138560e-03 9.99987670e-01 -1.31529705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38587156 meters 0.874465001250022 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.01, Z:-13.15 [[ 9.99979523e-01 -4.27634281e-03 4.76103084e-03 2.95741692e+02] [ 4.27059170e-03 9.99990140e-01 1.21746464e-03 -5.10053283e+01] [-4.76619020e-03 -1.19710729e-03 9.99987925e-01 -1.31532121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41587156 meters 0.8822142851745413 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.15 [[ 9.99979434e-01 -4.39432422e-03 4.67130848e-03 2.95742593e+02] [ 4.38972165e-03 9.99989870e-01 9.95082477e-04 -5.10040473e+01] [-4.67563388e-03 -9.74556268e-04 9.99988594e-01 -1.31540704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44587156 meters 0.8706313860909235 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.15 [[ 9.99979142e-01 -4.48510824e-03 4.64755775e-03 2.95742946e+02] [ 4.48125083e-03 9.99989606e-01 8.40069269e-04 -5.10031453e+01] [-4.65127725e-03 -8.19224875e-04 9.99988847e-01 -1.31545367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47587156000003 meters 0.8704097339749616 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.16 [[ 9.99978437e-01 -4.69506544e-03 4.59160387e-03 2.95743730e+02] [ 4.69295572e-03 9.99988878e-01 4.70141314e-04 -5.10009934e+01] [-4.59376014e-03 -4.48582983e-04 9.99989348e-01 -1.31554322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50587156 meters 0.8704097339749616 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.16 [[ 9.99978437e-01 -4.69506544e-03 4.59160387e-03 2.95743730e+02] [ 4.69295572e-03 9.99988878e-01 4.70141314e-04 -5.10009934e+01] [-4.59376014e-03 -4.48582983e-04 9.99989348e-01 -1.31554322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53587156000003 meters 0.9231450768331788 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.16 [[ 9.99978331e-01 -4.75226086e-03 4.55550499e-03 2.95744029e+02] [ 4.75060545e-03 9.99988646e-01 3.74138791e-04 -5.10004257e+01] [-4.55723127e-03 -3.52489278e-04 9.99989554e-01 -1.31556837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56587156 meters 0.9190673987883504 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.16 [[ 9.99978404e-01 -4.74527246e-03 4.54683534e-03 2.95744149e+02] [ 4.74357140e-03 9.99988675e-01 3.84831590e-04 -5.10004843e+01] [-4.54860998e-03 -3.63255041e-04 9.99989589e-01 -1.31558326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59587156000003 meters 0.9000888668860391 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.16 [[ 9.99979804e-01 -4.48497649e-03 4.50303081e-03 2.95744567e+02] [ 4.48138805e-03 9.99989633e-01 8.06667903e-04 -5.10028467e+01] [-4.50660201e-03 -7.86471783e-04 9.99989536e-01 -1.31561675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62587156 meters 0.9400087795858908 Centerline is valid? [False, False] Translation: X:295.74, Y:-51.00, Z:-13.16 [[ 9.99980637e-01 -4.32845106e-03 4.47110216e-03 2.95744918e+02] [ 4.32372164e-03 9.99990084e-01 1.06690057e-03 -5.10043612e+01] [-4.47567585e-03 -1.04754811e-03 9.99989435e-01 -1.31565404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65587156000004 meters 0.9512578727384456 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99981382e-01 -4.21720655e-03 4.41031079e-03 2.95745401e+02] [ 4.21174750e-03 9.99990354e-01 1.24634902e-03 -5.10053967e+01] [-4.41552436e-03 -1.22775070e-03 9.99989498e-01 -1.31569071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68587156 meters 0.9745154340839877 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99982002e-01 -4.13506047e-03 4.34697752e-03 2.95745828e+02] [ 4.12910425e-03 9.99990525e-01 1.37828161e-03 -5.10061625e+01] [-4.35263561e-03 -1.36030768e-03 9.99989602e-01 -1.31571449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71587156 meters 0.9575876700713383 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99982588e-01 -4.04000064e-03 4.30145629e-03 2.95746176e+02] [ 4.03346273e-03 9.99990699e-01 1.52752002e-03 -5.10069826e+01] [-4.30758747e-03 -1.51014366e-03 9.99989582e-01 -1.31573537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74587156 meters 0.9302904941338896 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99983063e-01 -3.95024601e-03 4.27416984e-03 2.95746408e+02] [ 3.94312758e-03 9.99990827e-01 1.67259975e-03 -5.10078393e+01] [-4.28073782e-03 -1.65571782e-03 9.99989467e-01 -1.31575390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77587156 meters 0.9355489423899842 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99983492e-01 -3.88432145e-03 4.23421367e-03 2.95746698e+02] [ 3.87680297e-03 9.99990897e-01 1.78241445e-03 -5.10084933e+01] [-4.24109860e-03 -1.76596981e-03 9.99989447e-01 -1.31577400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80587156 meters 0.9822154851478816 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99983765e-01 -3.87148407e-03 4.18097164e-03 2.95747283e+02] [ 3.86398508e-03 9.99990914e-01 1.80019093e-03 -5.10085767e+01] [-4.18790306e-03 -1.78400649e-03 9.99989639e-01 -1.31582534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83587156 meters 0.9495748258363386 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99983939e-01 -3.86744340e-03 4.14298119e-03 2.95747530e+02] [ 3.85998449e-03 9.99990918e-01 1.80685847e-03 -5.10086139e+01] [-4.14993149e-03 -1.79083760e-03 9.99989785e-01 -1.31583881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86587156 meters 0.9837469664205247 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99984001e-01 -3.91193202e-03 4.08589750e-03 2.95748260e+02] [ 3.90488906e-03 9.99990879e-01 1.73028274e-03 -5.10081200e+01] [-4.09262898e-03 -1.71430008e-03 9.99990156e-01 -1.31591245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89587156 meters 0.8873415988884357 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99983819e-01 -4.00031499e-03 4.04458653e-03 2.95748589e+02] [ 3.99393450e-03 9.99990769e-01 1.58438632e-03 -5.10072258e+01] [-4.05088724e-03 -1.56820687e-03 9.99990565e-01 -1.31593785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92587156 meters 0.799297985537741 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99984235e-01 -3.94862207e-03 3.99225520e-03 2.95748969e+02] [ 3.94199118e-03 9.99990840e-01 1.66744671e-03 -5.10077113e+01] [-3.99880274e-03 -1.65168299e-03 9.99990641e-01 -1.31596134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95587156 meters 0.8354443757629623 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99984843e-01 -3.83724404e-03 3.94837659e-03 2.95749347e+02] [ 3.82997872e-03 9.99990962e-01 1.84599767e-03 -5.10087865e+01] [-3.95542445e-03 -1.83084749e-03 9.99990501e-01 -1.31599041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98587156 meters 1.0080757079714484 Centerline is valid? [False, False] Translation: X:295.75, Y:-51.01, Z:-13.16 [[ 9.99985356e-01 -3.75234412e-03 3.89973068e-03 2.95749685e+02] [ 3.74463457e-03 9.99991024e-01 1.98237049e-03 -5.10096079e+01] [-3.90713422e-03 -1.96773840e-03 9.99990431e-01 -1.31600968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5650.95 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%| | 0/10333 [00:00